ABELI / Mbed 2 deprecated Beschleunigungssensor

Werte auslesen und in Winkel umrechnen

Dependencies:   mbed

I2Cdev.cpp@0:d1960beb98fe, 2015-09-30 (annotated)

Committer:
Heidl
Date:
Wed Sep 30 16:08:36 2015 +0000
Revision:
0:d1960beb98fe
Werte von Beschleunigungssensor auslesen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Heidl 0:d1960beb98fe 1 // ported from arduino library: https://github.com/jrowberg/i2cdevlib
Heidl 0:d1960beb98fe 2 // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
Heidl 0:d1960beb98fe 3 // Changelog:
Heidl 0:d1960beb98fe 4 // 2013-01-08 - first release
Heidl 0:d1960beb98fe 5
Heidl 0:d1960beb98fe 6 #include "I2Cdev.h"
Heidl 0:d1960beb98fe 7
Heidl 0:d1960beb98fe 8 #define useDebugSerial
Heidl 0:d1960beb98fe 9
Heidl 0:d1960beb98fe 10 I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL)
Heidl 0:d1960beb98fe 11 {
Heidl 0:d1960beb98fe 12
Heidl 0:d1960beb98fe 13 }
Heidl 0:d1960beb98fe 14
Heidl 0:d1960beb98fe 15 I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl)
Heidl 0:d1960beb98fe 16 {
Heidl 0:d1960beb98fe 17
Heidl 0:d1960beb98fe 18 }
Heidl 0:d1960beb98fe 19
Heidl 0:d1960beb98fe 20 /** Read a single bit from an 8-bit device register.
Heidl 0:d1960beb98fe 21 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 22 * @param regAddr Register regAddr to read from
Heidl 0:d1960beb98fe 23 * @param bitNum Bit position to read (0-7)
Heidl 0:d1960beb98fe 24 * @param data Container for single bit value
Heidl 0:d1960beb98fe 25 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
Heidl 0:d1960beb98fe 26 * @return Status of read operation (true = success)
Heidl 0:d1960beb98fe 27 */
Heidl 0:d1960beb98fe 28 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
Heidl 0:d1960beb98fe 29 uint8_t b;
Heidl 0:d1960beb98fe 30 uint8_t count = readByte(devAddr, regAddr, &b, timeout);
Heidl 0:d1960beb98fe 31 *data = b & (1 << bitNum);
Heidl 0:d1960beb98fe 32 return count;
Heidl 0:d1960beb98fe 33 }
Heidl 0:d1960beb98fe 34
Heidl 0:d1960beb98fe 35 /** Read a single bit from a 16-bit device register.
Heidl 0:d1960beb98fe 36 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 37 * @param regAddr Register regAddr to read from
Heidl 0:d1960beb98fe 38 * @param bitNum Bit position to read (0-15)
Heidl 0:d1960beb98fe 39 * @param data Container for single bit value
Heidl 0:d1960beb98fe 40 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
Heidl 0:d1960beb98fe 41 * @return Status of read operation (true = success)
Heidl 0:d1960beb98fe 42 */
Heidl 0:d1960beb98fe 43 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
Heidl 0:d1960beb98fe 44 uint16_t b;
Heidl 0:d1960beb98fe 45 uint8_t count = readWord(devAddr, regAddr, &b, timeout);
Heidl 0:d1960beb98fe 46 *data = b & (1 << bitNum);
Heidl 0:d1960beb98fe 47 return count;
Heidl 0:d1960beb98fe 48 }
Heidl 0:d1960beb98fe 49
Heidl 0:d1960beb98fe 50 /** Read multiple bits from an 8-bit device register.
Heidl 0:d1960beb98fe 51 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 52 * @param regAddr Register regAddr to read from
Heidl 0:d1960beb98fe 53 * @param bitStart First bit position to read (0-7)
Heidl 0:d1960beb98fe 54 * @param length Number of bits to read (not more than 8)
Heidl 0:d1960beb98fe 55 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
Heidl 0:d1960beb98fe 56 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
Heidl 0:d1960beb98fe 57 * @return Status of read operation (true = success)
Heidl 0:d1960beb98fe 58 */
Heidl 0:d1960beb98fe 59 int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
Heidl 0:d1960beb98fe 60 // 01101001 read byte
Heidl 0:d1960beb98fe 61 // 76543210 bit numbers
Heidl 0:d1960beb98fe 62 // xxx args: bitStart=4, length=3
Heidl 0:d1960beb98fe 63 // 010 masked
Heidl 0:d1960beb98fe 64 // -> 010 shifted
Heidl 0:d1960beb98fe 65 uint8_t count, b;
Heidl 0:d1960beb98fe 66 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
Heidl 0:d1960beb98fe 67 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
Heidl 0:d1960beb98fe 68 b &= mask;
Heidl 0:d1960beb98fe 69 b >>= (bitStart - length + 1);
Heidl 0:d1960beb98fe 70 *data = b;
Heidl 0:d1960beb98fe 71 }
Heidl 0:d1960beb98fe 72 return count;
Heidl 0:d1960beb98fe 73 }
Heidl 0:d1960beb98fe 74
Heidl 0:d1960beb98fe 75 /** Read multiple bits from a 16-bit device register.
