Diff: mdcompat.cpp

Revision:

4:f395d9cc57c4

Parent:

3:8f2d21735748

Child:

5:e4e36c17ba70

--- a/mdcompat.cpp	Tue Aug 08 14:14:26 2017 +0000
+++ b/mdcompat.cpp	Thu Aug 10 14:42:44 2017 +0000
@@ -1,7 +1,14 @@
 #include "mdcompat.h"
 #include "mbed.h" // must be out of the scope of extern "C"
 I2C imu9250(I2C_SDA,I2C_SCL);
-
+Ticker stamper;
+unsigned long stamper_count=0;
+void counter(){
+    stamper_count++;    
+}
+void stamper_init(void){
+stamper.attach(&counter,1);
+}
 void imu_init(void){
 imu9250.frequency(400000);    
 }
@@ -20,11 +27,11 @@
     unsigned char slave_addr,
     unsigned char reg_addr,
     unsigned char length,
-    char const *data) {const char RA[]={reg_addr};
-        
-    imu9250.write((int)slave_addr<<1,RA,1,1);//sending register adress first to indicate which register we are writing and a write register(0)
-    imu9250.write((int)slave_addr<<1,data,(int)length,0);
+    unsigned char *data) {
+    unsigned char buffer[]={reg_addr,data[0]};
+    const char* x=(const char*)buffer;//
     
+    imu9250.write((int)slave_addr<<1,x,2,0);//sending register adress first to indicate which register we are writing and a write register(0)
     return 0;
 }
 
@@ -32,19 +39,21 @@
     unsigned char slave_addr,
     unsigned char reg_addr,
     unsigned char length,
-    char *data) {const char RA[]={reg_addr};
+    unsigned char *data) {const char RA[]={reg_addr};
     imu9250.write((int)slave_addr<<1,RA, 1, 1); // no stop
-    imu9250.read((int)slave_addr<<1, data, 1, 0); 
+    imu9250.read((int)slave_addr<<1,(char*)data, 1, 0); 
     return 0; 
 }
 
 int delay_ms(
     unsigned long num_ms) {
+    wait_ms(num_ms);
     return 0;
 }
 
 int get_ms(
-    unsigned long *count) {
+    unsigned long *count=(unsigned long*)malloc(sizeof(unsigned long))) {
+        *count=stamper_count;
     return 0;
 }