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Fix ADNS-9800 read (#24406)

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Dasky 2024-09-18 15:46:13 +01:00 committed by GitHub
parent 42f1763db9
commit 1c03574424
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1 changed files with 10 additions and 8 deletions
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drivers/sensors/adns9800.c
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@ -73,6 +73,7 @@
#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value #define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value
#define US_BETWEEN_WRITES 120 #define US_BETWEEN_WRITES 120
#define US_BETWEEN_READS 20 #define US_BETWEEN_READS 20
#define US_DELAY_AFTER_ADDR 100
#define US_BEFORE_MOTION 100 #define US_BEFORE_MOTION 100
#define MSB1 0x80 #define MSB1 0x80
// clang-format on // clang-format on
@ -92,6 +93,7 @@ void adns9800_write(uint8_t reg_addr, uint8_t data) {
uint8_t adns9800_read(uint8_t reg_addr) { uint8_t adns9800_read(uint8_t reg_addr) {
adns9800_spi_start(); adns9800_spi_start();
spi_write(reg_addr & 0x7f); spi_write(reg_addr & 0x7f);
wait_us(US_DELAY_AFTER_ADDR);
uint8_t data = spi_read(); uint8_t data = spi_read();
spi_stop(); spi_stop();
wait_us(US_BETWEEN_READS); wait_us(US_BETWEEN_READS);