Heidl 0:d1960beb98fe 76 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 77 * @param regAddr Register regAddr to read from
Heidl 0:d1960beb98fe 78 * @param bitStart First bit position to read (0-15)
Heidl 0:d1960beb98fe 79 * @param length Number of bits to read (not more than 16)
Heidl 0:d1960beb98fe 80 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
Heidl 0:d1960beb98fe 81 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
Heidl 0:d1960beb98fe 82 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
Heidl 0:d1960beb98fe 83 */
Heidl 0:d1960beb98fe 84 int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
Heidl 0:d1960beb98fe 85 // 1101011001101001 read byte
Heidl 0:d1960beb98fe 86 // fedcba9876543210 bit numbers
Heidl 0:d1960beb98fe 87 // xxx args: bitStart=12, length=3
Heidl 0:d1960beb98fe 88 // 010 masked
Heidl 0:d1960beb98fe 89 // -> 010 shifted
Heidl 0:d1960beb98fe 90 uint8_t count;
Heidl 0:d1960beb98fe 91 uint16_t w;
Heidl 0:d1960beb98fe 92 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
Heidl 0:d1960beb98fe 93 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
Heidl 0:d1960beb98fe 94 w &= mask;
Heidl 0:d1960beb98fe 95 w >>= (bitStart - length + 1);
Heidl 0:d1960beb98fe 96 *data = w;
Heidl 0:d1960beb98fe 97 }
Heidl 0:d1960beb98fe 98 return count;
Heidl 0:d1960beb98fe 99 }
Heidl 0:d1960beb98fe 100 /** Read single byte from an 8-bit device register.
Heidl 0:d1960beb98fe 101 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 102 * @param regAddr Register regAddr to read from
Heidl 0:d1960beb98fe 103 * @param data Container for byte value read from device
Heidl 0:d1960beb98fe 104 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
Heidl 0:d1960beb98fe 105 * @return Status of read operation (true = success)
Heidl 0:d1960beb98fe 106 */
Heidl 0:d1960beb98fe 107 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
Heidl 0:d1960beb98fe 108 return readBytes(devAddr, regAddr, 1, data, timeout);
Heidl 0:d1960beb98fe 109 }
Heidl 0:d1960beb98fe 110
Heidl 0:d1960beb98fe 111 /** Read single word from a 16-bit device register.
Heidl 0:d1960beb98fe 112 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 113 * @param regAddr Register regAddr to read from
Heidl 0:d1960beb98fe 114 * @param data Container for word value read from device
Heidl 0:d1960beb98fe 115 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
Heidl 0:d1960beb98fe 116 * @return Status of read operation (true = success)
Heidl 0:d1960beb98fe 117 */
Heidl 0:d1960beb98fe 118 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
Heidl 0:d1960beb98fe 119 return readWords(devAddr, regAddr, 1, data, timeout);
Heidl 0:d1960beb98fe 120 }
Heidl 0:d1960beb98fe 121
Heidl 0:d1960beb98fe 122 /** Read multiple bytes from an 8-bit device register.
Heidl 0:d1960beb98fe 123 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 124 * @param regAddr First register regAddr to read from
Heidl 0:d1960beb98fe 125 * @param length Number of bytes to read
Heidl 0:d1960beb98fe 126 * @param data Buffer to store read data in
Heidl 0:d1960beb98fe 127 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
Heidl 0:d1960beb98fe 128 * @return Number of bytes read (-1 indicates failure)
Heidl 0:d1960beb98fe 129 */
Heidl 0:d1960beb98fe 130 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
Heidl 0:d1960beb98fe 131 {
Heidl 0:d1960beb98fe 132 char command[1];
Heidl 0:d1960beb98fe 133 command[0] = regAddr;
Heidl 0:d1960beb98fe 134 char *redData = (char*)malloc(length);
Heidl 0:d1960beb98fe 135 i2c.write(devAddr<<1, command, 1, true);
Heidl 0:d1960beb98fe 136 i2c.read(devAddr<<1, redData, length);
Heidl 0:d1960beb98fe 137 for(int i =0; i < length; i++) {
Heidl 0:d1960beb98fe 138 data[i] = redData[i];
Heidl 0:d1960beb98fe 139 }
Heidl 0:d1960beb98fe 140 free (redData);
Heidl 0:d1960beb98fe 141 return length;
Heidl 0:d1960beb98fe 142 }
Heidl 0:d1960beb98fe 143
Heidl 0:d1960beb98fe 144 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
Heidl 0:d1960beb98fe 145 {
Heidl 0:d1960beb98fe 146 return 0;
Heidl 0:d1960beb98fe 147 }
Heidl 0:d1960beb98fe 148
Heidl 0:d1960beb98fe 149 /** write a single bit in an 8-bit device register.
