Weber Yang / MPU6050-DMP

For nucleoF103 change sda,scl to PB_7,PB_6

Dependents:   AGV_0411 AGV_SMT_Sevro AGV_SMT

Fork of MPU6050-DMP by takaaki mastuzawa

I2Cdev.cpp@8:473800bd51ac, 2018-05-10 (annotated)

Committer:
WeberYang
Date:
Thu May 10 08:15:44 2018 +0000
Revision:
8:473800bd51ac
Parent:
6:fe57b4405983 
let address be 0x34

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)
WeberYang 8:473800bd51ac 3 // modified by shundo kishi
WeberYang 8:473800bd51ac 4 //
garfieldsg 0:662207e34fba 5 // Changelog:
garfieldsg 0:662207e34fba 6 // 2013-01-08 - first release
WeberYang 8:473800bd51ac 7 // 2016-01-31 - changed all functions and variables static to make porting from arduino easier(by shundo kishi)
garfieldsg 0:662207e34fba 8
garfieldsg 0:662207e34fba 9 #include "I2Cdev.h"
garfieldsg 0:662207e34fba 10
WeberYang 8:473800bd51ac 11 I2C I2Cdev::i2c(I2C_SDA,I2C_SCL);
garfieldsg 0:662207e34fba 12
WeberYang 8:473800bd51ac 13 /** Default constructor.
WeberYang 8:473800bd51ac 14 */
WeberYang 8:473800bd51ac 15 I2Cdev::I2Cdev() {
garfieldsg 0:662207e34fba 16 }
garfieldsg 0:662207e34fba 17
garfieldsg 0:662207e34fba 18 /** Read a single bit from an 8-bit device register.
garfieldsg 0:662207e34fba 19 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 20 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 21 * @param bitNum Bit position to read (0-7)
garfieldsg 0:662207e34fba 22 * @param data Container for single bit value
garfieldsg 0:662207e34fba 23 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 24 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 25 */
garfieldsg 0:662207e34fba 26 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 27 uint8_t b;
garfieldsg 0:662207e34fba 28 uint8_t count = readByte(devAddr, regAddr, &b, timeout);
garfieldsg 0:662207e34fba 29 *data = b & (1 << bitNum);
garfieldsg 0:662207e34fba 30 return count;
garfieldsg 0:662207e34fba 31 }
garfieldsg 0:662207e34fba 32
garfieldsg 0:662207e34fba 33 /** Read a single bit from a 16-bit device register.
garfieldsg 0:662207e34fba 34 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 35 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 36 * @param bitNum Bit position to read (0-15)
garfieldsg 0:662207e34fba 37 * @param data Container for single bit value
garfieldsg 0:662207e34fba 38 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 39 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 40 */
garfieldsg 0:662207e34fba 41 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 42 uint16_t b;
garfieldsg 0:662207e34fba 43 uint8_t count = readWord(devAddr, regAddr, &b, timeout);
garfieldsg 0:662207e34fba 44 *data = b & (1 << bitNum);
garfieldsg 0:662207e34fba 45 return count;
garfieldsg 0:662207e34fba 46 }
garfieldsg 0:662207e34fba 47
garfieldsg 0:662207e34fba 48 /** Read multiple bits from an 8-bit device register.
garfieldsg 0:662207e34fba 49 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 50 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 51 * @param bitStart First bit position to read (0-7)
garfieldsg 0:662207e34fba 52 * @param length Number of bits to read (not more than 8)
garfieldsg 0:662207e34fba 53 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
garfieldsg 0:662207e34fba 54 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 55 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 56 */
garfieldsg 0:662207e34fba 57 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 58 // 01101001 read byte
garfieldsg 0:662207e34fba 59 // 76543210 bit numbers
garfieldsg 0:662207e34fba 60 // xxx args: bitStart=4, length=3
garfieldsg 0:662207e34fba 61 // 010 masked
garfieldsg 0:662207e34fba 62 // -> 010 shifted
garfieldsg 0:662207e34fba 63 uint8_t count, b;
garfieldsg 0:662207e34fba 64 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
garfieldsg 0:662207e34fba 65 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
garfieldsg 0:662207e34fba 66 b &= mask;
garfieldsg 0:662207e34fba 67 b >>= (bitStart - length + 1);
garfieldsg 0:662207e34fba 68 *data = b;
garfieldsg 0:662207e34fba 69 }
garfieldsg 0:662207e34fba 70 return count;
garfieldsg 0:662207e34fba 71 }
garfieldsg 0:662207e34fba 72
garfieldsg 0:662207e34fba 73 /** Read multiple bits from a 16-bit device register.
