Diff: MPU6050.h

Revision:

7:ea53dc62603d

Parent:

6:01dbbf760e1a

Child:

8:15523fc1427d

--- a/MPU6050.h	Sun May 15 06:48:16 2016 +0000
+++ b/MPU6050.h	Sun May 15 09:33:34 2016 +0000
@@ -41,10 +41,10 @@
 
         // Using the GY-521 breakout board, I set ADO to 0 by grounding through a 4k7 resistor
         // Seven-bit device address is 110100 for ADO = 0 and 110101 for ADO = 1
-        if(ad0) {
+        if(ad0 == 0) {
+            adr = 0x68;
+        } else {
             adr = 0x69;
-        } else {
-            adr = 0x68;
         }
 
         // Specify sensor full scale
@@ -119,35 +119,35 @@
     }
 
 
-    void readAccelData(int16_t * destination) {
+    void readAccelData(int * destination) {
         /** 加速度の読み出し
          *  @param destination int[3]の配列を渡してください、加速度をxyz順に返します
          */
         uint8_t rawData[6];  // x/y/z accel register data stored here
         readBytes(ACCEL_XOUT_H, 6, &rawData[0]);  // Read the six raw data registers into data array
-        destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ;  // Turn the MSB and LSB into a signed 16-bit value
-        destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
-        destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+        destination[0] = (int)(((int8_t)rawData[0] << 8) | rawData[1]) ;  // Turn the MSB and LSB into a signed 16-bit value
+        destination[1] = (int)(((int8_t)rawData[2] << 8) | rawData[3]) ;
+        destination[2] = (int)(((int8_t)rawData[4] << 8) | rawData[5]) ;
     }
 
-    void readGyroData(int16_t * destination) {
+    void readGyroData(int * destination) {
         /** 角速度の読み出し
          *  @param destination int[3]の配列を渡してください、角速度をxyz順に返します
          */
         uint8_t rawData[6];  // x/y/z gyro register data stored here
         readBytes(GYRO_XOUT_H, 6, &rawData[0]);  // Read the six raw data registers sequentially into data array
-        destination[0] = (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ;  // Turn the MSB and LSB into a signed 16-bit value
-        destination[1] = (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
-        destination[2] = (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+        destination[0] = (int)(((int8_t)rawData[0] << 8) | rawData[1]) ;  // Turn the MSB and LSB into a signed 16-bit value
+        destination[1] = (int)(((int8_t)rawData[2] << 8) | rawData[3]) ;
+        destination[2] = (int)(((int8_t)rawData[4] << 8) | rawData[5]) ;
     }
 
-    int16_t readTempData() {
+    int readTempData() {
         /** 温度の読み出し
          *  @return int型の変数に代入してください、温度を返します
          */
         uint8_t rawData[2];  // x/y/z gyro register data stored here
         readBytes(TEMP_OUT_H, 2, &rawData[0]);  // Read the two raw data registers sequentially into data array
-        return (int16_t)(((int16_t)rawData[0]) << 8 | rawData[1]) ;  // Turn the MSB and LSB into a 16-bit value
+        return (int)(((int8_t)rawData[0]) << 8 | rawData[1]) ;  // Turn the MSB and LSB into a 16-bit value
     }