takaaki mastuzawa / MPU6050-DMP

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Files at this revision

API Documentation at this revision

Revision 6:fe57b4405983, committed 2017-10-25

Comitter:
hardtail
Date:
Wed Oct 25 08:08:53 2017 +0000
Parent:
5:7d1bf3ce0053
Commit message:
first commit

Changed in this revision

I2Cdev.cpp Show annotated file Show diff for this revision Revisions of this file
I2Cdev.h Show annotated file Show diff for this revision Revisions of this file
MPU6050_6Axis_MotionApps20.h Show annotated file Show diff for this revision Revisions of this file 
--- a/I2Cdev.cpp	Sat Nov 23 16:47:00 2013 +0000
+++ b/I2Cdev.cpp	Wed Oct 25 08:08:53 2017 +0000
@@ -5,7 +5,7 @@
 
 #include "I2Cdev.h"
 
-#define useDebugSerial
+//#define useDebugSerial
 
 I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX)
 {
@@ -254,14 +254,15 @@
 
 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
 {
-    i2c.start();
-    i2c.write(devAddr<<1);
-    i2c.write(regAddr);
-    for(int i = 0; i < length; i++) {
-        i2c.write(data[i]);
+    char *writeData = (char*)malloc(length+1);
+    writeData[0] = regAddr;
+    
+    for(int i=0; i<length ; i++){
+        writeData[i+1] = data[i];
     }
-    i2c.stop();
-    return true;
+    int res = i2c.write(devAddr<<1, writeData, length+1, true);
+    free(writeData);
+    return res;
 }
 
 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)

--- a/I2Cdev.h	Sat Nov 23 16:47:00 2013 +0000
+++ b/I2Cdev.h	Wed Oct 25 08:08:53 2017 +0000
@@ -9,8 +9,8 @@
 
 #include "mbed.h"
 
-#define I2C_SDA p28
-#define I2C_SCL p27
+#define I2C_SDA P0_23
+#define I2C_SCL P0_22
 
 class I2Cdev {
     private:

--- a/MPU6050_6Axis_MotionApps20.h	Sat Nov 23 16:47:00 2013 +0000
+++ b/MPU6050_6Axis_MotionApps20.h	Wed Oct 25 08:08:53 2017 +0000
@@ -33,7 +33,7 @@
 #ifndef _MPU6050_6AXIS_MOTIONAPPS20_H_
 #define _MPU6050_6AXIS_MOTIONAPPS20_H_
 
-#include <iostream>
+//#include <iostream>
 
 #include "I2Cdev.h"
 #include "helper_3dmath.h"
@@ -305,7 +305,7 @@
     0x07,   0x46,   0x01,   0x9A,                     // CFG_GYRO_SOURCE inv_send_gyro
     0x07,   0x47,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_9 inv_send_gyro -> inv_construct3_fifo
     0x07,   0x6C,   0x04,   0xF1, 0x28, 0x30, 0x38,   // CFG_12 inv_send_accel -> inv_construct3_fifo
-    0x02,   0x16,   0x02,   0x00, 0x01                // D_0_22 inv_set_fifo_rate
+    0x02,   0x16,   0x02,   0x00, 0x00                // D_0_22 inv_set_fifo_rate
 
     // This very last 0x01 WAS a 0x09, which drops the FIFO rate down to 20 Hz. 0x07 is 25 Hz,
     // 0x01 is 100Hz. Going faster than 100Hz (0x00=200Hz) tends to result in very noisy data.