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Some general cleanups in the HAL (#188)

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AnalogTrigger initialization checks are now in the correct order. Plus
frees no longer grab the structure if it is not needed.
This commit is contained in:
Thad House
2016-07-25 23:26:34 -07:00
committed by Peter Johnson
parent 8ac7e44f19
commit 866046edd1
6 changed files with 10 additions and 34 deletions
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9
hal/lib/athena/Accelerometer.cpp
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@@ -9,6 +9,7 @@
#include <cassert>
#include <cstdio>
#include <memory>
#include <stdint.h>
@@ -25,7 +26,7 @@ static const uint8_t kControlTxRx = 1;
static const uint8_t kControlStart = 2;
static const uint8_t kControlStop = 4;
static tAccel* accel = 0;
static std::unique_ptr<tAccel> accel;
static HAL_AccelerometerRange accelerometerRange;
// Register addresses
@@ -84,7 +85,7 @@ static void initializeAccelerometer() {
int32_t status;
if (!accel) {
accel = tAccel::create(&status);
accel.reset(tAccel::create(&status));
// Enable I2C
accel->writeCNFG(1, &status);
@@ -124,8 +125,6 @@ static void writeRegister(Register reg, uint8_t data) {
while (accel->readSTAT(&status) & 1) {
if (HAL_GetFPGATime(&status) > initialTime + 1000) break;
}
std::fflush(stdout);
}
static uint8_t readRegister(Register reg) {
@@ -155,8 +154,6 @@ static uint8_t readRegister(Register reg) {
if (HAL_GetFPGATime(&status) > initialTime + 1000) break;
}
std::fflush(stdout);
return accel->readDATI(&status);
}