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Fixed Wire issues, posted by Koepel in issue #4 #17

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Fixed Wire issues, posted by Koepel in issue #4 #17

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51 changes: 15 additions & 36 deletions MPU6050.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@ Version: 1.0.3
(c) 2014-2015 Korneliusz Jarzebski
www.jarzebski.pl

Modified by el-NASA (Daniel Alejandro Rodriguez) 2019

This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.
Expand Down Expand Up @@ -49,7 +51,7 @@ bool MPU6050::begin(mpu6050_dps_t scale, mpu6050_range_t range, int mpua)
actualThreshold = 0;

// Check MPU6050 Who Am I Register
if (fastRegister8(MPU6050_REG_WHO_AM_I) != 0x68)
if (readRegister8(MPU6050_REG_WHO_AM_I) != 0x68)
{
return false;
}
Expand Down Expand Up @@ -352,10 +354,10 @@ Vector MPU6050::readRawAccel(void)
#endif
Wire.endTransmission();

Wire.beginTransmission(mpuAddress);
//Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 6);

while (Wire.available() < 6);
//while (Wire.available() < 6);

#if ARDUINO >= 100
uint8_t xha = Wire.read();
Expand Down Expand Up @@ -413,10 +415,10 @@ Vector MPU6050::readRawGyro(void)
#endif
Wire.endTransmission();

Wire.beginTransmission(mpuAddress);
//Wire.beginTransmission(mpuAddress);
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@jarzebski jarzebski May 18, 2023

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Can you remove redundant comments?

Wire.requestFrom(mpuAddress, 6);

while (Wire.available() < 6);
//while (Wire.available() < 6);

#if ARDUINO >= 100
uint8_t xha = Wire.read();
Expand Down Expand Up @@ -612,31 +614,8 @@ void MPU6050::setThreshold(uint8_t multiple)
// Remember old threshold value
actualThreshold = multiple;
}

// Fast read 8-bit from register
uint8_t MPU6050::fastRegister8(uint8_t reg)
{
uint8_t value;

Wire.beginTransmission(mpuAddress);
#if ARDUINO >= 100
Wire.write(reg);
#else
Wire.send(reg);
#endif
Wire.endTransmission();

Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 1);
#if ARDUINO >= 100
value = Wire.read();
#else
value = Wire.receive();
#endif;
Wire.endTransmission();

return value;
}
//There preveiw code has the function "fastRegister8", but it has the same code as "readRegister8", making it unnecesary
//This correction was possible thanks to an issue posted by koepel in my project POA

// Read 8-bit from register
uint8_t MPU6050::readRegister8(uint8_t reg)
Expand All @@ -651,15 +630,15 @@ uint8_t MPU6050::readRegister8(uint8_t reg)
#endif
Wire.endTransmission();

Wire.beginTransmission(mpuAddress);
//Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 1);
while(!Wire.available()) {};
//while(!Wire.available()) {};
#if ARDUINO >= 100
value = Wire.read();
#else
value = Wire.receive();
#endif;
Wire.endTransmission();
//Wire.endTransmission();

return value;
}
Expand Down Expand Up @@ -690,17 +669,17 @@ int16_t MPU6050::readRegister16(uint8_t reg)
#endif
Wire.endTransmission();

Wire.beginTransmission(mpuAddress);
//Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 2);
while(!Wire.available()) {};
//while(!Wire.available()) {};
#if ARDUINO >= 100
uint8_t vha = Wire.read();
uint8_t vla = Wire.read();
#else
uint8_t vha = Wire.receive();
uint8_t vla = Wire.receive();
#endif;
Wire.endTransmission();
//Wire.endTransmission();

value = vha << 8 | vla;

Expand Down