From dc373aa468f520aeb6309642aea9b114649cba4a Mon Sep 17 00:00:00 2001 From: nerdCopter <56646290+nerdCopter@users.noreply.github.com> Date: Tue, 31 Oct 2023 14:16:51 -0500 Subject: [PATCH] ICM426XX - Disable AFSR - use spiBusReadRegister --- src/main/drivers/accgyro/accgyro_spi_icm426xx.c | 4 ++-- src/main/drivers/bus_spi.c | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c index 8a043562f3..0b284fcee7 100644 --- a/src/main/drivers/accgyro/accgyro_spi_icm426xx.c +++ b/src/main/drivers/accgyro/accgyro_spi_icm426xx.c @@ -289,7 +289,7 @@ void icm426xxGyroInit(gyroDev_t *gyro) spiBusWriteRegister(&gyro->bus, ICM426XX_RA_INT_SOURCE0, ICM426XX_UI_DRDY_INT1_EN_ENABLED); - uint8_t intConfig1Value = spiReadRegMsk(&gyro->bus, ICM426XX_RA_INT_CONFIG1); + uint8_t intConfig1Value = spiBusReadRegister(&gyro->bus, ICM426XX_RA_INT_CONFIG1); // Datasheet says: "User should change setting to 0 from default setting of 1, for proper INT1 and INT2 pin operation" intConfig1Value &= ~(1 << ICM426XX_INT_ASYNC_RESET_BIT); intConfig1Value |= (ICM426XX_INT_TPULSE_DURATION_8 | ICM426XX_INT_TDEASSERT_DISABLED); @@ -298,7 +298,7 @@ void icm426xxGyroInit(gyroDev_t *gyro) // Disable AFSR to prevent stalls in gyro output // ICM426XX_INTF_CONFIG1 location in user bank 0 - uint8_t intfConfig1Value = spiReadRegMsk(&gyro->bus, ICM426XX_INTF_CONFIG1); + uint8_t intfConfig1Value = spiBusReadRegister(&gyro->bus, ICM426XX_INTF_CONFIG1); intfConfig1Value &= ~ICM426XX_INTF_CONFIG1_AFSR_MASK; intfConfig1Value |= ICM426XX_INTF_CONFIG1_AFSR_DISABLE; spiBusWriteRegister(&gyro->bus, ICM426XX_INTF_CONFIG1, intfConfig1Value); diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c index d42f0e6156..6bddbb9c5b 100644 --- a/src/main/drivers/bus_spi.c +++ b/src/main/drivers/bus_spi.c @@ -272,7 +272,8 @@ uint16_t spiCalculateDivider(uint32_t freq) return divisor; } -// Wait for bus to become free, then read a byte of data where the register is ORed with 0x80 +// Wait for bus to become free, then read a byte of data where the register is bitwise OR'ed with 0x80 +// EmuFlight codebase is old. Bitwise or 0x80 is redundant here as spiBusReadRegister already contains such. uint8_t spiReadRegMsk(const busDevice_t *bus, uint8_t reg) { return spiBusReadRegister(bus, reg | 0x80);