Revision 3:ed487dfe5570, committed 2016-05-14

Comitter:

yishii

Date:

Sat May 14 07:11:27 2016 +0000

Parent:

2:e523a92390b6

Commit message:

Supported to use sensor with Nucleo F3030K8

Changed in this revision

diff -r e523a92390b6 -r ed487dfe5570 MPU9150.cpp
--- a/MPU9150.cpp	Mon Sep 01 14:25:06 2014 +0000
+++ b/MPU9150.cpp	Sat May 14 07:11:27 2016 +0000
@@ -27,6 +27,7 @@
 ===============================================
 */
 
+extern Serial pc;
 
 uint8_t MPU9150::getDeviceID(){
     uint8_t ret = 0;
@@ -35,7 +36,10 @@
 }
 
 bool MPU9150::isReady(){
-    return (getDeviceID() == (device_address >> 1));
+    //pc.printf("GetDeviceID = %02Xh, expected = %02Xh\r\n",getDeviceID(),(device_address >> 1));
+    //return (getDeviceID() == (device_address >> 1));
+    //pc.printf("GetDeviceID = %02Xh, expected = %02Xh\r\n",getDeviceID(),0x71>>1);
+    return (getDeviceID() == 0x71>>1);
 }
 
 void MPU9150::initialise(){
@@ -790,19 +794,32 @@
    return write(reg_addr, &data, 1);
 }
 
+uint8_t write_buff[32];
+
 bool MPU9150::write(char reg_addr, char* data, int length){
+#if 0
     i2c.start();
     i2c.write(device_address << 1);
     i2c.write(reg_addr);
     for(int i = 0; i < length; i++) {
         if(!i2c.write(data[i])){
             write_errors++;
-            //debug.printf("Write Error %d\r\n", reg_addr);
+            pc.printf("Write Error %02X\r\n", reg_addr);
             return false;
         }
     }
     i2c.stop();
     return true;
+#else
+    if(length > 31){
+        printf("err! in MPU9150::write\r\n");
+    }
+    write_buff[0] = reg_addr;
+    memcpy(&(write_buff[1]),data,length);
+    i2c.write(char(device_address << 1), (char*) write_buff, length + 1);
+
+    return true;
+#endif
 }
 
 bool MPU9150::writeBit(char reg_addr, uint8_t bit, bool value){
@@ -827,18 +844,20 @@
 }
 
 bool MPU9150::read(char reg_addr, char* data){
-   return read(reg_addr, data, 1);
+   bool result = read(reg_addr, data, 1);
+   return result;
 }
 
 bool MPU9150::read(char reg_addr, char* data, int length){
+    //pc.printf("device address = %02Xh\r\n", device_address << 1 );
     if(i2c.write(device_address << 1, &reg_addr, 1, true)){
         read_errors ++;
-        //debug.printf("Read: Address Write Error %d\r\n", reg_addr);
+        //pc.printf("Read: Address Write Error %d\r\n", reg_addr);
         return false;
     }
     if(i2c.read(device_address << 1, data, length)){
         read_errors ++;
-        //debug.printf("Read: Error %d\r\n", reg_addr);
+        //pc.printf("Read: Error %d\r\n", reg_addr);
         return false;
     }
     return true;