NagaokaRoboticsClub_mbedTeam / MPU6050-DMP

MPU6050 DMP Library

I2Cdev.cpp@0:662207e34fba, 2013-01-11 (annotated)

Committer:
garfieldsg
Date:
Fri Jan 11 00:54:28 2013 +0000
Revision:
0:662207e34fba
Child:
1:1e0baaf91e96
first beta release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garfieldsg 0:662207e34fba 1 // ported from arduino library: https://github.com/jrowberg/i2cdevlib
garfieldsg 0:662207e34fba 2 // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
garfieldsg 0:662207e34fba 3 // Changelog:
garfieldsg 0:662207e34fba 4 // 2013-01-08 - first release
garfieldsg 0:662207e34fba 5
garfieldsg 0:662207e34fba 6 #include "I2Cdev.h"
garfieldsg 0:662207e34fba 7
garfieldsg 0:662207e34fba 8 #define useDebugSerial
garfieldsg 0:662207e34fba 9
garfieldsg 0:662207e34fba 10 I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL)
garfieldsg 0:662207e34fba 11 {
garfieldsg 0:662207e34fba 12
garfieldsg 0:662207e34fba 13 }
garfieldsg 0:662207e34fba 14
garfieldsg 0:662207e34fba 15 I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl)
garfieldsg 0:662207e34fba 16 {
garfieldsg 0:662207e34fba 17
garfieldsg 0:662207e34fba 18 }
garfieldsg 0:662207e34fba 19
garfieldsg 0:662207e34fba 20 /** Read a single bit from an 8-bit device register.
garfieldsg 0:662207e34fba 21 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 22 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 23 * @param bitNum Bit position to read (0-7)
garfieldsg 0:662207e34fba 24 * @param data Container for single bit value
garfieldsg 0:662207e34fba 25 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 26 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 27 */
garfieldsg 0:662207e34fba 28 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 29 uint8_t b;
garfieldsg 0:662207e34fba 30 uint8_t count = readByte(devAddr, regAddr, &b, timeout);
garfieldsg 0:662207e34fba 31 *data = b & (1 << bitNum);
garfieldsg 0:662207e34fba 32 return count;
garfieldsg 0:662207e34fba 33 }
garfieldsg 0:662207e34fba 34
garfieldsg 0:662207e34fba 35 /** Read a single bit from a 16-bit device register.
garfieldsg 0:662207e34fba 36 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 37 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 38 * @param bitNum Bit position to read (0-15)
garfieldsg 0:662207e34fba 39 * @param data Container for single bit value
garfieldsg 0:662207e34fba 40 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 41 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 42 */
garfieldsg 0:662207e34fba 43 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 44 uint16_t b;
garfieldsg 0:662207e34fba 45 uint8_t count = readWord(devAddr, regAddr, &b, timeout);
garfieldsg 0:662207e34fba 46 *data = b & (1 << bitNum);
garfieldsg 0:662207e34fba 47 return count;
garfieldsg 0:662207e34fba 48 }
garfieldsg 0:662207e34fba 49
garfieldsg 0:662207e34fba 50 /** Read multiple bits from an 8-bit device register.
garfieldsg 0:662207e34fba 51 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 52 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 53 * @param bitStart First bit position to read (0-7)
garfieldsg 0:662207e34fba 54 * @param length Number of bits to read (not more than 8)
garfieldsg 0:662207e34fba 55 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
garfieldsg 0:662207e34fba 56 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 57 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 58 */
garfieldsg 0:662207e34fba 59 int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 60 // 01101001 read byte
garfieldsg 0:662207e34fba 61 // 76543210 bit numbers
garfieldsg 0:662207e34fba 62 // xxx args: bitStart=4, length=3
garfieldsg 0:662207e34fba 63 // 010 masked
garfieldsg 0:662207e34fba 64 // -> 010 shifted
garfieldsg 0:662207e34fba 65 uint8_t count, b;
garfieldsg 0:662207e34fba 66 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
garfieldsg 0:662207e34fba 67 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
garfieldsg 0:662207e34fba 68 b &= mask;
garfieldsg 0:662207e34fba 69 b >>= (bitStart - length + 1);
garfieldsg 0:662207e34fba 70 *data = b;
garfieldsg 0:662207e34fba 71 }
garfieldsg 0:662207e34fba 72 return count;
garfieldsg 0:662207e34fba 73 }
garfieldsg 0:662207e34fba 74
garfieldsg 0:662207e34fba 75 /** Read multiple bits from a 16-bit device register.
