apply I2C Read fix (Issue tockn#16)

ystark · Aug 29, 2019 · 89ffd68 · 89ffd68
1 parent 31c05b9
commit 89ffd68
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/src/MPU6050_tockn.cpp b/src/MPU6050_tockn.cpp
@@ -67,7 +67,9 @@ void MPU6050::calcGyroOffsets(bool console, uint16_t delayBefore, uint16_t delay
     }
     wire->beginTransmission(MPU6050_ADDR);
     wire->write(0x43);
-    wire->endTransmission(false);
+    byte rxStatus = wire->endTransmission(true);
+    if (rxStatus != 0 && console) Serial.println("MPU6050::update EC: " + String(rxStatus));    
+
     wire->requestFrom((int)MPU6050_ADDR, 6);
 
     rx = wire->read() << 8 | wire->read();
@@ -94,10 +96,12 @@ void MPU6050::calcGyroOffsets(bool console, uint16_t delayBefore, uint16_t delay
 	}
 }
 
-void MPU6050::update(){
+void MPU6050::update(bool console){
 	wire->beginTransmission(MPU6050_ADDR);
 	wire->write(0x3B);
-	wire->endTransmission(false);
+  byte rxStatus = wire->endTransmission(true);
+  if (rxStatus != 0 && console) Serial.println("MPU6050::update EC: " + String(rxStatus));
+
 	wire->requestFrom((int)MPU6050_ADDR, 14);
 
   rawAccX = wire->read() << 8 | wire->read();

diff --git a/src/MPU6050_tockn.h b/src/MPU6050_tockn.h
@@ -53,7 +53,7 @@ class MPU6050{
   float getGyroYoffset(){ return gyroYoffset; };
   float getGyroZoffset(){ return gyroZoffset; };
 
-  void update();
+  void update(bool console = false);
 
   float getAccAngleX(){ return angleAccX; };
   float getAccAngleY(){ return angleAccY; };