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fix mpu9250: wrong buffer size

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This commit is contained in:
rfu
2020-03-31 15:17:37 +02:00
committed by Beat Küng
parent f8db9c4f1b
commit 0becd29b46
3 changed files with 5 additions and 5 deletions
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src/drivers/imu/mpu9250/mpu9250.cpp
+1 -1
View File
@@ -495,7 +495,7 @@ MPU9250::check_registers()
if ((v = read_reg(_checked_registers[_checked_next], MPU9250_HIGH_BUS_SPEED)) != _checked_values[_checked_next]) { if ((v = read_reg(_checked_registers[_checked_next], MPU9250_HIGH_BUS_SPEED)) != _checked_values[_checked_next]) {
PX4_DEBUG("reg: %d = %d (should be %d) _reset_wait: %llu", _checked_registers[_checked_next], v, PX4_DEBUG("reg: %d = %d (should be %d) _reset_wait: %lu", _checked_registers[_checked_next], v,
_checked_values[_checked_next], _reset_wait); _checked_values[_checked_next], _reset_wait);
/* /*
src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+3 -3
View File
@@ -43,7 +43,7 @@
#ifdef USE_I2C #ifdef USE_I2C
device::Device *MPU9250_I2C_interface(int bus, uint32_t address); device::Device *MPU9250_I2C_interface(int bus, uint32_t address, int bus_frequency);
class MPU9250_I2C : public device::I2C class MPU9250_I2C : public device::I2C
{ {
@@ -55,7 +55,7 @@ public:
int write(unsigned address, void *data, unsigned count) override; int write(unsigned address, void *data, unsigned count) override;
protected: protected:
virtual int probe(); virtual int probe() override;
private: private:
@@ -97,7 +97,7 @@ MPU9250_I2C::read(unsigned reg_speed, void *data, unsigned count)
*/ */
uint32_t offset = count < sizeof(MPUReport) ? 0 : offsetof(MPUReport, ACCEL_XOUT_H); uint32_t offset = count < sizeof(MPUReport) ? 0 : offsetof(MPUReport, ACCEL_XOUT_H);
uint8_t cmd = MPU9250_REG(reg_speed); uint8_t cmd = MPU9250_REG(reg_speed);
return transfer(&cmd, 1, &((uint8_t *)data)[offset], count); return transfer(&cmd, 1, &((uint8_t *)data)[offset], count - offset);
} }
int int