Diff: MPU9150.cpp

Revision:

1:8ff0beb54dd4

Parent:

0:74f0ae286b03

Child:

2:e523a92390b6

--- a/MPU9150.cpp	Sun Aug 31 12:52:29 2014 +0000
+++ b/MPU9150.cpp	Mon Sep 01 13:35:07 2014 +0000
@@ -67,32 +67,23 @@
     reset();
     wait_ms(20);
     sleep(false);
-    
-//does this exist in the 9150?
-    char product[6] = {0,0,0,0,0,0};
-    read(0x77, product, 6 );
-    int rev = ((product[5] & 0x01) << 2) | ((product[3] & 0x01) << 1) |
-        (product[1] & 0x01);
-    debug.printf("%02X, %02X, %02X, %02X, %02X, %02X\r\n", product[0], product[1], product[2], product[3], product[4], product[5]);   
-    debug.printf("Product Revision: %d\r\n", rev);
-
 
     setMemoryBank(0x10, true, true);
     setMemoryStartAddress(0x06);
-    debug.printf("Hardware Version: %d\r\n", readMemoryByte());
+//    debug.printf("Hardware Version: %d\r\n", readMemoryByte());
 
     setMemoryBank(0);
     // check OTP bank valid
     uint8_t otpValid = getOTPBankValid();
-    debug.printf("optValid: %d\r\n", otpValid);
+//    debug.printf("optValid: %d\r\n", otpValid);
     
     //Enabling interrupt latch, clear on any read, AUX bypass enabled
     write(MPU6050_RA_INT_PIN_CFG, 0x32);
     
     if (writeMemoryBlock(dmpMemory, MPU6050_DMP_CODE_SIZE, 0 ,0, true)) {
-        debug.printf("Success! DMP code written and verified.\r\n");
+ //       debug.printf("Success! DMP code written and verified.\r\n");
         if (writeDMPConfigurationSet(dmpConfig, MPU6050_DMP_CONFIG_SIZE)) {
-            debug.printf("Success! DMP configuration written and verified.\r\n");
+//            debug.printf("Success! DMP configuration written and verified.\r\n");
             setIntDMPEnabled(true);
             setInterruptFifoOverflowEnable(true);
             setSampleRateDivider(4);
@@ -208,7 +199,7 @@
             
             setDMPEnabled(false);
             
-            debug.printf("finished\r\n");
+ //           debug.printf("finished\r\n");
 
         }
     }
@@ -609,10 +600,10 @@
     
         // make sure this chunk doesn't go past the bank boundary (256 bytes)
         if (chunkSize > 256 - address) chunkSize = 256 - address;
-        debug.printf("reading %d", chunkSize);
+        //debug.printf("reading %d", chunkSize);
         // read the chunk of data as specified
         read(MPU6050_RA_MEM_R_W, (char*)(data+i), chunkSize);
-        debug.printf("read");
+        //debug.printf("read");
         // increase byte index by [chunkSize]
         i += chunkSize;
     
@@ -658,7 +649,7 @@
             read(MPU6050_RA_MEM_R_W, (char*)verifyBuffer, chunkSize);
             if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
                 free(verifyBuffer);
-                debug.printf("invalid(%d, %d)\r\n", bank, read_errors, write_errors);
+                //debug.printf("invalid(%d, %d)\r\n", bank, read_errors, write_errors);
                 return false; // uh oh.
             }
         }
@@ -757,7 +748,7 @@
     
 int16_t MPU9150::get16(char reg_addr){
     char data[2];
-    if(!read(reg_addr, data, 2))debug.printf("get16: read fail:%02X\r\n", reg_addr);
+    read(reg_addr, data, 2);
     return (data[0]<<8) + data[1];
 }
 
@@ -778,7 +769,7 @@
     for(int i = 0; i < length; i++) {
         if(!i2c.write(data[i])){
             write_errors++;
-            debug.printf("Write Error %d\r\n", reg_addr);
+            //debug.printf("Write Error %d\r\n", reg_addr);
             return false;
         }
     }
@@ -814,12 +805,12 @@
 bool MPU9150::read(char reg_addr, char* data, int length){
     if(i2c.write(device_address << 1, &reg_addr, 1, true)){
         read_errors ++;
-        debug.printf("Read: Address Write Error %d\r\n", reg_addr);
+        //debug.printf("Read: Address Write Error %d\r\n", reg_addr);
         return false;
     }
     if(i2c.read(device_address << 1, data, length)){
         read_errors ++;
-        debug.printf("Read: Error %d\r\n", reg_addr);
+        //debug.printf("Read: Error %d\r\n", reg_addr);
         return false;
     }
     return true;