Diff: sensor_fusion.h

Revision:

2:a4d5e7f96e87

Parent:

1:491bd986ce22

--- a/sensor_fusion.h	Sat Nov 10 00:23:07 2018 +0000
+++ b/sensor_fusion.h	Thu Nov 15 01:36:16 2018 +0000
@@ -22,12 +22,12 @@
 #define CONFIG                   0x1A   //the IMU config register
 #define GYRO_CONFIG              0x1B   //the gyroscope config register    
 #define ACCEL_CONFIG             0x1C   //the accelerometer config register        
-#define GYRO_X                   0x44   //the register that stores the first bit of the gyroscope x value    
-#define GYRO_Y                   0x46
-#define GYRO_Z                   0x48      
-#define ACCEL_X                  0x3C   //the register that stores the first bit of the accelerometer x value
-#define ACCEL_Y                  0x3E
-#define ACCEL_Z                  0x40
+#define GYRO_X                   0x43   //the register that stores the first bit of the gyroscope x value  
+#define GYRO_Y                   0x45
+#define GYRO_Z                   0x47
+#define ACCEL_X                  0x3B   //the register that stores the first bit of the accelerometer x value
+#define ACCEL_Y                  0x3D
+#define ACCEL_Z                  0x3F
 
 class MPU6050 {
 
@@ -78,7 +78,7 @@
      *
      * Returns true upon success, and false upon failure.
      */
-    bool write_reg(int addr, int reg, char buf);
+    bool write_reg(int addr, char reg, char buf);
 
     /** 
      * Reads data from a specific address
@@ -90,7 +90,7 @@
      *
      * Returns true upon success, and false upon failure.
      */
-    bool read_reg(char addr, char reg, char *buf, int length);
+    bool read_reg(int addr, char reg, char *buf, int length);
 };
  
 #endif