From 9ce6d54b80ac6e0ebb6dddbff5c6c8c1b4498414 Mon Sep 17 00:00:00 2001
From: Magnus Persson <magnus@noreply.github.com>
Date: Sun, 16 Oct 2022 09:23:51 +0200
Subject: [PATCH] Updated i2c lib for esp32

---
 lib/mpu6050/I2Cdev.cpp | 22 +---------------------
 lib/mpu6050/I2Cdev.h   |  2 +-
 2 files changed, 2 insertions(+), 22 deletions(-)

diff --git a/lib/mpu6050/I2Cdev.cpp b/lib/mpu6050/I2Cdev.cpp
index 173f2ac..233e409 100644
--- a/lib/mpu6050/I2Cdev.cpp
+++ b/lib/mpu6050/I2Cdev.cpp
@@ -234,9 +234,7 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
                 useWire->beginTransmission(devAddr);
                 useWire->send(regAddr);
                 useWire->endTransmission();
-                useWire->beginTransmission(devAddr);
                 useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH));
-
                 for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) {
                     data[count] = useWire->receive();
                     #ifdef I2CDEV_SERIAL_DEBUG
@@ -244,8 +242,6 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
                         if (count + 1 < length) Serial.print(" ");
                     #endif
                 }
-
-                useWire->endTransmission();
             }
         #elif (ARDUINO == 100)
             // Arduino v1.0.0, Wire library
@@ -258,9 +254,7 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
                 useWire->beginTransmission(devAddr);
                 useWire->write(regAddr);
                 useWire->endTransmission();
-                useWire->beginTransmission(devAddr);
                 useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH));
-        
                 for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) {
                     data[count] = useWire->read();
                     #ifdef I2CDEV_SERIAL_DEBUG
@@ -268,8 +262,6 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
                         if (count + 1 < length) Serial.print(" ");
                     #endif
                 }
-        
-                useWire->endTransmission();
             }
         #elif (ARDUINO > 100)
             // Arduino v1.0.1+, Wire library
@@ -282,10 +274,7 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
                 useWire->beginTransmission(devAddr);
                 useWire->write(regAddr);
                 useWire->endTransmission();
-                // See: https://github.com/espressif/arduino-esp32/issues/6674
-                // useWire->beginTransmission(devAddr);
                 useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH));
-        
                 for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) {
                     data[count] = useWire->read();
                     #ifdef I2CDEV_SERIAL_DEBUG
@@ -357,7 +346,6 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
                 useWire->beginTransmission(devAddr);
                 useWire->send(regAddr);
                 useWire->endTransmission();
-                useWire->beginTransmission(devAddr);
                 useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
     
                 bool msb = true; // starts with MSB, then LSB
@@ -376,8 +364,6 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
                     }
                     msb = !msb;
                 }
-
-                useWire->endTransmission();
             }
         #elif (ARDUINO == 100)
             // Arduino v1.0.0, Wire library
@@ -390,7 +376,6 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
                 useWire->beginTransmission(devAddr);
                 useWire->write(regAddr);
                 useWire->endTransmission();
-                useWire->beginTransmission(devAddr);
                 useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
     
                 bool msb = true; // starts with MSB, then LSB
@@ -409,8 +394,6 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
                     }
                     msb = !msb;
                 }
-        
-                useWire->endTransmission();
             }
         #elif (ARDUINO > 100)
             // Arduino v1.0.1+, Wire library
@@ -423,7 +406,6 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
                 useWire->beginTransmission(devAddr);
                 useWire->write(regAddr);
                 useWire->endTransmission();
-                useWire->beginTransmission(devAddr);
                 useWire->requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
         
                 bool msb = true; // starts with MSB, then LSB
@@ -442,8 +424,6 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
                     }
                     msb = !msb;
                 }
-        
-                useWire->endTransmission();
             }
         #endif
 
@@ -1486,4 +1466,4 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
         return rxBufferLength - rxBufferIndex;
     }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/lib/mpu6050/I2Cdev.h b/lib/mpu6050/I2Cdev.h
index c4fe7f5..5b59c56 100644
--- a/lib/mpu6050/I2Cdev.h
+++ b/lib/mpu6050/I2Cdev.h
@@ -308,4 +308,4 @@ class I2Cdev {
 
 #endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
 
-#endif /* _I2CDEV_H_ */
\ No newline at end of file
+#endif /* _I2CDEV_H_ */