k323r/flugkatze

flugkatze's Issues

No need to wait after Wire.requestFrom().

In the file "flugkatze/flightcontroller/v2_stm32/IMU.cpp", in the function "IMU::update()", there are two Wire.endTransmission() after each other. The second one is a Wire.endTransmission() on its own, and that is not allowed.

The function "IMU::getAddedRegisters()" is very complex, but all that timeout code is not needed. There is no such thing as a timeout after a Wire.requestFrom().
Explanation: Common-mistakes#1

When shifing 8 bits to the left, I prefer to do that with a 16 bits variable.
If the Wire.available() tells that there are enough data bytes available, they can be read and will be valid (they will be 0...255). Only in case there is no data, then the Wire.read() will return -1.

uint16_t IMU::getAddedRegisters() {
  uint16_t reg1, reg2;
  if (Wire.available() >= 2) {   // still enough data in the buffer ?
    reg1 = (uint16_t) Wire.read();
    reg2 = (uint16_t) Wire.read();
  } else {
    return 0;  // return zero in case of a I2C bus error
  }
  return (reg1 << 8 |reg2);
}