From 5904314a7503aec02fd537a5f3e301c1228a976b Mon Sep 17 00:00:00 2001
From: Peter Johnson <johnson.peter@gmail.com>
Date: Thu, 3 Mar 2016 23:06:00 -0800
Subject: [PATCH] Improve ADXRS450 error detection.

Ensure the POR, PWR, and CST error bits are not set when reading the sample.

Reported by: Jared Russell, Austin Schuh

Change-Id: Ib38178d6b51880480aee86e13c16f9ba89a80693
---
 wpilibc/Athena/src/ADXRS450_Gyro.cpp                            | 2 +-
 .../src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/wpilibc/Athena/src/ADXRS450_Gyro.cpp b/wpilibc/Athena/src/ADXRS450_Gyro.cpp
index a1ec4e3e77..00090bba27 100644
--- a/wpilibc/Athena/src/ADXRS450_Gyro.cpp
+++ b/wpilibc/Athena/src/ADXRS450_Gyro.cpp
@@ -69,7 +69,7 @@ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
     return;
   }
 
-  m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c000000u, 0x04000000u,
+  m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c00000eu, 0x04000000u,
                         10u, 16u, true, true);
 
   Calibrate();
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
index b5c6b255b6..4f05874541 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
@@ -74,7 +74,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, LiveWind
       return;
     }
 
-    m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c000000, 0x04000000,
+    m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c00000e, 0x04000000,
         10, 16, true, true);
 
     calibrate();