Move dmpPacketBuffer and dmpPacketSize to the back of the class. #230

jrowberg · Apr 30, 2016 · 5d75db6 · 5d75db6
1 parent fb0f06f
commit 5d75db6
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Showing 2 changed files with 15 additions and 24 deletions.
diff --git a/Arduino/MPU6050/MPU6050.cpp b/Arduino/MPU6050/MPU6050.cpp
@@ -36,21 +36,13 @@ THE SOFTWARE.
 
 #include "MPU6050.h"
 
-/** Default constructor, uses default I2C address.
- * @see MPU6050_DEFAULT_ADDRESS
- */
-MPU6050::MPU6050() {
-    devAddr = MPU6050_DEFAULT_ADDRESS;
-}
-
 /** Specific address constructor.
- * @param address I2C address
+ * @param address I2C address, uses default I2C address if none is specified
  * @see MPU6050_DEFAULT_ADDRESS
  * @see MPU6050_ADDRESS_AD0_LOW
  * @see MPU6050_ADDRESS_AD0_HIGH
  */
-MPU6050::MPU6050(uint8_t address) {
-    devAddr = address;
+MPU6050::MPU6050(uint8_t address):devAddr(address) {
 }
 
 /** Power on and prepare for general usage.

diff --git a/Arduino/MPU6050/MPU6050.h b/Arduino/MPU6050/MPU6050.h
@@ -435,8 +435,7 @@ THE SOFTWARE.
 
 class MPU6050 {
     public:
-        MPU6050();
-        MPU6050(uint8_t address);
+        MPU6050(uint8_t address=MPU6050_DEFAULT_ADDRESS);
 
         void initialize();
         bool testConnection();
@@ -459,15 +458,15 @@ class MPU6050 {
         uint8_t getFullScaleGyroRange();
         void setFullScaleGyroRange(uint8_t range);
 
-		// SELF_TEST registers
-		uint8_t getAccelXSelfTestFactoryTrim();
-		uint8_t getAccelYSelfTestFactoryTrim();
-		uint8_t getAccelZSelfTestFactoryTrim();
+        // SELF_TEST registers
+        uint8_t getAccelXSelfTestFactoryTrim();
+        uint8_t getAccelYSelfTestFactoryTrim();
+        uint8_t getAccelZSelfTestFactoryTrim();
+
+        uint8_t getGyroXSelfTestFactoryTrim();
+        uint8_t getGyroYSelfTestFactoryTrim();
+        uint8_t getGyroZSelfTestFactoryTrim();
 
-		uint8_t getGyroXSelfTestFactoryTrim();
-		uint8_t getGyroYSelfTestFactoryTrim();
-		uint8_t getGyroZSelfTestFactoryTrim();
-
         // ACCEL_CONFIG register
         bool getAccelXSelfTest();
         void setAccelXSelfTest(bool enabled);
@@ -823,8 +822,6 @@ class MPU6050 {
 
         // special methods for MotionApps 2.0 implementation
         #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS20
-            uint8_t *dmpPacketBuffer;
-            uint16_t dmpPacketSize;
 
             uint8_t dmpInitialize();
             bool dmpPacketAvailable();
@@ -924,8 +921,6 @@ class MPU6050 {
 
         // special methods for MotionApps 4.1 implementation
         #ifdef MPU6050_INCLUDE_DMP_MOTIONAPPS41
-            uint8_t *dmpPacketBuffer;
-            uint16_t dmpPacketSize;
 
             uint8_t dmpInitialize();
             bool dmpPacketAvailable();
@@ -1027,6 +1022,10 @@ class MPU6050 {
     private:
         uint8_t devAddr;
         uint8_t buffer[14];
+    #if defined(MPU6050_INCLUDE_DMP_MOTIONAPPS20) or defined(MPU6050_INCLUDE_DMP_MOTIONAPPS41)
+        uint8_t *dmpPacketBuffer;
+        uint16_t dmpPacketSize;
+    #endif
 };
 
 #endif /* _MPU6050_H_ */