fix error motion apps

ElectronicCats · Dec 18, 2023 · d9b0fb1 · d9b0fb1
1 parent 09495a5
commit d9b0fb1
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Showing 8 changed files with 24 additions and 25 deletions.
diff --git a/src/MPU6050.cpp b/src/MPU6050.cpp
@@ -3140,18 +3140,17 @@ bool MPU6050_Base::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint
             setMemoryStartAddress(address);
             I2Cdev::readBytes(devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer, I2Cdev::readTimeout, wireObj);
             if (memcmp(progBuffer, verifyBuffer, chunkSize) != 0) {
-#ifdef DEBUG
-        Serial.print("Block write verification error, bank ");
-        Serial.print(bank, DEC);
-        Serial.print(", address ");
-        Serial.print(address, DEC);
-        Serial.print("!\nExpected:");
-        for (j = 0; j < chunkSize; j++) {
-          Serial.print(" 0x");
-          if (progBuffer[j] < 16) Serial.print("0");
-          Serial.print(progBuffer[j], HEX);
-        }
-        Serial.print("\nReceived:");
+                /*Serial.print("Block write verification error, bank ");
+                Serial.print(bank, DEC);
+                Serial.print(", address ");
+                Serial.print(address, DEC);
+                Serial.print("!\nExpected:");
+                for (j = 0; j < chunkSize; j++) {
+                    Serial.print(" 0x");
+                    if (progBuffer[j] < 16) Serial.print("0");
+                    Serial.print(progBuffer[j], HEX);
+                }
+                Serial.print("\nReceived:");
                 for (uint8_t j = 0; j < chunkSize; j++) {
                     Serial.print(" 0x");
                     if (verifyBuffer[i + j] < 16) Serial.print("0");
@@ -3403,4 +3402,4 @@ void MPU6050_Base::PrintActiveOffsets() {
     Serial.print((float)offsets[3], 5); Serial.print(",\t");
     Serial.print((float)offsets[4], 5); Serial.print(",\t");
     Serial.print((float)offsets[5], 5); Serial.print("\n\n");
-}
+}
diff --git a/src/MPU6050.h b/src/MPU6050.h
@@ -849,4 +849,4 @@ class MPU6050_Base {
 typedef MPU6050_Base MPU6050;
 #endif
 
-#endif /* _MPU6050_H_ */
+#endif /* _MPU6050_H_ */
diff --git a/src/MPU6050_6Axis_MotionApps20.cpp b/src/MPU6050_6Axis_MotionApps20.cpp
@@ -613,4 +613,4 @@ uint16_t MPU6050_6Axis_MotionApps20::dmpGetFIFOPacketSize() {
 
 uint8_t MPU6050_6Axis_MotionApps20::dmpGetCurrentFIFOPacket(uint8_t *data) { // overflow proof
     return(GetCurrentFIFOPacket(data, dmpPacketSize));
-}
+}
diff --git a/src/MPU6050_6Axis_MotionApps20.h b/src/MPU6050_6Axis_MotionApps20.h
@@ -150,4 +150,4 @@ class MPU6050_6Axis_MotionApps20 : public MPU6050_Base {
 
 typedef MPU6050_6Axis_MotionApps20 MPU6050;
 
-#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
+#endif /* _MPU6050_6AXIS_MOTIONAPPS20_H_ */
diff --git a/src/MPU6050_6Axis_MotionApps612.cpp b/src/MPU6050_6Axis_MotionApps612.cpp
@@ -339,14 +339,9 @@ const unsigned char dmpMemory[MPU6050_DMP_CODE_SIZE] PROGMEM = {
 0xA6, 0xD9, 0x00, 0xD8, 0xF1, 0xFF,
 };
 
-// this divisor is pre configured into the above image and can't be modified at this time.
-#ifndef MPU6050_DMP_FIFO_RATE_DIVISOR 
-#define MPU6050_DMP_FIFO_RATE_DIVISOR 0x01 // The New instance of the Firmware has this as the default 
-#endif
-
 // this is the most basic initialization I can create. with the intent that we access the register bytes as few times as needed to get the job done.
 // for detailed descriptins of all registers and there purpose google "MPU-6000/MPU-6050 Register Map and Descriptions"
-uint8_t MPU6050::dmpInitialize(uint8_t rateDivisor = 0x04, uint8_t mpuAddr = 0x68) { // Lets get it over with fast Write everything once and set it up necely
+uint8_t MPU6050::dmpInitialize(uint8_t rateDivisor, uint8_t mpuAddr) { // Lets get it over with fast Write everything once and set it up necely
 	uint8_t val;
 	uint16_t ival;
   // Reset procedure per instructions in the "MPU-6000/MPU-6050 Register Map and Descriptions" page 41

diff --git a/src/MPU6050_6Axis_MotionApps612.h b/src/MPU6050_6Axis_MotionApps612.h
@@ -43,6 +43,11 @@ THE SOFTWARE.
 
 #include "MPU6050.h"
 
+// this divisor is pre configured into the above image and can't be modified at this time.
+#ifndef MPU6050_DMP_FIFO_RATE_DIVISOR 
+#define MPU6050_DMP_FIFO_RATE_DIVISOR 0x01 // The New instance of the Firmware has this as the default 
+#endif
+
 class MPU6050_6Axis_MotionApps612 : public MPU6050_Base {
     public:
         MPU6050_6Axis_MotionApps612(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0) : MPU6050_Base(address, wireObj) { }

diff --git a/src/MPU6050_9Axis_MotionApps41.cpp b/src/MPU6050_9Axis_MotionApps41.cpp
@@ -884,4 +884,4 @@ uint8_t MPU6050_9Axis_MotionApps41::dmpReadAndProcessFIFOPacket(uint8_t numPacke
 // void MPU6050_9Axis_MotionApps41::dmpOverrideQuaternion(long *q);
 uint16_t MPU6050_9Axis_MotionApps41::dmpGetFIFOPacketSize() {
     return dmpPacketSize;
-}
+}
diff --git a/src/MPU6050_9Axis_MotionApps41.h b/src/MPU6050_9Axis_MotionApps41.h
@@ -47,7 +47,7 @@ class MPU6050_9Axis_MotionApps41 : public MPU6050_Base {
     public:
         MPU6050_9Axis_MotionApps41(uint8_t address=MPU6050_DEFAULT_ADDRESS, void *wireObj=0) : MPU6050_Base(address, wireObj) { }
 
-         uint8_t dmpInitialize(uint8_t rateDivisor = MPU6050_DMP_FIFO_RATE_DIVISOR, uint8_t mpuAddr = 0x68);
+        uint8_t dmpInitialize();
         bool dmpPacketAvailable();
 
         uint8_t dmpSetFIFORate(uint8_t fifoRate);
@@ -150,4 +150,4 @@ class MPU6050_9Axis_MotionApps41 : public MPU6050_Base {
 
 typedef MPU6050_9Axis_MotionApps41 MPU6050;
 
-#endif /* _MPU6050_6AXIS_MOTIONAPPS41_H_ */
+#endif /* _MPU6050_6AXIS_MOTIONAPPS41_H_ */