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While fix #8

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While fix #8

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6810d1f
Moved examples
J3r3Xy Dec 14, 2017
8345c2f
Moved examples
J3r3Xy Dec 14, 2017
e8b2b5c
Added basic error tracking and removed unnecessary while loops
J3r3Xy Dec 14, 2017
8f35231
Removed unnecessary while loops and added basic error reporting
J3r3Xy Dec 14, 2017
668b603
Updated readme
J3r3Xy Dec 14, 2017
32e8e9e
Updated library structure
J3r3Xy Dec 14, 2017
d31626a
Revert "Updated readme"
J3r3Xy Dec 14, 2017
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0 ...l_pitch_roll/MPU6050_accel_pitch_roll.ino → ...l_pitch_roll/MPU6050_accel_pitch_roll.ino
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0 ...050_accel_simple/MPU6050_accel_simple.ino → ...050_accel_simple/MPU6050_accel_simple.ino
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0 MPU6050_free_fall/MPU6050_free_fall.ino → ...s/MPU6050_free_fall/MPU6050_free_fall.ino
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0 ..._roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino → ..._roll_yaw/MPU6050_gyro_pitch_roll_yaw.ino
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0 MPU6050_gyro_simple/MPU6050_gyro_simple.ino → ...U6050_gyro_simple/MPU6050_gyro_simple.ino
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0 MPU6050_motion/MPU6050_motion.ino → examples/MPU6050_motion/MPU6050_motion.ino
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0 MPU6050_temperature/MPU6050_temperature.ino → ...U6050_temperature/MPU6050_temperature.ino
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9 changes: 9 additions & 0 deletions library.properties
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
name=MPU6050
version=1.0
author=
maintainer=
sentence=MPU6050 Triple Axis Gyroscope & Accelerometer
paragraph=
category=Uncategorized
url=
architectures=*
38 changes: 26 additions & 12 deletions MPU6050.cpp → src/MPU6050.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -353,9 +353,10 @@ Vector MPU6050::readRawAccel(void)
Wire.endTransmission();

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

while (Wire.available() < 6);
if (Wire.requestFrom(mpuAddress, 6) != 6) {
errno = ERR_NOT_ENOUGH_BYTES;
return ra;
}

#if ARDUINO >= 100
uint8_t xha = Wire.read();
Expand Down Expand Up @@ -413,10 +414,12 @@ Vector MPU6050::readRawGyro(void)
#endif
Wire.endTransmission();

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

if (Wire.requestFrom(mpuAddress, 6) != 6) {
errno = ERR_NOT_ENOUGH_BYTES;
return rg;
}

while (Wire.available() < 6);

#if ARDUINO >= 100
uint8_t xha = Wire.read();
Expand Down Expand Up @@ -612,7 +615,11 @@ void MPU6050::setThreshold(uint8_t multiple)
// Remember old threshold value
actualThreshold = multiple;
}

uint8_t MPU6050::getErrno(void)
{
uint8_t errno;
return errno;
}
// Fast read 8-bit from register
uint8_t MPU6050::fastRegister8(uint8_t reg)
{
Expand All @@ -627,7 +634,10 @@ uint8_t MPU6050::fastRegister8(uint8_t reg)
Wire.endTransmission();

Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 1);
if (Wire.requestFrom(mpuAddress, 1) != 1) {
errno = ERR_NOT_ENOUGH_BYTES;
return 0;
}
#if ARDUINO >= 100
value = Wire.read();
#else
Expand All @@ -652,8 +662,10 @@ uint8_t MPU6050::readRegister8(uint8_t reg)
Wire.endTransmission();

Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 1);
while(!Wire.available()) {};
if (Wire.requestFrom(mpuAddress, 1) != 1) {
return 0;
}

#if ARDUINO >= 100
value = Wire.read();
#else
Expand Down Expand Up @@ -691,8 +703,10 @@ int16_t MPU6050::readRegister16(uint8_t reg)
Wire.endTransmission();

Wire.beginTransmission(mpuAddress);
Wire.requestFrom(mpuAddress, 2);
while(!Wire.available()) {};
if (Wire.requestFrom(mpuAddress, 2) != 2) {
errno = ERR_NOT_ENOUGH_BYTES;
return 0;
}
#if ARDUINO >= 100
uint8_t vha = Wire.read();
uint8_t vla = Wire.read();
Expand Down
7 changes: 7 additions & 0 deletions MPU6050.h → src/MPU6050.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,11 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.

#ifndef VECTOR_STRUCT_H
#define VECTOR_STRUCT_H

// Errors
#define ERR_NOERR 0
#define ERR_NOT_ENOUGH_BYTES 1

struct Vector
{
float XAxis;
Expand Down Expand Up @@ -230,6 +235,7 @@ class MPU6050
Vector readNormalizeAccel(void);
Vector readScaledAccel(void);

uint8_t getErrno(void);
private:
Vector ra, rg; // Raw vectors
Vector na, ng; // Normalized vectors
Expand All @@ -242,6 +248,7 @@ class MPU6050
bool useCalibrate;
int mpuAddress;

uint8_t errno;
uint8_t fastRegister8(uint8_t reg);

uint8_t readRegister8(uint8_t reg);
Expand Down