Fixed crash bug in gyro.cpp
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adc21b5527
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5b6ce7d672
@ -25,6 +25,7 @@ SOFTWARE.
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#include <helper.hpp>
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#include <helper.hpp>
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GyroSensor myGyro;
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GyroSensor myGyro;
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MPU6050 accelgyro;
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#define GYRO_USE_INTERRUPT // Use interrupt to detect when new sample is ready
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#define GYRO_USE_INTERRUPT // Use interrupt to detect when new sample is ready
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#define SENSOR_MOVING_THREASHOLD 500
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#define SENSOR_MOVING_THREASHOLD 500
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@ -45,8 +46,7 @@ bool GyroSensor::setup() {
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Wire.begin(D3, D4);
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Wire.begin(D3, D4);
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Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having
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Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having
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// compilation difficulties
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// compilation difficulties
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accelgyro.initialize();
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if (!accelgyro.testConnection()) {
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if (!accelgyro.testConnection()) {
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Log.error(F("GYRO: Failed to connect to MPU6050 (gyro)." CR));
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Log.error(F("GYRO: Failed to connect to MPU6050 (gyro)." CR));
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sensorConnected = false;
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sensorConnected = false;
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@ -54,6 +54,7 @@ bool GyroSensor::setup() {
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#if !defined(GYRO_DISABLE_LOGGING)
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#if !defined(GYRO_DISABLE_LOGGING)
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Log.notice(F("GYRO: Connected to MPU6050 (gyro)." CR));
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Log.notice(F("GYRO: Connected to MPU6050 (gyro)." CR));
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#endif
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#endif
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accelgyro.initialize();
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sensorConnected = true;
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sensorConnected = true;
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// Configure the sensor
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// Configure the sensor
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@ -50,7 +50,6 @@ struct RawGyroDataL { // Used for average multiple readings
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class GyroSensor {
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class GyroSensor {
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private:
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private:
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MPU6050 accelgyro;
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bool sensorConnected = false;
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bool sensorConnected = false;
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bool validValue = false;
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bool validValue = false;
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float angle = 0;
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float angle = 0;
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