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don't discard the ack from the mpuRegisterReadI2C call.

This commit is contained in:
Hydra 2017-04-02 14:26:26 +01:00 committed by Dominic Clifton
parent 15bdc15bb2
commit e6d84112e7

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@ -114,9 +114,9 @@ static bool ak8963SensorRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t
mpuWriteRegisterI2C(NULL, MPU_RA_I2C_SLV0_CTRL, len_ | 0x80); // read number of bytes
delay(10);
__disable_irq();
mpuReadRegisterI2C(NULL, MPU_RA_EXT_SENS_DATA_00, len_, buf); // read I2C
bool ack = mpuReadRegisterI2C(NULL, MPU_RA_EXT_SENS_DATA_00, len_, buf); // read I2C
__enable_irq();
return true;
return ack;
}
static bool ak8963SensorWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
@ -316,7 +316,7 @@ bool ak8963Detect(magDev_t *mag)
#if defined(USE_SPI) && defined(MPU9250_SPI_INSTANCE)
// initialze I2C master via SPI bus (MPU9250)
verifympu9250SpiWriteRegister(&mag->bus, MPU_RA_INT_PIN_CFG, 0x10); // INT_ANYRD_2CLEAR
verifympu9250SpiWriteRegister(&mag->bus, MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR);
delay(10);
verifympu9250SpiWriteRegister(&mag->bus, MPU_RA_I2C_MST_CTRL, 0x0D); // I2C multi-master / 400kHz