ToF_I2C.h

00001 /* Define to prevent from recursive inclusion --------------------------------*/
00002 #ifndef __DEV_ToF_I2C_H
00003 #define __DEV_ToF_I2C_H
00004 
00005 /* Includes ------------------------------------------------------------------*/
00006 
00007 #include "mbed.h"
00008 
00009 #include "pinmap.h"
00010 
00011 //Class replacing DevI2C class as it was not implementing a 16bit address registers   
00012 class ToF_DevI2C : public I2C
00013 {
00014 public:
00015     /** Create a DevI2C Master interface, connected to the specified pins
00016      *
00017      *  @param sda I2C data line pin
00018      *  @param scl I2C clock line pin
00019      */
00020     ToF_DevI2C(PinName sda, PinName scl) : I2C(sda, scl) { printf ("hello\n");}
00021     
00022     /**
00023      * @brief  Writes a buffer towards the I2C peripheral device.
00024      * @param  pBuffer pointer to the byte-array data to send
00025      * @param  DeviceAddr specifies the peripheral device slave address.
00026      * @param  RegisterAddr specifies the internal address register
00027      *         where to start writing to (must be correctly masked).
00028      * @param  NumByteToWrite number of bytes to be written.
00029      * @retval 0 if ok,
00030      * @retval -1 if an I2C error has occured, or
00031      * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
00032      * @note   On some devices if NumByteToWrite is greater
00033      *         than one, the RegisterAddr must be masked correctly!
00034      */
00035     int ToF_i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
00036                   uint16_t NumByteToWrite) {
00037         int ret;
00038         uint8_t tmp[TEMP_BUF_SIZE];
00039 
00040         if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
00041 
00042         // First, send device address. Then, send data and STOP condition 
00043         tmp[0] = RegisterAddr >> 8;
00044         tmp[1] = RegisterAddr & 0x0FF;
00045         memcpy(tmp+2, pBuffer, NumByteToWrite);
00046 
00047         ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+2, false);
00048 
00049         if(ret) return -1;
00050         return 0;
00051     }
00052 
00053     /**
00054      * @brief  Reads a buffer from the I2C peripheral device.
00055      * @param  pBuffer pointer to the byte-array to read data in to
00056      * @param  DeviceAddr specifies the peripheral device slave address.
00057      * @param  RegisterAddr specifies the internal address register
00058      *         where to start reading from (must be correctly masked).
00059      * @param  NumByteToRead number of bytes to be read.
00060      * @retval 0 if ok,
00061      * @retval -1 if an I2C error has occured
00062      * @note   On some devices if NumByteToWrite is greater
00063      *         than one, the RegisterAddr must be masked correctly!
00064      */
00065     int ToF_i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint16_t RegisterAddr,
00066                  uint16_t NumByteToRead) {
00067         int ret;
00068         uint8_t ExpanderData[2];
00069         ExpanderData[0] = RegisterAddr >> 8;
00070         ExpanderData[1] = RegisterAddr & 0x0FF;
00071         /* Send device address, with no STOP condition */
00072         ret = write(DeviceAddr, (const char*)ExpanderData, 2, true);
00073         if(!ret) {
00074             /* Read data, with STOP condition  */
00075             ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
00076         }
00077 
00078         if(ret) return -1;
00079         return 0;
00080     }
00081 
00082 private:
00083     static const unsigned int TEMP_BUF_SIZE = 256;
00084 };
00085 
00086 #endif /* __DEV_ToF_I2C_H */