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

--- 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.