From 7882f9cc5ec3bbb9c21fec766007c5339fbf896f Mon Sep 17 00:00:00 2001
From: jonathan <jonathantbrouwer@gmail.com>
Date: Fri, 10 Mar 2023 19:49:44 +0100
Subject: [PATCH] Remove debugging
---
src/lib.rs | 7 +++++++
src/mpu.rs | 7 -------
src/mpu/sensor.rs | 12 +-----------
3 files changed, 8 insertions(+), 18 deletions(-)
diff --git a/src/lib.rs b/src/lib.rs
index 63b6b75..d02fbac 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,5 +1,12 @@
#![no_std]
#![feature(strict_provenance)]
+#![deny(missing_docs)]
+#![deny(warnings)]
+#![deny(unused_import_braces)]
+#![deny(unused_results)]
+#![deny(trivial_casts)]
+#![deny(trivial_numeric_casts)]
+#![deny(unused_qualifications)]
// don't want this to show up in pedantic for now
#![allow(clippy::cast_possible_truncation)]
#![allow(clippy::module_name_repetitions)]
diff --git a/src/mpu.rs b/src/mpu.rs
index 6463c3b..39d6c5e 100644
--- a/src/mpu.rs
+++ b/src/mpu.rs
@@ -1,4 +1,3 @@
-use alloc::format;
use crate::mpu::config::DigitalLowPassFilter;
use crate::mpu::error::Error;
use crate::mpu::sensor::Mpu6050;
@@ -7,8 +6,6 @@ use crate::once_cell::OnceCell;
use crate::twi::{TwiWrapper, TWI};
use nb::Error::WouldBlock;
use structs::{Accel, Gyro, Quaternion};
-use crate::led::Red;
-use crate::uart::send_bytes;
#[allow(unused)]
mod config;
@@ -117,15 +114,11 @@ pub fn read_dmp_bytes() -> nb::Result<Quaternion, Error<TwiWrapper>> {
return Err(WouldBlock);
}
- send_bytes(&format!("LEN {len} ").as_bytes());
-
// If we got mis-aligned, we skip a packet
if len % 28 != 0 {
let skip = len % 28;
let mut buf = [0; 28];
- let _ = Red.toggle();
-
let _ = mpu.mpu.read_fifo(twi, &mut buf[..skip])?;
return Err(WouldBlock);
}
diff --git a/src/mpu/sensor.rs b/src/mpu/sensor.rs
index f5effef..623ef61 100644
--- a/src/mpu/sensor.rs
+++ b/src/mpu/sensor.rs
@@ -217,17 +217,7 @@ where
i2c: &mut I2c,
buf: &'a mut [u8],
) -> Result<&'a [u8], Error<I2c>> {
- let mut len = self.get_fifo_count(i2c)?;
-
- if buf.len() < len {
- len = buf.len();
- }
-
- if len == 0 {
- Ok(&buf[0..0])
- } else {
- self.read_registers(i2c, Register::FifoRw, &mut buf[0..len])
- }
+ self.read_registers(i2c, Register::FifoRw, &mut buf[..])
}
pub fn get_fifo_enabled(&mut self, i2c: &mut I2c) -> Result<Fifo, Error<I2c>> {
--
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