garfieldsg 0:662207e34fba 74 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 75 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 76 * @param bitStart First bit position to read (0-15)
garfieldsg 0:662207e34fba 77 * @param length Number of bits to read (not more than 16)
garfieldsg 0:662207e34fba 78 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
garfieldsg 0:662207e34fba 79 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 80 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
garfieldsg 0:662207e34fba 81 */
garfieldsg 0:662207e34fba 82 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 83 // 1101011001101001 read byte
garfieldsg 0:662207e34fba 84 // fedcba9876543210 bit numbers
garfieldsg 0:662207e34fba 85 // xxx args: bitStart=12, length=3
garfieldsg 0:662207e34fba 86 // 010 masked
garfieldsg 0:662207e34fba 87 // -> 010 shifted
garfieldsg 0:662207e34fba 88 uint8_t count;
garfieldsg 0:662207e34fba 89 uint16_t w;
garfieldsg 0:662207e34fba 90 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
garfieldsg 0:662207e34fba 91 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
garfieldsg 0:662207e34fba 92 w &= mask;
garfieldsg 0:662207e34fba 93 w >>= (bitStart - length + 1);
garfieldsg 0:662207e34fba 94 *data = w;
garfieldsg 0:662207e34fba 95 }
garfieldsg 0:662207e34fba 96 return count;
garfieldsg 0:662207e34fba 97 }
garfieldsg 0:662207e34fba 98 /** Read single byte from an 8-bit device register.
garfieldsg 0:662207e34fba 99 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 100 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 101 * @param data Container for byte value read from device
garfieldsg 0:662207e34fba 102 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 103 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 104 */
garfieldsg 0:662207e34fba 105 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 106 return readBytes(devAddr, regAddr, 1, data, timeout);
garfieldsg 0:662207e34fba 107 }
garfieldsg 0:662207e34fba 108
garfieldsg 0:662207e34fba 109 /** Read single word from a 16-bit device register.
garfieldsg 0:662207e34fba 110 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 111 * @param regAddr Register regAddr to read from
garfieldsg 0:662207e34fba 112 * @param data Container for word value read from device
garfieldsg 0:662207e34fba 113 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 114 * @return Status of read operation (true = success)
garfieldsg 0:662207e34fba 115 */
garfieldsg 0:662207e34fba 116 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
garfieldsg 0:662207e34fba 117 return readWords(devAddr, regAddr, 1, data, timeout);
garfieldsg 0:662207e34fba 118 }
garfieldsg 0:662207e34fba 119
garfieldsg 0:662207e34fba 120 /** Read multiple bytes from an 8-bit device register.
garfieldsg 0:662207e34fba 121 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 122 * @param regAddr First register regAddr to read from
garfieldsg 0:662207e34fba 123 * @param length Number of bytes to read
garfieldsg 0:662207e34fba 124 * @param data Buffer to store read data in
garfieldsg 0:662207e34fba 125 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
garfieldsg 0:662207e34fba 126 * @return Number of bytes read (-1 indicates failure)
garfieldsg 0:662207e34fba 127 */
garfieldsg 0:662207e34fba 128 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
garfieldsg 0:662207e34fba 129 {
garfieldsg 0:662207e34fba 130 char command[1];
garfieldsg 0:662207e34fba 131 command[0] = regAddr;
garfieldsg 0:662207e34fba 132 char *redData = (char*)malloc(length);
garfieldsg 0:662207e34fba 133 i2c.write(devAddr<<1, command, 1, true);
garfieldsg 0:662207e34fba 134 i2c.read(devAddr<<1, redData, length);
garfieldsg 0:662207e34fba 135 for(int i =0; i < length; i++) {
garfieldsg 0:662207e34fba 136 data[i] = redData[i];
garfieldsg 0:662207e34fba 137 }
garfieldsg 1:1e0baaf91e96 138 free (redData);
garfieldsg 0:662207e34fba 139 return length;
garfieldsg 0:662207e34fba 140 }
garfieldsg 0:662207e34fba 141
garfieldsg 0:662207e34fba 142 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
garfieldsg 0:662207e34fba 143 {
garfieldsg 0:662207e34fba 144 return 0;
garfieldsg 0:662207e34fba 145 }
garfieldsg 0:662207e34fba 146
garfieldsg 0:662207e34fba 147 /** write a single bit in an 8-bit device register.
