Yifei Teng / MPU6050

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Dependents:   FreeIMU FreeIMU_external_magnetometer

Fork of MPU6050_tmp by Aloïs Wolff

Diff: I2Cdev.cpp

Revision:
7:95e74f827c08
Parent:
1:2daa36bfe56b
Child:
9:d879deb55ae1
diff -r 40ac13ef7290 -r 95e74f827c08 I2Cdev.cpp
--- a/I2Cdev.cpp	Sat Jun 22 11:23:45 2013 +0000
+++ b/I2Cdev.cpp	Sat Nov 02 17:23:43 2013 +0000
@@ -5,7 +5,7 @@
 
 #include "I2Cdev.h"
 
-#define useDebugSerial
+//#define useDebugSerial
 
 I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL)
 {
@@ -17,6 +17,11 @@
 
 }
 
+I2Cdev::I2Cdev(I2C i2c_): debugSerial(USBTX, USBRX), i2c(i2c_)
+{
+
+}
+
 /** Read a single bit from an 8-bit device register.
  * @param devAddr I2C slave device address
  * @param regAddr Register regAddr to read from
@@ -133,7 +138,7 @@
     command[0] = regAddr;
     char *redData = (char*)malloc(length);
     i2c.write(devAddr<<1, command, 1, true);
-    i2c.read(devAddr<<1, redData, length);
+    i2c.read((devAddr<<1)+1, redData, length);
     for(int i =0; i < length; i++) {
         data[i] = redData[i];
     }