From 81034685c5cd3191554b21592c5b87ce5893a5a6 Mon Sep 17 00:00:00 2001
From: mayankgour13 <36739521+mayankgour13@users.noreply.github.com>
Date: Mon, 22 Oct 2018 23:18:25 +0530
Subject: [PATCH] Typecasting added to support 32-bit controllers.

For 32-bit controllers size of Integer is 32-bit which does not treat 16-bit 2's complement value +/- ve but only as 16-bit +ve Integer as the first MSB is always 0.
---
 MPU6050.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/MPU6050.cpp b/MPU6050.cpp
index d9cc131..a8cb335 100644
--- a/MPU6050.cpp
+++ b/MPU6050.cpp
@@ -373,9 +373,9 @@ Vector MPU6050::readRawAccel(void)
 	uint8_t zla = Wire.receive();
     #endif
 
-    ra.XAxis = xha << 8 | xla;
-    ra.YAxis = yha << 8 | yla;
-    ra.ZAxis = zha << 8 | zla;
+    ra.XAxis = (int16_t)(xha << 8 | xla);
+    ra.YAxis = (int16_t)(yha << 8 | yla);
+    ra.ZAxis = (int16_t)(zha << 8 | zla);
 
     return ra;
 }
@@ -434,9 +434,9 @@ Vector MPU6050::readRawGyro(void)
 	uint8_t zla = Wire.receive();
     #endif
 
-    rg.XAxis = xha << 8 | xla;
-    rg.YAxis = yha << 8 | yla;
-    rg.ZAxis = zha << 8 | zla;
+    rg.XAxis = (int16_t)(xha << 8 | xla);
+    rg.YAxis = (int16_t)(yha << 8 | yla);
+    rg.ZAxis = (int16_t)(zha << 8 | zla);
 
     return rg;
 }