garfieldsg 0:662207e34fba 148 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 149 * @param regAddr Register regAddr to write to
garfieldsg 0:662207e34fba 150 * @param bitNum Bit position to write (0-7)
garfieldsg 0:662207e34fba 151 * @param value New bit value to write
garfieldsg 0:662207e34fba 152 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 153 */
garfieldsg 0:662207e34fba 154 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
garfieldsg 0:662207e34fba 155 uint8_t b;
garfieldsg 0:662207e34fba 156 readByte(devAddr, regAddr, &b);
garfieldsg 0:662207e34fba 157 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
garfieldsg 0:662207e34fba 158 return writeByte(devAddr, regAddr, b);
garfieldsg 0:662207e34fba 159 }
garfieldsg 0:662207e34fba 160
garfieldsg 0:662207e34fba 161 /** write a single bit in a 16-bit device register.
garfieldsg 0:662207e34fba 162 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 163 * @param regAddr Register regAddr to write to
garfieldsg 0:662207e34fba 164 * @param bitNum Bit position to write (0-15)
garfieldsg 0:662207e34fba 165 * @param value New bit value to write
garfieldsg 0:662207e34fba 166 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 167 */
garfieldsg 0:662207e34fba 168 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
garfieldsg 0:662207e34fba 169 uint16_t w;
garfieldsg 0:662207e34fba 170 readWord(devAddr, regAddr, &w);
garfieldsg 0:662207e34fba 171 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
garfieldsg 0:662207e34fba 172 return writeWord(devAddr, regAddr, w);
garfieldsg 0:662207e34fba 173 }
garfieldsg 0:662207e34fba 174
garfieldsg 0:662207e34fba 175 /** Write multiple bits in an 8-bit device register.
garfieldsg 0:662207e34fba 176 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 177 * @param regAddr Register regAddr to write to
garfieldsg 0:662207e34fba 178 * @param bitStart First bit position to write (0-7)
garfieldsg 0:662207e34fba 179 * @param length Number of bits to write (not more than 8)
garfieldsg 0:662207e34fba 180 * @param data Right-aligned value to write
garfieldsg 0:662207e34fba 181 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 182 */
garfieldsg 0:662207e34fba 183 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
garfieldsg 0:662207e34fba 184 // 010 value to write
garfieldsg 0:662207e34fba 185 // 76543210 bit numbers
garfieldsg 0:662207e34fba 186 // xxx args: bitStart=4, length=3
garfieldsg 0:662207e34fba 187 // 00011100 mask byte
garfieldsg 0:662207e34fba 188 // 10101111 original value (sample)
garfieldsg 0:662207e34fba 189 // 10100011 original & ~mask
garfieldsg 0:662207e34fba 190 // 10101011 masked | value
garfieldsg 0:662207e34fba 191 uint8_t b;
garfieldsg 0:662207e34fba 192 if (readByte(devAddr, regAddr, &b) != 0) {
garfieldsg 0:662207e34fba 193 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
garfieldsg 0:662207e34fba 194 data <<= (bitStart - length + 1); // shift data into correct position
garfieldsg 0:662207e34fba 195 data &= mask; // zero all non-important bits in data
garfieldsg 0:662207e34fba 196 b &= ~(mask); // zero all important bits in existing byte
garfieldsg 0:662207e34fba 197 b |= data; // combine data with existing byte
garfieldsg 0:662207e34fba 198 return writeByte(devAddr, regAddr, b);
garfieldsg 0:662207e34fba 199 } else {
garfieldsg 0:662207e34fba 200 return false;
garfieldsg 0:662207e34fba 201 }
garfieldsg 0:662207e34fba 202 }
garfieldsg 0:662207e34fba 203
garfieldsg 0:662207e34fba 204 /** Write multiple bits in a 16-bit device register.
