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some more bugfixes

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This commit is contained in:
Robin Müller
2023-02-26 19:09:12 +01:00
parent ea993ad2e9
commit 2f9cdefc96
2 changed files with 11 additions and 36 deletions
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8
linux/devices/AcsBoardPolling.cpp
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@ -253,11 +253,17 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
}
cmdBuf[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, l3gd20h::READ_LEN);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), l3gd20h::READ_LEN + 1);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::FAILED;
return;
}
result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
// The regular read function always returns the full sensor config as well. Use that
// to verify communications.
for (uint8_t idx = 0; idx < 5; idx++) {