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Rework force system

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This commit is contained in:
Zaltora 2017-02-04 10:02:11 +01:00 • committed by Gogs
parent c5b480995d
commit 79a0b2d6b6
15 changed files with 67 additions and 56 deletions
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8
extras/hmc5883l/hmc5883l.c
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@ -54,13 +54,13 @@ static hmc5883l_operating_mode_t current_mode;
static inline void write_register(uint8_t reg, uint8_t val)
{
i2c_slave_write(ADDR, &reg, &val, 1, false);
i2c_slave_write(ADDR, &reg, &val, 1);
}
static inline uint8_t read_register(uint8_t reg)
{
uint8_t res;
i2c_slave_read(ADDR, &reg, &res, 1, false);
i2c_slave_read(ADDR, &reg, &res, 1);
return res;
}
@ -82,7 +82,7 @@ uint32_t hmc5883l_get_id()
{
uint32_t res = 0;
uint8_t reg = REG_ID_A;
i2c_slave_read(ADDR, &reg, (uint8_t *)&res, 3, false);
i2c_slave_read(ADDR, &reg, (uint8_t *)&res, 3);
return res;
}
@ -165,7 +165,7 @@ bool hmc5883l_get_raw_data(hmc5883l_raw_data_t *data)
}
uint8_t buf[6];
uint8_t reg = REG_DX_H;
i2c_slave_read(ADDR, &reg, buf, 6, false);
i2c_slave_read(ADDR, &reg, buf, 6);
data->x = ((int16_t)buf[REG_DX_H - REG_DX_H] << 8) | buf[REG_DX_L - REG_DX_H];
data->y = ((int16_t)buf[REG_DY_H - REG_DX_H] << 8) | buf[REG_DY_L - REG_DX_H];
data->z = ((int16_t)buf[REG_DZ_H - REG_DX_H] << 8) | buf[REG_DZ_L - REG_DX_H];