Merge branch 'master' into develop

Author: eadf

Arduino/MPU9150/MPU9150.cpp

@@ -2984,6 +2984,7 @@ bool MPU9150::writeMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t b
     uint8_t j;
     if (verify) verifyBuffer = (uint8_t *)malloc(MPU9150_DMP_MEMORY_CHUNK_SIZE);
     if (useProgMem) progBuffer = (uint8_t *)malloc(MPU9150_DMP_MEMORY_CHUNK_SIZE);
+    else progBuffer = NULL;
     for (i = 0; i < dataSize;) {
         // determine correct chunk size according to bank position and data size
         chunkSize = MPU9150_DMP_MEMORY_CHUNK_SIZE;
@@ -3058,6 +3059,8 @@ bool MPU9150::writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, b
     uint16_t i, j;
     if (useProgMem) {
         progBuffer = (uint8_t *)malloc(8); // assume 8-byte blocks, realloc later if necessary
+    } else {
+        progBuffer = NULL;
     }
 
     // config set data is a long string of blocks with the following structure:
@@ -3150,4 +3153,4 @@ uint8_t MPU9150::getDMPConfig2() {
 }
 void MPU9150::setDMPConfig2(uint8_t config) {
     I2Cdev::writeByte(devAddr, MPU9150_RA_DMP_CFG_2, config);
-}
+}

Arduino/MPU9150/MPU9150.h

@@ -39,16 +39,49 @@ THE SOFTWARE.
 
 #include "I2Cdev.h"
 
-// supporting link:  http://forum.arduino.cc/index.php?&topic=143444.msg1079517#msg1079517
-// also: http://forum.arduino.cc/index.php?&topic=141571.msg1062899#msg1062899s
+// Tom Carpenter's conditional PROGMEM code
+// http://forum.arduino.cc/index.php?topic=129407.0
 #ifdef __AVR__
-#include <avr/pgmspace.h>
+    #include <avr/pgmspace.h>
 #else
-#define PROGMEM /* empty */
-#define pgm_read_byte(x) (*(x))
-#define pgm_read_word(x) (*(x))
-#define pgm_read_float(x) (*(x))
-#define PSTR(STR) STR
+    // Teensy 3.0 library conditional PROGMEM code from Paul Stoffregen
+    #ifndef __PGMSPACE_H_
+        #define __PGMSPACE_H_ 1
+        #include <inttypes.h>
+
+        #define PROGMEM
+        #define PGM_P  const char *
+        #define PSTR(str) (str)
+        #define F(x) x
+
+        typedef void prog_void;
+        typedef char prog_char;
+        typedef unsigned char prog_uchar;
+        typedef int8_t prog_int8_t;
+        typedef uint8_t prog_uint8_t;
+        typedef int16_t prog_int16_t;
+        typedef uint16_t prog_uint16_t;
+        typedef int32_t prog_int32_t;
+        typedef uint32_t prog_uint32_t;
+
+        #define strcpy_P(dest, src) strcpy((dest), (src))
+        #define strcat_P(dest, src) strcat((dest), (src))
+        #define strcmp_P(a, b) strcmp((a), (b))
+
+        #define pgm_read_byte(addr) (*(const unsigned char *)(addr))
+        #define pgm_read_word(addr) (*(const unsigned short *)(addr))
+        #define pgm_read_dword(addr) (*(const unsigned long *)(addr))
+        #define pgm_read_float(addr) (*(const float *)(addr))
+
+        #define pgm_read_byte_near(addr) pgm_read_byte(addr)
+        #define pgm_read_word_near(addr) pgm_read_word(addr)
+        #define pgm_read_dword_near(addr) pgm_read_dword(addr)
+        #define pgm_read_float_near(addr) pgm_read_float(addr)
+        #define pgm_read_byte_far(addr) pgm_read_byte(addr)
+        #define pgm_read_word_far(addr) pgm_read_word(addr)
+        #define pgm_read_dword_far(addr) pgm_read_dword(addr)
+        #define pgm_read_float_far(addr) pgm_read_float(addr)
+    #endif
 #endif
 
 //Magnetometer Registers