Heidl 0:d1960beb98fe 150 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 151 * @param regAddr Register regAddr to write to
Heidl 0:d1960beb98fe 152 * @param bitNum Bit position to write (0-7)
Heidl 0:d1960beb98fe 153 * @param value New bit value to write
Heidl 0:d1960beb98fe 154 * @return Status of operation (true = success)
Heidl 0:d1960beb98fe 155 */
Heidl 0:d1960beb98fe 156 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
Heidl 0:d1960beb98fe 157 uint8_t b;
Heidl 0:d1960beb98fe 158 readByte(devAddr, regAddr, &b);
Heidl 0:d1960beb98fe 159 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
Heidl 0:d1960beb98fe 160 return writeByte(devAddr, regAddr, b);
Heidl 0:d1960beb98fe 161 }
Heidl 0:d1960beb98fe 162
Heidl 0:d1960beb98fe 163 /** write a single bit in a 16-bit device register.
Heidl 0:d1960beb98fe 164 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 165 * @param regAddr Register regAddr to write to
Heidl 0:d1960beb98fe 166 * @param bitNum Bit position to write (0-15)
Heidl 0:d1960beb98fe 167 * @param value New bit value to write
Heidl 0:d1960beb98fe 168 * @return Status of operation (true = success)
Heidl 0:d1960beb98fe 169 */
Heidl 0:d1960beb98fe 170 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
Heidl 0:d1960beb98fe 171 uint16_t w;
Heidl 0:d1960beb98fe 172 readWord(devAddr, regAddr, &w);
Heidl 0:d1960beb98fe 173 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
Heidl 0:d1960beb98fe 174 return writeWord(devAddr, regAddr, w);
Heidl 0:d1960beb98fe 175 }
Heidl 0:d1960beb98fe 176
Heidl 0:d1960beb98fe 177 /** Write multiple bits in an 8-bit device register.
Heidl 0:d1960beb98fe 178 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 179 * @param regAddr Register regAddr to write to
Heidl 0:d1960beb98fe 180 * @param bitStart First bit position to write (0-7)
Heidl 0:d1960beb98fe 181 * @param length Number of bits to write (not more than 8)
Heidl 0:d1960beb98fe 182 * @param data Right-aligned value to write
Heidl 0:d1960beb98fe 183 * @return Status of operation (true = success)
Heidl 0:d1960beb98fe 184 */
Heidl 0:d1960beb98fe 185 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
Heidl 0:d1960beb98fe 186 // 010 value to write
Heidl 0:d1960beb98fe 187 // 76543210 bit numbers
Heidl 0:d1960beb98fe 188 // xxx args: bitStart=4, length=3
Heidl 0:d1960beb98fe 189 // 00011100 mask byte
Heidl 0:d1960beb98fe 190 // 10101111 original value (sample)
Heidl 0:d1960beb98fe 191 // 10100011 original & ~mask
Heidl 0:d1960beb98fe 192 // 10101011 masked | value
Heidl 0:d1960beb98fe 193 uint8_t b;
Heidl 0:d1960beb98fe 194 if (readByte(devAddr, regAddr, &b) != 0) {
Heidl 0:d1960beb98fe 195 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
Heidl 0:d1960beb98fe 196 data <<= (bitStart - length + 1); // shift data into correct position
Heidl 0:d1960beb98fe 197 data &= mask; // zero all non-important bits in data
Heidl 0:d1960beb98fe 198 b &= ~(mask); // zero all important bits in existing byte
Heidl 0:d1960beb98fe 199 b |= data; // combine data with existing byte
Heidl 0:d1960beb98fe 200 return writeByte(devAddr, regAddr, b);
Heidl 0:d1960beb98fe 201 } else {
Heidl 0:d1960beb98fe 202 return false;
Heidl 0:d1960beb98fe 203 }
Heidl 0:d1960beb98fe 204 }
Heidl 0:d1960beb98fe 205
Heidl 0:d1960beb98fe 206 /** Write multiple bits in a 16-bit device register.
