albatross / Mbed 2 deprecated LAURUS_program_copy

Dependencies:   ConfigFile SDFileSystem mbed

Fork of LAURUS_program by hiroya taura

Diff: MPU6050/MPU6050.cpp

Revision:
38:ada39f1c6c76
Parent:
1:6cd6d2760856
--- a/MPU6050/MPU6050.cpp	Wed Dec 16 13:02:55 2015 +0000
+++ b/MPU6050/MPU6050.cpp	Sat Dec 19 13:50:53 2015 +0000
@@ -23,17 +23,18 @@
     cmd[1] = data | 0x08;
     ret = i2c->write(mpu_addr, cmd, 2);
     if(ret != 0) return 0;
+    //12月19日18:45時点：上のどっかで0が返されてしまっているらしい
     
     return 1;
 }
 
 int MPU6050::read() {
     char cmd[1] = {0x3b};
+    int val;
     int ret = i2c->write(mpu_addr, cmd, 1, true);
     if(ret != 0) return 0;
-    
-    i2c->read(mpu_addr | 0x01, (char*)data.reg, 14, false);
-    
+    val = i2c->read(mpu_addr | 0x01, (char*)data.reg, 14, false);
+    checker_set(val);
     // データのHとLが逆に読み込まれているのでスワップする
     for(int i=0; i<7; i++) {
         uint8_t temp = 0;