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AP_Compass: AK8963: remove repeated comments

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No need to repeat the same comments on 3 different places. Instead add a
single comment to explain how start_measurements() and read_raw() are
related.
This commit is contained in:
Lucas De Marchi 2015-07-22 16:59:24 -03:00 committed by Andrew Tridgell
parent 27d95b67a8
commit 37734886a5
1 changed files with 14 additions and 10 deletions
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24
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -378,17 +378,18 @@ AP_AK8963_SerialBus_MPU9250::AP_AK8963_SerialBus_MPU9250()
void AP_AK8963_SerialBus_MPU9250::register_write(uint8_t address, uint8_t value)
{
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR); /* Set the I2C slave addres of AK8963 and set for register_write. */
_write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
_write(MPUREG_I2C_SLV0_DO, value); /* Register value to continuous measurement in 16-bit */
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | 0x01); /* Enable I2C and set 1 byte */
const uint8_t count = 1;
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR);
_write(MPUREG_I2C_SLV0_REG, address);
_write(MPUREG_I2C_SLV0_DO, value);
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count);
}
void AP_AK8963_SerialBus_MPU9250::register_read(uint8_t address, uint8_t *value, uint8_t count)
{
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); /* Set the I2C slave addres of AK8963 and set for read. */
_write(MPUREG_I2C_SLV0_REG, address); /* I2C slave 0 register address from where to begin data transfer */
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG);
_write(MPUREG_I2C_SLV0_REG, address);
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count);
hal.scheduler->delay(10);
_read(MPUREG_EXT_SENS_DATA_00, value, count);
@ -445,9 +446,12 @@ bool AP_AK8963_SerialBus_MPU9250::start_measurements()
{
const uint8_t count = sizeof(struct raw_value);
_write(MPUREG_I2C_SLV0_ADDR, AK8963_I2C_ADDR | READ_FLAG); /* Set the I2C slave addres of AK8963 and set for read. */
_write(MPUREG_I2C_SLV0_REG, AK8963_INFO); /* I2C slave 0 register address from where to begin data transfer */
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count); /* Enable I2C and set @count byte */
/* Configure the registers from AK8963 that will be read by MPU9250's
* master: we will get the result directly from MPU9250's registers starting
* 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_REG, AK8963_INFO);
_write(MPUREG_I2C_SLV0_CTRL, I2C_SLV0_EN | count);
return true;
}