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Dependencies:   mbed Servo MC33926 encoder

Fork of FlexV1 by Ferréol GAGEY

I2Cdev.h

Committer:
fgagey
Date:
2022-01-25
Revision:
9:7b0f9fd4586b
Parent:
8:3c174bef1dbd

File content as of revision 9:7b0f9fd4586b:

//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
//written by szymon gaertig (email: szymon@gaertig.com.pl)
//
//Changelog: 
//2013-01-08 - first beta release

#ifndef I2Cdev_h
#define I2Cdev_h

#include "mbed.h"

#define I2C_SDA D14
#define I2C_SCL D15


class I2Cdev {
    private:
        I2C i2c;
        Serial debugSerial;
    public:
        I2Cdev();
        I2Cdev(PinName i2cSda, PinName i2cScl);        
        
        int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
        int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
        int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
        int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
        int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
        int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
        int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
        int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());

        bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
        bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
        bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
        bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
        bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
        bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
        bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
        bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);

        static uint16_t readTimeout(void);
};

#endif