Gurvan PRIEM / Mbed 2 deprecated RaptorControl

An incomplete quadcopter control programme.

Dependencies:   mbed

MPU6050/I2Cdev.h@0:9cb9445a11f0, 2013-07-17 (annotated)

Committer:
Gurvan
Date:
Wed Jul 17 15:58:25 2013 +0000
Revision:
0:9cb9445a11f0
Pour Zobson, fi(r)st commit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gurvan 0:9cb9445a11f0 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
Gurvan 0:9cb9445a11f0 2 //written by szymon gaertig (email: szymon@gaertig.com.pl), small correction by Aloïs Wolff
Gurvan 0:9cb9445a11f0 3 //
Gurvan 0:9cb9445a11f0 4 //Changelog:
Gurvan 0:9cb9445a11f0 5 //2013-01-08 - first beta release
Gurvan 0:9cb9445a11f0 6 //2013-02-18 - fixed a malloc with no free in ::readBytes
Gurvan 0:9cb9445a11f0 7
Gurvan 0:9cb9445a11f0 8 #ifndef I2Cdev_h
Gurvan 0:9cb9445a11f0 9 #define I2Cdev_h
Gurvan 0:9cb9445a11f0 10
Gurvan 0:9cb9445a11f0 11 #include "mbed.h"
Gurvan 0:9cb9445a11f0 12
Gurvan 0:9cb9445a11f0 13 #define I2C_SDA PTE0
Gurvan 0:9cb9445a11f0 14 #define I2C_SCL PTE1
Gurvan 0:9cb9445a11f0 15
Gurvan 0:9cb9445a11f0 16 class I2Cdev {
Gurvan 0:9cb9445a11f0 17 private:
Gurvan 0:9cb9445a11f0 18 I2C i2c;
Gurvan 0:9cb9445a11f0 19 Serial debugSerial;
Gurvan 0:9cb9445a11f0 20 public:
Gurvan 0:9cb9445a11f0 21 I2Cdev();
Gurvan 0:9cb9445a11f0 22 I2Cdev(PinName i2cSda, PinName i2cScl);
Gurvan 0:9cb9445a11f0 23
Gurvan 0:9cb9445a11f0 24 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
Gurvan 0:9cb9445a11f0 25 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
Gurvan 0:9cb9445a11f0 26 int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
Gurvan 0:9cb9445a11f0 27 int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
Gurvan 0:9cb9445a11f0 28 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
Gurvan 0:9cb9445a11f0 29 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
Gurvan 0:9cb9445a11f0 30 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
Gurvan 0:9cb9445a11f0 31 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
Gurvan 0:9cb9445a11f0 32
Gurvan 0:9cb9445a11f0 33 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
Gurvan 0:9cb9445a11f0 34 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
Gurvan 0:9cb9445a11f0 35 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
Gurvan 0:9cb9445a11f0 36 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
Gurvan 0:9cb9445a11f0 37 bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
Gurvan 0:9cb9445a11f0 38 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
Gurvan 0:9cb9445a11f0 39 bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
Gurvan 0:9cb9445a11f0 40 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
Gurvan 0:9cb9445a11f0 41
Gurvan 0:9cb9445a11f0 42 static uint16_t readTimeout(void);
Gurvan 0:9cb9445a11f0 43 };
Gurvan 0:9cb9445a11f0 44
Gurvan 0:9cb9445a11f0 45 #endif