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Bug correction

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Updated version (bug on protocol initialization)
This commit is contained in:
JJROBOTS
2017-05-06 20:36:29 +01:00
parent 0ff1d58c97
commit b4ae198db0
3 changed files with 20 additions and 27 deletions
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16
Arduino/BROBOT_EVO2/MPU6050.ino
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@@ -576,8 +576,8 @@ void MPU6050_read_3axis()
// read 14 bytes (gyros, temp and accels)
error = MPU6050_read (MPU6050_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro, sizeof(accel_t_gyro));
if (error != 0) {
//Serial.print("MPU6050 Error:");
//Serial.println(error);
Serial.print("MPU6050 Error:");
Serial.println(error);
}
// swap bytes
SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.x_accel_l);
@@ -617,14 +617,14 @@ void MPU6050_read_1axis()
// read X accel
error = MPU6050_read(MPU6050_ACCEL_XOUT_H, (uint8_t *) &accel_t_gyro.reg.x_accel_h, 6);
if (error != 0) {
//Serial.print("MPU6050 Error:");
//Serial.println(error);
Serial.print("MPU6050 Error:");
Serial.println(error);
}
// read X gyro
error = MPU6050_read(MPU6050_GYRO_XOUT_H, (uint8_t *) &accel_t_gyro.reg.x_gyro_h, 2);
if (error != 0) {
//Serial.print("MPU6050 Error:");
//Serial.println(error);
Serial.print("MPU6050 Error:");
Serial.println(error);
}
SWAP (accel_t_gyro.reg.x_accel_h, accel_t_gyro.reg.y_accel_l);
SWAP (accel_t_gyro.reg.z_accel_h, accel_t_gyro.reg.z_accel_l);
@@ -645,8 +645,8 @@ bool MPU6050_newData()
error = MPU6050_read(MPU6050_INT_STATUS, &status, 1);
if (error != 0) {
//Serial.print("MPU6050 Error:");
//Serial.println(error);
Serial.print("MPU6050 Error:");
Serial.println(error);
}
if (status & (0b00000001)) // Data ready?
return true;