Revision 3:3c0727618a3b, committed 2017-08-23

Comitter:

OsmanKameric

Date:

Wed Aug 23 17:25:27 2017 +0000

Parent:

2:e2081d9de7af

Child:

4:df70fe9d6635

Commit message:

First

Changed in this revision

--- a/I2Cdev.cpp	Wed Feb 01 11:09:14 2017 +0000
+++ b/I2Cdev.cpp	Wed Aug 23 17:25:27 2017 +0000
@@ -7,12 +7,12 @@
 
 #define useDebugSerial
 
-I2Cdev::I2Cdev(): debugSerial(p6, p8), i2c(p26,p27)
+I2Cdev::I2Cdev(): i2c(p26,p27)
 {
 
 }
 
-I2Cdev::I2Cdev(PinName p26, PinName p27): debugSerial(p30, p31), i2c(p26,p27)
+I2Cdev::I2Cdev(PinName p26, PinName p27): i2c(p26,p27)
 {
 
 }
@@ -248,7 +248,7 @@
     data_write[0]=regAddr;           // I2C sends MSB first. Namely  >>|subAddress|>>|data|
     data_write[1]=data;
     i2c.write(devAddr,data_write,2,0);  // i2c.write(int address, char* data, int length, bool repeated=false);  
-    //return writeBytes(devAddr, regAddr, 1, &data);
+    return writeBytes(devAddr, regAddr, 1, &data);
     return true;
 }
 
@@ -265,11 +265,11 @@
 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]);
-    //}
+    i2c.write(devAddr<<1);
+    i2c.write(regAddr);
+    for(int i = 0; i < length; i++) {
+        i2c.write(data[i]);
+    }
     //i2c.write(devAddr, regAddr, )
     i2c.stop();
     return true;

--- a/I2Cdev.h	Wed Feb 01 11:09:14 2017 +0000
+++ b/I2Cdev.h	Wed Aug 23 17:25:27 2017 +0000
@@ -11,11 +11,11 @@
 
 #define I2C_SDA p26
 #define I2C_SCL p27
-extern Serial pc; 
+//extern Serial pc; 
 class I2Cdev {
     private:
         I2C i2c;
-        Serial debugSerial;
+        //Serial debugSerial;
     public:
         I2Cdev();
         I2Cdev(PinName i2cSda, PinName i2cScl);        

--- a/MPU6050.cpp	Wed Feb 01 11:09:14 2017 +0000
+++ b/MPU6050.cpp	Wed Aug 23 17:25:27 2017 +0000
@@ -62,9 +62,13 @@
 float aRes;
 float gRes;
 int Ascale = AFS_2G;
+
+//int16_t ax,ay,az;
+//int16_t gx,gy,gz;
+
 float ax,ay,az;
-float gx,gy,gz;
-#define useDebugSerial
+float gx,gy,gz; 
+//#define useDebugSerial
 
 //instead of using pgmspace.h
 typedef const unsigned char prog_uchar;
@@ -74,7 +78,7 @@
 /** Default constructor, uses default I2C address.
  * @see MPU6050_DEFAULT_ADDRESS
  */
-MPU6050::MPU6050() : debugSerial(p30, p31)
+MPU6050::MPU6050()
 {
     devAddr = MPU6050_DEFAULT_ADDRESS;
 }
@@ -85,7 +89,7 @@
  * @see MPU6050_ADDRESS_AD0_LOW
  * @see MPU6050_ADDRESS_AD0_HIGH
  */
-MPU6050::MPU6050(uint8_t address) : debugSerial(p30, p31)
+MPU6050::MPU6050(uint8_t address)
 {
     devAddr = address;
 }
@@ -138,6 +142,7 @@
     setFullScaleGyroRange(MPU6050_GYRO_FS_250);
     setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
     setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
+    
 
 #ifdef useDebugSerial
     debugSerial.printf("MPU6050::initialize end\n");

--- a/MPU6050.h	Wed Feb 01 11:09:14 2017 +0000
+++ b/MPU6050.h	Wed Aug 23 17:25:27 2017 +0000
@@ -416,8 +416,13 @@
 //extern DigitalOut LED2;
 
 /* Sensor datas to be used in program */
+
+//extern int16_t ax,ay,az;
+//extern int16_t gx,gy,gz;
+
 extern float ax,ay,az;
 extern float gx,gy,gz;
+
 extern Serial pc;
 extern int16_t accelData[3],gyroData[3],tempData;
 extern float accelBias[3], gyroBias[3];
@@ -426,7 +431,7 @@
 class MPU6050 {
     private:
         I2Cdev i2Cdev;
-        Serial debugSerial;
+        //Serial debugSerial;
     public:
         MPU6050();
         MPU6050(uint8_t address);