涂 桂旺 / MPU9150_DMP_Nucleo_F401

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Fork of MPU9150_DMP_Nucleo by Akash Vibhute

Files at this revision

API Documentation at this revision

Revision 3:b0eb5b37ba29, committed 2015-03-29

Comitter:
akashvibhute
Date:
Sun Mar 29 08:27:46 2015 +0000
Parent:
2:e523a92390b6
Child:
4:a4f794629c31
Commit message:
Modified I2C write / read methods for ST nucleo platforms. Library and code now works with Nucleo F411. Should also work with Nucleo F401.

Changed in this revision

MPU9150.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/MPU9150.cpp	Mon Sep 01 14:25:06 2014 +0000
+++ b/MPU9150.cpp	Sun Mar 29 08:27:46 2015 +0000
@@ -790,12 +790,18 @@
    return write(reg_addr, &data, 1);
 }
 
-bool MPU9150::write(char reg_addr, char* data, int length){
-    i2c.start();
-    i2c.write(device_address << 1);
-    i2c.write(reg_addr);
-    for(int i = 0; i < length; i++) {
-        if(!i2c.write(data[i])){
+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++) 
+    {
+        if(!i2c.write(data_w[i]))
+        {
             write_errors++;
             //debug.printf("Write Error %d\r\n", reg_addr);
             return false;
@@ -830,17 +836,32 @@
    return read(reg_addr, data, 1);
 }
 
-bool MPU9150::read(char reg_addr, char* data, int length){
-    if(i2c.write(device_address << 1, &reg_addr, 1, true)){
+bool MPU9150::read(char reg_addr, char* data, int length)
+{
+    char command[1];
+    command[0] = reg_addr;
+    char *redData = (char*)malloc(length);
+    
+    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, data, length)){
+    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;
 }