takaaki mastuzawa / MPU6050-DMP

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Diff: I2Cdev.cpp

Revision:
6:fe57b4405983
Parent:
2:f8bfb37b2e1f
--- 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)