X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu9250.c;h=1b31edf4611754fe1b8c8d8fe52562b161e8579e;hb=8b2e457db8c4536440ecd7dc35d06f827fc008dc;hp=ae8dacd0a2eee8544e6de5e8061c316ffaacf17b;hpb=8d65e7b367712075a42d26c6d4bbff474dc1ae14;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu9250.c b/src/drivers/ao_mpu9250.c
index ae8dacd0..1b31edf4 100644
--- a/src/drivers/ao_mpu9250.c
+++ b/src/drivers/ao_mpu9250.c
@@ -26,8 +26,6 @@
 
 static uint8_t	ao_mpu9250_configured;
 
-extern uint8_t ao_sensor_errors;
-
 #ifndef AO_MPU9250_I2C_INDEX
 #define AO_MPU9250_SPI	1
 #else
@@ -63,7 +61,7 @@ _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 +78,9 @@ _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 +98,9 @@ _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;
@@ -361,7 +359,7 @@ _ao_mpu9250_setup(void)
 	}
 
 	if (st_tries == ST_TRIES)
-		ao_sensor_errors = 1;
+		AO_SENSOR_ERROR(AO_DATA_MPU9250);
 
 	/* Set up the mag sensor */
 
@@ -372,7 +370,7 @@ _ao_mpu9250_setup(void)
 	}
 
 	if (mag_tries == MAG_TRIES)
-		ao_sensor_errors = 1;
+		AO_SENSOR_ERROR(AO_DATA_MPU9250);
 
 	/* Select continuous mode 2 (100Hz), 16 bit samples */
 
@@ -472,10 +470,9 @@ 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 +485,12 @@ 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 +503,9 @@ 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 +518,12 @@ 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);