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AP_Compass: AK8963: reduce stack usage and zero out buffers

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Since we are not using MPU9250's fifo to get samples from AK8963 we will
always read only 1 sample (+ control registers).
This commit is contained in:
Lucas De Marchi 2015-07-22 17:15:15 -03:00 committed by Andrew Tridgell
parent 37734886a5
commit fffedae3e0
1 changed files with 6 additions and 9 deletions
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15
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -397,25 +397,22 @@ void AP_AK8963_SerialBus_MPU9250::register_read(uint8_t address, uint8_t *value,
void AP_AK8963_SerialBus_MPU9250::_read(uint8_t address, uint8_t *buf, uint32_t count)
{
ASSERT(count < 150);
uint8_t tx[150];
uint8_t rx[150];
ASSERT(count < 32);
address |= READ_FLAG;
uint8_t tx[32] = { address, };
uint8_t rx[32] = { };
tx[0] = address | READ_FLAG;
tx[1] = 0;
_spi->transaction(tx, rx, count + 1);
memcpy(buf, rx + 1, count);
}
void AP_AK8963_SerialBus_MPU9250::_write(uint8_t address, const uint8_t *buf, uint32_t count)
{
ASSERT(count < 2);
uint8_t tx[2];
uint8_t tx[2] = { address, };
tx[0] = address;
memcpy(tx+1, buf, count);
_spi->transaction(tx, NULL, count + 1);
}