garfieldsg 0:662207e34fba 76 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 77 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 78 * @param bitStart First bit position to read (0-15)
garfieldsg 0:662207e34fba 79 * @param length Number of bits to read (not more than 16)
garfieldsg 0:662207e34fba 80 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
garfieldsg 0:662207e34fba 81 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 82 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
garfieldsg 0:662207e34fba 83 */
garfieldsg 0:662207e34fba 84 int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 85 // 1101011001101001 read byte
garfieldsg 0:662207e34fba 86 // fedcba9876543210 bit numbers
garfieldsg 0:662207e34fba 87 // xxx args: bitStart=12, length=3
garfieldsg 0:662207e34fba 88 // 010 masked
garfieldsg 0:662207e34fba 89 // -> 010 shifted
garfieldsg 0:662207e34fba 90 uint8_t count;
garfieldsg 0:662207e34fba 91 uint16_t w;
garfieldsg 0:662207e34fba 92 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
garfieldsg 0:662207e34fba 93 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
garfieldsg 0:662207e34fba 94 w &= mask;
garfieldsg 0:662207e34fba 95 w >>= (bitStart - length + 1);
garfieldsg 0:662207e34fba 96 *data = w;
garfieldsg 0:662207e34fba 97 }
garfieldsg 0:662207e34fba 98 return count;
garfieldsg 0:662207e34fba 99 }
garfieldsg 0:662207e34fba 100 /** Read single byte from an 8-bit device register.
garfieldsg 0:662207e34fba 101 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 102 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 103 * @param data Container for byte value read from device
garfieldsg 0:662207e34fba 104 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 105 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 106 */
garfieldsg 0:662207e34fba 107 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 108 return readBytes(devAddr, regAddr, 1, data, timeout);
garfieldsg 0:662207e34fba 109 }
garfieldsg 0:662207e34fba 110
garfieldsg 0:662207e34fba 111 /** Read single word from a 16-bit device register.
garfieldsg 0:662207e34fba 112 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 113 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 114 * @param data Container for word value read from device
garfieldsg 0:662207e34fba 115 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 116 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 117 */
garfieldsg 0:662207e34fba 118 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 119 return readWords(devAddr, regAddr, 1, data, timeout);
garfieldsg 0:662207e34fba 120 }
garfieldsg 0:662207e34fba 121
garfieldsg 0:662207e34fba 122 /** Read multiple bytes from an 8-bit device register.
garfieldsg 0:662207e34fba 123 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 124 * @param regAddr First register regAddr to read from
garfieldsg 0:662207e34fba 125 * @param length Number of bytes to read
garfieldsg 0:662207e34fba 126 * @param data Buffer to store read data in
garfieldsg 0:662207e34fba 127 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 128 * @return Number of bytes read (-1 indicates failure)
garfieldsg 0:662207e34fba 129 */
garfieldsg 0:662207e34fba 130 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
garfieldsg 0:662207e34fba 131 {
garfieldsg 0:662207e34fba 132 char command[1];
garfieldsg 0:662207e34fba 133 command[0] = regAddr;
garfieldsg 0:662207e34fba 134 char *redData = (char*)malloc(length);
garfieldsg 0:662207e34fba 135 i2c.write(devAddr<<1, command, 1, true);
garfieldsg 0:662207e34fba 136 i2c.read(devAddr<<1, redData, length);
garfieldsg 0:662207e34fba 137 for(int i =0; i < length; i++) {
garfieldsg 0:662207e34fba 138 data[i] = redData[i];
garfieldsg 0:662207e34fba 139 }
garfieldsg 0:662207e34fba 140 return length;
garfieldsg 0:662207e34fba 141 }
garfieldsg 0:662207e34fba 142
garfieldsg 0:662207e34fba 143 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
garfieldsg 0:662207e34fba 144 {
garfieldsg 0:662207e34fba 145 return 0;
garfieldsg 0:662207e34fba 146 }
garfieldsg 0:662207e34fba 147
garfieldsg 0:662207e34fba 148 /** write a single bit in an 8-bit device register.
