Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / drivers / ao_mpu9250.c

diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c
index ae8dacd0a2eee8544e6de5e8061c316ffaacf17b..74e444a9d0950ba21a4439d19a5adcc5999a0f3c 100644 (file)
--- 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);