Heidl 0:d1960beb98fe 207 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 208 * @param regAddr Register regAddr to write to
Heidl 0:d1960beb98fe 209 * @param bitStart First bit position to write (0-15)
Heidl 0:d1960beb98fe 210 * @param length Number of bits to write (not more than 16)
Heidl 0:d1960beb98fe 211 * @param data Right-aligned value to write
Heidl 0:d1960beb98fe 212 * @return Status of operation (true = success)
Heidl 0:d1960beb98fe 213 */
Heidl 0:d1960beb98fe 214 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
Heidl 0:d1960beb98fe 215 // 010 value to write
Heidl 0:d1960beb98fe 216 // fedcba9876543210 bit numbers
Heidl 0:d1960beb98fe 217 // xxx args: bitStart=12, length=3
Heidl 0:d1960beb98fe 218 // 0001110000000000 mask byte
Heidl 0:d1960beb98fe 219 // 1010111110010110 original value (sample)
Heidl 0:d1960beb98fe 220 // 1010001110010110 original & ~mask
Heidl 0:d1960beb98fe 221 // 1010101110010110 masked | value
Heidl 0:d1960beb98fe 222 uint16_t w;
Heidl 0:d1960beb98fe 223 if (readWord(devAddr, regAddr, &w) != 0) {
Heidl 0:d1960beb98fe 224 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
Heidl 0:d1960beb98fe 225 data <<= (bitStart - length + 1); // shift data into correct position
Heidl 0:d1960beb98fe 226 data &= mask; // zero all non-important bits in data
Heidl 0:d1960beb98fe 227 w &= ~(mask); // zero all important bits in existing word
Heidl 0:d1960beb98fe 228 w |= data; // combine data with existing word
Heidl 0:d1960beb98fe 229 return writeWord(devAddr, regAddr, w);
Heidl 0:d1960beb98fe 230 } else {
Heidl 0:d1960beb98fe 231 return false;
Heidl 0:d1960beb98fe 232 }
Heidl 0:d1960beb98fe 233 }
Heidl 0:d1960beb98fe 234
Heidl 0:d1960beb98fe 235 /** Write single byte to an 8-bit device register.
Heidl 0:d1960beb98fe 236 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 237 * @param regAddr Register address to write to
Heidl 0:d1960beb98fe 238 * @param data New byte value to write
Heidl 0:d1960beb98fe 239 * @return Status of operation (true = success)
Heidl 0:d1960beb98fe 240 */
Heidl 0:d1960beb98fe 241 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
Heidl 0:d1960beb98fe 242 return writeBytes(devAddr, regAddr, 1, &data);
Heidl 0:d1960beb98fe 243 }
Heidl 0:d1960beb98fe 244
Heidl 0:d1960beb98fe 245 /** Write single word to a 16-bit device register.
Heidl 0:d1960beb98fe 246 * @param devAddr I2C slave device address
Heidl 0:d1960beb98fe 247 * @param regAddr Register address to write to
Heidl 0:d1960beb98fe 248 * @param data New word value to write
Heidl 0:d1960beb98fe 249 * @return Status of operation (true = success)
Heidl 0:d1960beb98fe 250 */
Heidl 0:d1960beb98fe 251 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
Heidl 0:d1960beb98fe 252 return writeWords(devAddr, regAddr, 1, &data);
Heidl 0:d1960beb98fe 253 }
Heidl 0:d1960beb98fe 254
Heidl 0:d1960beb98fe 255 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
Heidl 0:d1960beb98fe 256 {
Heidl 0:d1960beb98fe 257 i2c.start();
Heidl 0:d1960beb98fe 258 i2c.write(devAddr<<1);
Heidl 0:d1960beb98fe 259 i2c.write(regAddr);
Heidl 0:d1960beb98fe 260 for(int i = 0; i < length; i++) {
Heidl 0:d1960beb98fe 261 i2c.write(data[i]);
Heidl 0:d1960beb98fe 262 }
Heidl 0:d1960beb98fe 263 i2c.stop();
Heidl 0:d1960beb98fe 264 return true;
Heidl 0:d1960beb98fe 265 }
Heidl 0:d1960beb98fe 266
Heidl 0:d1960beb98fe 267 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
Heidl 0:d1960beb98fe 268 {
Heidl 0:d1960beb98fe 269 return true;
Heidl 0:d1960beb98fe 270 }
Heidl 0:d1960beb98fe 271
Heidl 0:d1960beb98fe 272 uint16_t I2Cdev::readTimeout(void)
Heidl 0:d1960beb98fe 273 {
Heidl 0:d1960beb98fe 274 return 0;
Heidl 0:d1960beb98fe 275 }