garfieldsg 0:662207e34fba 149 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 150 * @param regAddr Register regAddr to write to
garfieldsg 0:662207e34fba 151 * @param bitNum Bit position to write (0-7)
garfieldsg 0:662207e34fba 152 * @param value New bit value to write
garfieldsg 0:662207e34fba 153 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 154 */
garfieldsg 0:662207e34fba 155 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
garfieldsg 0:662207e34fba 156 uint8_t b;
garfieldsg 0:662207e34fba 157 readByte(devAddr, regAddr, &b);
garfieldsg 0:662207e34fba 158 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
garfieldsg 0:662207e34fba 159 return writeByte(devAddr, regAddr, b);
garfieldsg 0:662207e34fba 160 }
garfieldsg 0:662207e34fba 161
garfieldsg 0:662207e34fba 162 /** write a single bit in a 16-bit device register.
garfieldsg 0:662207e34fba 163 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 164 * @param regAddr Register regAddr to write to
garfieldsg 0:662207e34fba 165 * @param bitNum Bit position to write (0-15)
garfieldsg 0:662207e34fba 166 * @param value New bit value to write
garfieldsg 0:662207e34fba 167 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 168 */
garfieldsg 0:662207e34fba 169 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
garfieldsg 0:662207e34fba 170 uint16_t w;
garfieldsg 0:662207e34fba 171 readWord(devAddr, regAddr, &w);
garfieldsg 0:662207e34fba 172 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
garfieldsg 0:662207e34fba 173 return writeWord(devAddr, regAddr, w);
garfieldsg 0:662207e34fba 174 }
garfieldsg 0:662207e34fba 175
garfieldsg 0:662207e34fba 176 /** Write multiple bits in an 8-bit device register.
garfieldsg 0:662207e34fba 177 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 178 * @param regAddr Register regAddr to write to
garfieldsg 0:662207e34fba 179 * @param bitStart First bit position to write (0-7)
garfieldsg 0:662207e34fba 180 * @param length Number of bits to write (not more than 8)
garfieldsg 0:662207e34fba 181 * @param data Right-aligned value to write
garfieldsg 0:662207e34fba 182 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 183 */
garfieldsg 0:662207e34fba 184 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
garfieldsg 0:662207e34fba 185 // 010 value to write
garfieldsg 0:662207e34fba 186 // 76543210 bit numbers
garfieldsg 0:662207e34fba 187 // xxx args: bitStart=4, length=3
garfieldsg 0:662207e34fba 188 // 00011100 mask byte
garfieldsg 0:662207e34fba 189 // 10101111 original value (sample)
garfieldsg 0:662207e34fba 190 // 10100011 original & ~mask
garfieldsg 0:662207e34fba 191 // 10101011 masked | value
garfieldsg 0:662207e34fba 192 uint8_t b;
garfieldsg 0:662207e34fba 193 if (readByte(devAddr, regAddr, &b) != 0) {
garfieldsg 0:662207e34fba 194 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
garfieldsg 0:662207e34fba 195 data <<= (bitStart - length + 1); // shift data into correct position
garfieldsg 0:662207e34fba 196 data &= mask; // zero all non-important bits in data
garfieldsg 0:662207e34fba 197 b &= ~(mask); // zero all important bits in existing byte
garfieldsg 0:662207e34fba 198 b |= data; // combine data with existing byte
garfieldsg 0:662207e34fba 199 return writeByte(devAddr, regAddr, b);
garfieldsg 0:662207e34fba 200 } else {
garfieldsg 0:662207e34fba 201 return false;
garfieldsg 0:662207e34fba 202 }
garfieldsg 0:662207e34fba 203 }
garfieldsg 0:662207e34fba 204
garfieldsg 0:662207e34fba 205 /** Write multiple bits in a 16-bit device register.
