altos: STM i2c work.

[fw/altos] / src / drivers / ao_mpu6000.c

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 290f13905ec14b1e3327dcd6107de5045b795330..d7f67d6ecb61bdfa6791424dcd77e0d34bab33f6 100644 (file)
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -35,10 +35,8 @@ ao_mpu6000_write(uint8_t addr, uint8_t *data, uint8_t len)
 {
        ao_i2c_get(AO_MPU6000_I2C_INDEX);
        ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
-       ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX);
-       if (len)
-               ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX);
-       ao_i2c_stop(AO_MPU6000_I2C_INDEX);
+       ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
+       ao_i2c_send(data, len, AO_MPU6000_I2C_INDEX, TRUE);
        ao_i2c_put(AO_MPU6000_I2C_INDEX);
 }
 
@@ -47,11 +45,9 @@ ao_mpu6000_read(uint8_t addr, uint8_t *data, uint8_t len)
 {
        ao_i2c_get(AO_MPU6000_I2C_INDEX);
        ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_WRITE);
-       ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX);
+       ao_i2c_send(&addr, 1, AO_MPU6000_I2C_INDEX, FALSE);
        ao_i2c_start(AO_MPU6000_I2C_INDEX, MPU6000_ADDR_READ);
-       if (len)
-               ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX);
-       ao_i2c_stop(AO_MPU6000_I2C_INDEX);
+       ao_i2c_recv(data, len, AO_MPU6000_I2C_INDEX, TRUE);
        ao_i2c_put(AO_MPU6000_I2C_INDEX);
 }
 
@@ -78,9 +74,11 @@ ao_mpu6000_show(void)
 
        ao_mpu6000_read(MPU6000_WHO_AM_I, data, 1);
        printf ("mpu6000 WHO_AM_I: %02x\n", data[0]);
-       ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, data, 1);
+#if 0
+       ao_mpu6000_read(MPU6000_ACCEL_XOUT_H, data, 14);
        for (i = 0; i < 14; i++)
                printf ("reg %02x: %02x\n", i + MPU6000_ACCEL_XOUT_H, data[i]);
+#endif
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {