naoki nishii / MPU6050

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Fork of MPU6050 by Simon Garfieldsg

Files at this revision

API Documentation at this revision

Revision 2:52305bcb5cda, committed 2016-11-20

Comitter:
naoki_westwell
Date:
Sun Nov 20 05:04:27 2016 +0000
Parent:
0:662207e34fba
Commit message:
Vertex???

Changed in this revision

I2Cdev.cpp Show annotated file Show diff for this revision Revisions of this file
MPU6050.cpp Show annotated file Show diff for this revision Revisions of this file 
diff -r 662207e34fba -r 52305bcb5cda I2Cdev.cpp
--- a/I2Cdev.cpp	Fri Jan 11 00:54:28 2013 +0000
+++ b/I2Cdev.cpp	Sun Nov 20 05:04:27 2016 +0000
@@ -137,6 +137,7 @@
     for(int i =0; i < length; i++) {
         data[i] = redData[i];
     }
+    free(redData);
     return length;
 }
 

diff -r 662207e34fba -r 52305bcb5cda MPU6050.cpp
--- a/MPU6050.cpp	Fri Jan 11 00:54:28 2013 +0000
+++ b/MPU6050.cpp	Sun Nov 20 05:04:27 2016 +0000
@@ -42,7 +42,7 @@
 
 #include "MPU6050.h"
 
-#define useDebugSerial
+//#define useDebugSerial
 
 //instead of using pgmspace.h
 typedef const unsigned char prog_uchar;
@@ -52,6 +52,7 @@
 /** Default constructor, uses default I2C address.
  * @see MPU6050_DEFAULT_ADDRESS
  */
+
 MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
 {
     devAddr = MPU6050_DEFAULT_ADDRESS;
@@ -63,11 +64,12 @@
  * @see MPU6050_ADDRESS_AD0_LOW
  * @see MPU6050_ADDRESS_AD0_HIGH
  */
+ /*
 MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
 {
     devAddr = address;
 }
-
+*/
 /** Power on and prepare for general usage.
  * This will activate the device and take it out of sleep mode (which must be done
  * after start-up). This function also sets both the accelerometer and the gyroscope
@@ -83,8 +85,8 @@
 #endif
 
     setClockSource(MPU6050_CLOCK_PLL_XGYRO);
-    setFullScaleGyroRange(MPU6050_GYRO_FS_250);
-    setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
+    setFullScaleGyroRange(MPU6050_GYRO_FS_500); //+/-250,500,1000,2000
+    setFullScaleAccelRange(MPU6050_ACCEL_FS_16); //+/-2,4,8,16
     setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
 
 #ifdef useDebugSerial