Fix uninitialized detectRetries and remove delay on read
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@ -81,14 +81,13 @@ static void mpu6500SpiInit(void)
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static uint8_t mpuDetected = MPU_NONE;
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static uint8_t mpuDetected = MPU_NONE;
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uint8_t mpu6500SpiDetect(void)
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uint8_t mpu6500SpiDetect(void)
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{
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{
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uint8_t tmp, detectRetries;
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uint8_t tmp = 0, detectRetries = 0;
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mpu6500SpiInit();
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mpu6500SpiInit();
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delayMicroseconds(15);
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delayMicroseconds(15);
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do {
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do {
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mpu6500ReadRegister(MPU_RA_PWR_MGMT_1, 1, &tmp);
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mpu6500ReadRegister(MPU_RA_PWR_MGMT_1, 1, &tmp);
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delayMicroseconds(1);
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detectRetries++;
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detectRetries++;
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} while (tmp != BIT_SLEEP && detectRetries < 30);
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} while (tmp != BIT_SLEEP && detectRetries < 30);
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