Diff: MPU9150.cpp

Revision:

6:9fc30fdfa3c6

Parent:

5:20152826993d

--- a/MPU9150.cpp	Sun Mar 29 08:38:25 2015 +0000
+++ b/MPU9150.cpp	Fri Jun 23 01:18:33 2017 +0000
@@ -800,11 +800,12 @@
 
 bool MPU9150::write(char reg_addr, char* data, int length)
 {
+/*  
     char reg_addrs[1] = {reg_addr};
     char data_w[length];
     for(int i=0; i<length; i++)
         data_w[i] = data[i];
-    
+        
     i2c.write(device_address<<1, reg_addrs, 1, true);
     for(int i = 0; i < length; i++) 
     {
@@ -817,6 +818,17 @@
     }
     i2c.stop();
     return true;
+*/
+//-------------------------------------tgw--------------------------------------------
+    i2c.start();
+    i2c.write(device_address<<1);
+    i2c.write(reg_addr);
+    for(int i = 0; i < length; i++) 
+        {
+        i2c.write(data[i]);
+    }
+    i2c.stop();
+    return true;
 }
 
 bool MPU9150::writeBit(char reg_addr, uint8_t bit, bool value){
@@ -849,7 +861,7 @@
     char command[1];
     command[0] = reg_addr;
     char *redData = (char*)malloc(length);
-    
+/*   
     if(i2c.write(device_address<<1, command, 1, true))
     {
         read_errors ++;
@@ -871,6 +883,29 @@
     }
     free (redData);
     return true;
+*/
+//---------------------------------------tgw--------------------------------------------
+        if(i2c.write(device_address<<1, command, 1, true))
+    {
+        read_errors ++;
+        //debug.printf("Read: Address Write Error %d\r\n", reg_addr);
+        //return false;
+    }
+    if(!i2c.read(device_address<<1, redData, length, false))
+    {
+         for(int i =0; i < length; i++) 
+        {
+            data[i] = redData[i];
+        }
+    }
+    else
+    {
+        read_errors ++;
+        //debug.printf("Read: Error %d\r\n", reg_addr);
+        //return false;
+    }
+    free (redData);
+    return true;
 }