diff options
Diffstat (limited to 'src/drivers/ao_mpu9250.c')
| -rw-r--r-- | src/drivers/ao_mpu9250.c | 28 |
1 files changed, 11 insertions, 17 deletions
diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c index ae8dacd0..74e444a9 100644 --- a/src/drivers/ao_mpu9250.c +++ b/src/drivers/ao_mpu9250.c @@ -63,7 +63,7 @@ _ao_mpu9250_reg_write(uint8_t addr, uint8_t value) #else ao_i2c_get(AO_MPU9250_I2C_INDEX); ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE); - ao_i2c_send(d, 2, AO_MPU9250_I2C_INDEX, TRUE); + ao_i2c_send(d, 2, AO_MPU9250_I2C_INDEX, true); ao_i2c_put(AO_MPU9250_I2C_INDEX); #endif } @@ -80,9 +80,9 @@ _ao_mpu9250_read(uint8_t addr, void *data, uint8_t len) #else ao_i2c_get(AO_MPU9250_I2C_INDEX); ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE); - ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, FALSE); + ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, false); ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_READ); - ao_i2c_recv(data, len, AO_MPU9250_I2C_INDEX, TRUE); + ao_i2c_recv(data, len, AO_MPU9250_I2C_INDEX, true); ao_i2c_put(AO_MPU9250_I2C_INDEX); #endif } @@ -100,9 +100,9 @@ _ao_mpu9250_reg_read(uint8_t addr) #else ao_i2c_get(AO_MPU9250_I2C_INDEX); ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE); - ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, FALSE); + ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, false); ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_READ); - ao_i2c_recv(&value, 1, AO_MPU9250_I2C_INDEX, TRUE); + ao_i2c_recv(&value, 1, AO_MPU9250_I2C_INDEX, true); ao_i2c_put(AO_MPU9250_I2C_INDEX); #endif return value; @@ -472,10 +472,9 @@ ao_mpu9250_read(void) uint8_t addr; uint8_t val; - ao_cmd_hex(); + addr = ao_cmd_hex(); if (ao_cmd_status != ao_cmd_success) return; - addr = ao_cmd_lex_i; ao_mpu9250_spi_get(); val = _ao_mpu9250_reg_read(addr); ao_mpu9250_spi_put(); @@ -488,14 +487,12 @@ ao_mpu9250_write(void) uint8_t addr; uint8_t val; - ao_cmd_hex(); + addr = ao_cmd_hex(); if (ao_cmd_status != ao_cmd_success) return; - addr = ao_cmd_lex_i; - ao_cmd_hex(); + val = ao_cmd_hex(); if (ao_cmd_status != ao_cmd_success) return; - val = ao_cmd_lex_i; printf("Addr %02x val %02x\n", addr, val); ao_mpu9250_spi_get(); _ao_mpu9250_reg_write(addr, val); @@ -508,10 +505,9 @@ ao_mpu9250_mag_read(void) uint8_t addr; uint8_t val; - ao_cmd_hex(); + addr = ao_cmd_hex(); if (ao_cmd_status != ao_cmd_success) return; - addr = ao_cmd_lex_i; ao_mpu9250_spi_get(); val = _ao_mpu9250_mag_reg_read(addr); ao_mpu9250_spi_put(); @@ -524,14 +520,12 @@ ao_mpu9250_mag_write(void) uint8_t addr; uint8_t val; - ao_cmd_hex(); + addr = ao_cmd_hex(); if (ao_cmd_status != ao_cmd_success) return; - addr = ao_cmd_lex_i; - ao_cmd_hex(); + val = ao_cmd_hex(); if (ao_cmd_status != ao_cmd_success) return; - val = ao_cmd_lex_i; printf("Addr %02x val %02x\n", addr, val); ao_mpu9250_spi_get(); _ao_mpu9250_mag_reg_write(addr, val); |