Using MPU-6050 again but it's ready for MPU-9250

Author: dsonyy

Makefile

@@ -11,8 +11,11 @@ flash: main.hex
 main.hex: main.elf
 	avr-objcopy -j .text -j .data -O ihex main.elf main.hex
 
-main.elf: main.o usart.o mpu9250.o twi.o lidar-avr.o frames.o
-	$(CC) $(CFLAGS) -Os -o main.elf main.o usart.o mpu9250.o twi.o lidar-avr.o frames.o -DF_CPU=16000000UL
+main.elf: main.o usart.o mpu6050.o mpu6050dmp6.o i2cmaster.o lidar-avr.o frames.o
+	$(CC) $(CFLAGS) -Os -o main.elf main.o usart.o mpu6050.o mpu6050dmp6.o i2cmaster.o lidar-avr.o frames.o -DF_CPU=16000000UL
+
+# main.elf: main.o usart.o mpu9250.o twi.o lidar-avr.o frames.o
+# 	$(CC) $(CFLAGS) -Os -o main.elf main.o usart.o mpu9250.o twi.o lidar-avr.o frames.o -DF_CPU=16000000UL
 
 main.o: main.c
 	$(CC) $(CFLAGS) -Os -c main.c -DF_CPU=16000000UL $(INCLUDES)
@@ -26,20 +29,20 @@ frames.o: frames/frames.c
 usart.o: usart/usart.c
 	$(CC) $(CFLAGS) -Os -c usart/usart.c -DF_CPU=16000000UL $(INCLUDES)
 
-# mpu6050.o: mpu6050/mpu6050.c
-# 	$(CC) $(CFLAGS) -Os -c mpu6050/mpu6050.c -DF_CPU=16000000UL $(INCLUDES)
+mpu6050.o: mpu6050/mpu6050.c
+	$(CC) $(CFLAGS) -Os -c mpu6050/mpu6050.c -DF_CPU=16000000UL $(INCLUDES)
 
-# mpu6050dmp6.o: mpu6050/mpu6050dmp6.c
-# 	$(CC) $(CFLAGS) -Os -c mpu6050/mpu6050dmp6.c -DF_CPU=16000000UL $(INCLUDES)
+mpu6050dmp6.o: mpu6050/mpu6050dmp6.c
+	$(CC) $(CFLAGS) -Os -c mpu6050/mpu6050dmp6.c -DF_CPU=16000000UL $(INCLUDES)
 
-# i2cmaster.o: i2cmaster/i2cmaster.c
-# 	$(CC) $(CFLAGS) -Os -c i2cmaster/i2cmaster.c -DF_CPU=16000000UL $(INCLUDES)
+i2cmaster.o: i2cmaster/i2cmaster.c
+	$(CC) $(CFLAGS) -Os -c i2cmaster/i2cmaster.c -DF_CPU=16000000UL $(INCLUDES)
 
-mpu9250.o: mpu9250/mpu9250.c
-	$(CC) $(CFLAGS) -Os -c mpu9250/mpu9250.c -DF_CPU=16000000UL $(INCLUDES)
+# mpu9250.o: mpu9250/mpu9250.c
+# 	$(CC) $(CFLAGS) -Os -c mpu9250/mpu9250.c -DF_CPU=16000000UL $(INCLUDES)
 
-twi.o: mpu9250/twi.c
-	$(CC) $(CFLAGS) -Os -c mpu9250/twi.c -DF_CPU=16000000UL $(INCLUDES)
+# twi.o: mpu9250/twi.c
+# 	$(CC) $(CFLAGS) -Os -c mpu9250/twi.c -DF_CPU=16000000UL $(INCLUDES)
 
 clean:
 	rm -rf *.hex *.elf *.o

frames/frames.h

@@ -16,7 +16,7 @@ void frame_create_debug(uint8_t* frame_buffer, uint8_t v0, uint8_t v1);
 #if MPU_TYPE == 6050
 // Creates a frame with latest data from the accelerometer (6DoF) and writes
 // it to buffer.
-acc_create_frame(uint8_t* buffer);
+void acc_create_frame(uint8_t* buffer);
 #endif  // MPU_TYPE == 6050
 
 #if MPU_TYPE == 9250

lidar-avr.h

@@ -10,7 +10,7 @@
 #include "usart/usart.h"
 
 // select MPU (MPU-6050, MPU-9250)
-#define MPU_TYPE 9250
+#define MPU_TYPE 6050
 
 #if MPU_TYPE == 6050
 #include "mpu6050/mpu6050.h"