garfieldsg 0:662207e34fba 206 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 207 * @param regAddr Register regAddr to write to
garfieldsg 0:662207e34fba 208 * @param bitStart First bit position to write (0-15)
garfieldsg 0:662207e34fba 209 * @param length Number of bits to write (not more than 16)
garfieldsg 0:662207e34fba 210 * @param data Right-aligned value to write
garfieldsg 0:662207e34fba 211 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 212 */
garfieldsg 0:662207e34fba 213 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
garfieldsg 0:662207e34fba 214 // 010 value to write
garfieldsg 0:662207e34fba 215 // fedcba9876543210 bit numbers
garfieldsg 0:662207e34fba 216 // xxx args: bitStart=12, length=3
garfieldsg 0:662207e34fba 217 // 0001110000000000 mask byte
garfieldsg 0:662207e34fba 218 // 1010111110010110 original value (sample)
garfieldsg 0:662207e34fba 219 // 1010001110010110 original & ~mask
garfieldsg 0:662207e34fba 220 // 1010101110010110 masked | value
garfieldsg 0:662207e34fba 221 uint16_t w;
garfieldsg 0:662207e34fba 222 if (readWord(devAddr, regAddr, &w) != 0) {
garfieldsg 0:662207e34fba 223 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
garfieldsg 0:662207e34fba 224 data <<= (bitStart - length + 1); // shift data into correct position
garfieldsg 0:662207e34fba 225 data &= mask; // zero all non-important bits in data
garfieldsg 0:662207e34fba 226 w &= ~(mask); // zero all important bits in existing word
garfieldsg 0:662207e34fba 227 w |= data; // combine data with existing word
garfieldsg 0:662207e34fba 228 return writeWord(devAddr, regAddr, w);
garfieldsg 0:662207e34fba 229 } else {
garfieldsg 0:662207e34fba 230 return false;
garfieldsg 0:662207e34fba 231 }
garfieldsg 0:662207e34fba 232 }
garfieldsg 0:662207e34fba 233
garfieldsg 0:662207e34fba 234 /** Write single byte to an 8-bit device register.
garfieldsg 0:662207e34fba 235 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 236 * @param regAddr Register address to write to
garfieldsg 0:662207e34fba 237 * @param data New byte value to write
garfieldsg 0:662207e34fba 238 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 239 */
garfieldsg 0:662207e34fba 240 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
garfieldsg 0:662207e34fba 241 return writeBytes(devAddr, regAddr, 1, &data);
garfieldsg 0:662207e34fba 242 }
garfieldsg 0:662207e34fba 243
garfieldsg 0:662207e34fba 244 /** Write single word to a 16-bit device register.
garfieldsg 0:662207e34fba 245 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 246 * @param regAddr Register address to write to
garfieldsg 0:662207e34fba 247 * @param data New word value to write
garfieldsg 0:662207e34fba 248 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 249 */
garfieldsg 0:662207e34fba 250 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
garfieldsg 0:662207e34fba 251 return writeWords(devAddr, regAddr, 1, &data);
garfieldsg 0:662207e34fba 252 }
garfieldsg 0:662207e34fba 253
garfieldsg 0:662207e34fba 254 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
garfieldsg 0:662207e34fba 255 {
garfieldsg 0:662207e34fba 256 i2c.start();
garfieldsg 0:662207e34fba 257 i2c.write(devAddr<<1);
garfieldsg 0:662207e34fba 258 i2c.write(regAddr);
garfieldsg 0:662207e34fba 259 for(int i = 0; i < length; i++) {
garfieldsg 0:662207e34fba 260 i2c.write(data[i]);
garfieldsg 0:662207e34fba 261 }
garfieldsg 0:662207e34fba 262 i2c.stop();
garfieldsg 0:662207e34fba 263 return true;
garfieldsg 0:662207e34fba 264 }
garfieldsg 0:662207e34fba 265
garfieldsg 0:662207e34fba 266 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
garfieldsg 0:662207e34fba 267 {
garfieldsg 0:662207e34fba 268 return true;
garfieldsg 0:662207e34fba 269 }
garfieldsg 0:662207e34fba 270
garfieldsg 0:662207e34fba 271 uint16_t I2Cdev::readTimeout(void)
garfieldsg 0:662207e34fba 272 {
garfieldsg 0:662207e34fba 273 return 0;
garfieldsg 0:662207e34fba 274 }