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

Committer:
WeberYang
Date:
Thu May 10 08:15:44 2018 +0000
Revision:
8:473800bd51ac
Parent:
7:6b1b4bcaf494 
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/tree/master/Arduino/MPU6050
garfieldsg 0:662207e34fba 2 //written by szymon gaertig (email: szymon@gaertig.com.pl)
WeberYang 8:473800bd51ac 3 // modified by shundo kishi
garfieldsg 0:662207e34fba 4 //
WeberYang 8:473800bd51ac 5 // Changelog:
WeberYang 8:473800bd51ac 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 #ifndef I2Cdev_h
garfieldsg 0:662207e34fba 10 #define I2Cdev_h
garfieldsg 0:662207e34fba 11
garfieldsg 0:662207e34fba 12 #include "mbed.h"
garfieldsg 0:662207e34fba 13
WeberYang 8:473800bd51ac 14 #define I2C_SDA PB_7//p28
WeberYang 8:473800bd51ac 15 #define I2C_SCL PB_6//p27
garfieldsg 0:662207e34fba 16
garfieldsg 0:662207e34fba 17 class I2Cdev {
garfieldsg 0:662207e34fba 18 private:
WeberYang 8:473800bd51ac 19 static I2C i2c;
garfieldsg 0:662207e34fba 20 public:
garfieldsg 0:662207e34fba 21 I2Cdev();
garfieldsg 0:662207e34fba 22
WeberYang 8:473800bd51ac 23 static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
WeberYang 8:473800bd51ac 24 static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
WeberYang 8:473800bd51ac 25 static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
WeberYang 8:473800bd51ac 26 static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
WeberYang 8:473800bd51ac 27 static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
WeberYang 8:473800bd51ac 28 static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
WeberYang 8:473800bd51ac 29 static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
WeberYang 8:473800bd51ac 30 static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
WeberYang 8:473800bd51ac 31
WeberYang 8:473800bd51ac 32 static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
WeberYang 8:473800bd51ac 33 static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
WeberYang 8:473800bd51ac 34 static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
WeberYang 8:473800bd51ac 35 static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
WeberYang 8:473800bd51ac 36 static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
WeberYang 8:473800bd51ac 37 static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
WeberYang 8:473800bd51ac 38 static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
WeberYang 8:473800bd51ac 39 static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
garfieldsg 0:662207e34fba 40
garfieldsg 0:662207e34fba 41 static uint16_t readTimeout(void);
garfieldsg 0:662207e34fba 42 };
garfieldsg 0:662207e34fba 43
garfieldsg 0:662207e34fba 44 #endif