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AP_HAL_Linux: move check for _split_transfers

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This is likely not true, so allow not to check the other conditions.
Also remove comment since this is going to be added to the method.
This commit is contained in:
Lucas De Marchi 2017-02-23 22:27:19 -08:00
parent df1da3c14e
commit 32d208dbe8
1 changed files with 2 additions and 7 deletions
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9
libraries/AP_HAL_Linux/I2CDevice.cpp
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@ -154,16 +154,11 @@ I2CDevice::~I2CDevice()
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
if (send_len > 0 && recv_len > 0 && _split_transfers) {
/*
optionally split all I2C transfers. This is needed for some
devices (such as LidarLite) that require that STOP only
happen with SCL high
*/
if (_split_transfers && send_len > 0 && recv_len > 0) {
return transfer(send, send_len, nullptr, 0) &&
transfer(nullptr, 0, recv, recv_len);
}
struct i2c_msg msgs[2] = { };
unsigned nmsgs = 0;