Revision 2:d7915dab2d3c, committed 2014-07-01

Comitter:

chris1seto

Date:

Tue Jul 01 23:24:17 2014 +0000

Parent:

1:1e0baaf91e96

Commit message:

STM issues

Changed in this revision

--- a/I2Cdev.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.cpp	Tue Jul 01 23:24:17 2014 +0000
@@ -4,15 +4,16 @@
 // 2013-01-08 - first release
 
 #include "I2Cdev.h"
+#include "shared.h"
 
 #define useDebugSerial
 
-I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL)
+I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL)
 {
 
 }
 
-I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl)
+I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl) : i2c(i2cSda, i2cScl)
 {
 
 }
@@ -136,6 +137,7 @@
     i2c.read(devAddr<<1, redData, length);
     for(int i =0; i < length; i++) {
         data[i] = redData[i];
+        pc.printf("%d", redData[i]);
     }
     free (redData);
     return length;

--- a/I2Cdev.h	Wed May 08 00:34:55 2013 +0000
+++ b/I2Cdev.h	Tue Jul 01 23:24:17 2014 +0000
@@ -9,13 +9,9 @@
 
 #include "mbed.h"
 
-#define I2C_SDA p28
-#define I2C_SCL p27
-
 class I2Cdev {
     private:
         I2C i2c;
-        Serial debugSerial;
     public:
         I2Cdev();
         I2Cdev(PinName i2cSda, PinName i2cScl);        

--- a/MPU6050.cpp	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.cpp	Tue Jul 01 23:24:17 2014 +0000
@@ -41,8 +41,9 @@
 */
 
 #include "MPU6050.h"
+#include "shared.h"
 
-#define useDebugSerial
+//#define useDebugSerial
 
 //instead of using pgmspace.h
 typedef const unsigned char prog_uchar;
@@ -52,7 +53,7 @@
 /** Default constructor, uses default I2C address.
  * @see MPU6050_DEFAULT_ADDRESS
  */
-MPU6050::MPU6050() : debugSerial(USBTX, USBRX)
+MPU6050::MPU6050()
 {
     devAddr = MPU6050_DEFAULT_ADDRESS;
 }
@@ -63,7 +64,7 @@
  * @see MPU6050_ADDRESS_AD0_LOW
  * @see MPU6050_ADDRESS_AD0_HIGH
  */
-MPU6050::MPU6050(uint8_t address) : debugSerial(USBTX, USBRX)
+MPU6050::MPU6050(uint8_t address)
 {
     devAddr = address;
 }
@@ -1899,6 +1900,12 @@
 void MPU6050::getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
 {
     i2Cdev.readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+    
+    for (int i = 0; i < 14; i++)
+    {
+        pc.printf("%d", buffer[i]);
+    }
+    
     *ax = (((int16_t)buffer[0]) << 8) | buffer[1];
     *ay = (((int16_t)buffer[2]) << 8) | buffer[3];
     *az = (((int16_t)buffer[4]) << 8) | buffer[5];

--- a/MPU6050.h	Wed May 08 00:34:55 2013 +0000
+++ b/MPU6050.h	Tue Jul 01 23:24:17 2014 +0000
@@ -405,7 +405,6 @@
 class MPU6050 {
     private:
         I2Cdev i2Cdev;
-        Serial debugSerial;
     public:
         MPU6050();
         MPU6050(uint8_t address);