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AP_Compass: AK8963: reduce bytes read 

We are not using INFO and ST1 registers, so there's no need to read
extra 2 bytes for each transaction.
This commit is contained in:
Lucas De Marchi 2015-07-22 18:46:42 -03:00 committed by Andrew Tridgell
parent 2b9c46e1ff
commit 8240e5ae65
2 changed files with 2 additions and 10 deletions
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10
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -50,12 +50,6 @@
#define AK8963_WIA 0x00 #define AK8963_WIA 0x00
# define AK8963_Device_ID 0x48 # define AK8963_Device_ID 0x48
#define AK8963_INFO 0x01
#define AK8963_ST1 0x02
# define AK8963_DRDY 0x01
# define AK8963_DOR 0x02
#define AK8963_HXL 0x03 #define AK8963_HXL 0x03
/* bit definitions for AK8963 CNTL1 */ /* bit definitions for AK8963 CNTL1 */
@ -464,7 +458,7 @@ bool AP_AK8963_SerialBus_MPU9250::start_measurements()
* master: we will get the result directly from MPU9250's registers starting * master: we will get the result directly from MPU9250's registers starting
* from MPUREG_EXT_SENS_DATA_00 when read_raw() is called */ * from MPUREG_EXT_SENS_DATA_00 when read_raw() is called */
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); _write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG);
_write(MPUREG_I2C_SLV0_REG, AK8963_INFO); _write(MPUREG_I2C_SLV0_REG, AK8963_HXL);
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); _write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count);
return true; return true;
@ -494,7 +488,7 @@ void AP_AK8963_SerialBus_I2C::register_read(uint8_t address, uint8_t *value, uin
void AP_AK8963_SerialBus_I2C::read_raw(struct raw_value *rv) void AP_AK8963_SerialBus_I2C::read_raw(struct raw_value *rv)
{ {
_i2c->readRegisters(_addr, AK8963_INFO, sizeof(*rv), (uint8_t *) rv); _i2c->readRegisters(_addr, AK8963_HXL, sizeof(*rv), (uint8_t *) rv);
} }
AP_HAL::Semaphore * AP_AK8963_SerialBus_I2C::get_semaphore() AP_HAL::Semaphore * AP_AK8963_SerialBus_I2C::get_semaphore()

2
libraries/AP_Compass/AP_Compass_AK8963.h
View File

@ -13,8 +13,6 @@ class AP_AK8963_SerialBus
{ {
public: public:
struct PACKED raw_value { struct PACKED raw_value {
uint8_t info;
uint8_t st1;
int16_t val[3]; int16_t val[3];
uint8_t st2; uint8_t st2;
}; };