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Fix uninitialized detectRetries and remove delay on read

This commit is contained in:
borisbstyle 2017-03-07 11:10:02 +01:00
parent d873d3fef3
commit 52c104f4b8
1 changed files with 1 additions and 2 deletions
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3
src/main/drivers/accgyro_spi_mpu6500.c
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@ -81,14 +81,13 @@ static void mpu6500SpiInit(void)
static uint8_t mpuDetected = MPU_NONE; static uint8_t mpuDetected = MPU_NONE;
uint8_t mpu6500SpiDetect(void) uint8_t mpu6500SpiDetect(void)
{ {
uint8_t tmp, detectRetries; uint8_t tmp = 0, detectRetries = 0;
mpu6500SpiInit(); mpu6500SpiInit();
delayMicroseconds(15); delayMicroseconds(15);
do { do {
mpu6500ReadRegister(MPU_RA_PWR_MGMT_1, 1, &tmp); mpu6500ReadRegister(MPU_RA_PWR_MGMT_1, 1, &tmp);
delayMicroseconds(1);
detectRetries++; detectRetries++;
} while (tmp != BIT_SLEEP && detectRetries < 30); } while (tmp != BIT_SLEEP && detectRetries < 30);