garfieldsg 0:662207e34fba 205 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 206 * @param regAddr Register regAddr to write to
garfieldsg 0:662207e34fba 207 * @param bitStart First bit position to write (0-15)
garfieldsg 0:662207e34fba 208 * @param length Number of bits to write (not more than 16)
garfieldsg 0:662207e34fba 209 * @param data Right-aligned value to write
garfieldsg 0:662207e34fba 210 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 211 */
garfieldsg 0:662207e34fba 212 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
garfieldsg 0:662207e34fba 213 // 010 value to write
garfieldsg 0:662207e34fba 214 // fedcba9876543210 bit numbers
garfieldsg 0:662207e34fba 215 // xxx args: bitStart=12, length=3
garfieldsg 0:662207e34fba 216 // 0001110000000000 mask byte
garfieldsg 0:662207e34fba 217 // 1010111110010110 original value (sample)
garfieldsg 0:662207e34fba 218 // 1010001110010110 original & ~mask
garfieldsg 0:662207e34fba 219 // 1010101110010110 masked | value
garfieldsg 0:662207e34fba 220 uint16_t w;
garfieldsg 0:662207e34fba 221 if (readWord(devAddr, regAddr, &w) != 0) {
garfieldsg 0:662207e34fba 222 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
garfieldsg 0:662207e34fba 223 data <<= (bitStart - length + 1); // shift data into correct position
garfieldsg 0:662207e34fba 224 data &= mask; // zero all non-important bits in data
garfieldsg 0:662207e34fba 225 w &= ~(mask); // zero all important bits in existing word
garfieldsg 0:662207e34fba 226 w |= data; // combine data with existing word
garfieldsg 0:662207e34fba 227 return writeWord(devAddr, regAddr, w);
garfieldsg 0:662207e34fba 228 } else {
garfieldsg 0:662207e34fba 229 return false;
garfieldsg 0:662207e34fba 230 }
garfieldsg 0:662207e34fba 231 }
garfieldsg 0:662207e34fba 232
garfieldsg 0:662207e34fba 233 /** Write single byte to an 8-bit device register.
garfieldsg 0:662207e34fba 234 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 235 * @param regAddr Register address to write to
garfieldsg 0:662207e34fba 236 * @param data New byte value to write
garfieldsg 0:662207e34fba 237 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 238 */
garfieldsg 0:662207e34fba 239 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
garfieldsg 0:662207e34fba 240 return writeBytes(devAddr, regAddr, 1, &data);
garfieldsg 0:662207e34fba 241 }
garfieldsg 0:662207e34fba 242
garfieldsg 0:662207e34fba 243 /** Write single word to a 16-bit device register.
garfieldsg 0:662207e34fba 244 * @param devAddr I2C slave device address
garfieldsg 0:662207e34fba 245 * @param regAddr Register address to write to
garfieldsg 0:662207e34fba 246 * @param data New word value to write
garfieldsg 0:662207e34fba 247 * @return Status of operation (true = success)
garfieldsg 0:662207e34fba 248 */
garfieldsg 0:662207e34fba 249 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
garfieldsg 0:662207e34fba 250 return writeWords(devAddr, regAddr, 1, &data);
garfieldsg 0:662207e34fba 251 }
garfieldsg 0:662207e34fba 252
garfieldsg 0:662207e34fba 253 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
garfieldsg 0:662207e34fba 254 {
WeberYang 8:473800bd51ac 255 i2c.start();
WeberYang 8:473800bd51ac 256 i2c.write(devAddr<<1);
WeberYang 8:473800bd51ac 257 i2c.write(regAddr);
WeberYang 8:473800bd51ac 258 for(int i = 0; i < length; i++) {
WeberYang 8:473800bd51ac 259 i2c.write(data[i]);
garfieldsg 0:662207e34fba 260 }
WeberYang 8:473800bd51ac 261 i2c.stop();
WeberYang 8:473800bd51ac 262 return true;
garfieldsg 0:662207e34fba 263 }
garfieldsg 0:662207e34fba 264
garfieldsg 0:662207e34fba 265 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
garfieldsg 0:662207e34fba 266 {
garfieldsg 0:662207e34fba 267 return true;
garfieldsg 0:662207e34fba 268 }
garfieldsg 0:662207e34fba 269
garfieldsg 0:662207e34fba 270 uint16_t I2Cdev::readTimeout(void)
garfieldsg 0:662207e34fba 271 {
garfieldsg 0:662207e34fba 272 return 0;
garfieldsg 0:662207e34fba 273 }