Revision 4:cf21ad364a28, committed 16 months ago

Comitter:

cyliang

Date:

Thu Feb 02 10:33:11 2023 +0000

Parent:

3:a5799a7d3bd1

Child:

5:ea1ed4e4c3ee

Commit message:

Fixed un-sync i2c object

Changed in this revision

--- a/main.cpp	Thu Feb 02 09:59:52 2023 +0000
+++ b/main.cpp	Thu Feb 02 10:33:11 2023 +0000
@@ -6,10 +6,10 @@
 #define PI 3.14159265359
 #if TARGET_NUMAKER_PFM_NUC472
 I2C i2c0(PC_9, PA_15); // I2C0_SDA, I2C0_SCL
-#endif
-
-#if TARGET_NUMAKER_IOT_M467
+#elif TARGET_NUMAKER_IOT_M467
 I2C i2c0(PD_0, PD_1);
+#else
+I2C i2c0(I2C_SDA, I2C_SCL);
 #endif
 
 MPU6500 IMU; // IMU use on-board MPU6500

--- a/mpu6500.cpp	Thu Feb 02 09:59:52 2023 +0000
+++ b/mpu6500.cpp	Thu Feb 02 10:33:11 2023 +0000
@@ -1,27 +1,30 @@
 #include "mbed.h"
 #include "mpu6500.h"
 
-I2C  mpu6500_i2c(PC_9, PA_15); // I2C0_SDA, I2C0_SCL
+//I2C  mpu6500_i2c(PC_9, PA_15); // I2C0_SDA, I2C0_SCL
+extern I2C i2c0;
+I2C  *mpu6500_i2c;
 
 void MPU6500_WriteByte(uint8_t MPU6500_reg, uint8_t MPU6500_data)
 {
     char data_out[2];
     data_out[0]=MPU6500_reg;
     data_out[1]=MPU6500_data;
-    mpu6500_i2c.write(MPU6500_slave_addr, data_out, 2, 0);
+    mpu6500_i2c->write(MPU6500_slave_addr, data_out, 2, 0);
 }
 
 uint8_t MPU6500_ReadByte(uint8_t MPU6500_reg)
 {
     char data_out[1], data_in[1];
     data_out[0] = MPU6500_reg;
-    mpu6500_i2c.write(MPU6500_slave_addr, data_out, 1, 1);
-    mpu6500_i2c.read(MPU6500_slave_addr, data_in, 1, 0);
+    mpu6500_i2c->write(MPU6500_slave_addr, data_out, 1, 1);
+    mpu6500_i2c->read(MPU6500_slave_addr, data_in, 1, 0);
     return (data_in[0]);
 }
 
 void MPU6500::initialize()
 {
+    mpu6500_i2c = &i2c0;
     MPU6500_WriteByte(MPU6500_PWR_MGMT_1, 0x00);    // CLK_SEL=0: internal 8MHz, TEMP_DIS=0, SLEEP=0 
     MPU6500_WriteByte(MPU6500_SMPLRT_DIV, 0x07);  // Gyro output sample rate = Gyro Output Rate/(1+SMPLRT_DIV)
     MPU6500_WriteByte(MPU6500_CONFIG, 0x06);      // set TEMP_OUT_L, DLPF=2 (Fs=1KHz)