For nucleoF103 change sda,scl to PB_7,PB_6
Dependents: AGV_0411 AGV_SMT_Sevro AGV_SMT
Fork of MPU6050-DMP by
Diff: I2Cdev.h
- Revision:
- 8:473800bd51ac
- Parent:
- 7:6b1b4bcaf494
--- a/I2Cdev.h Thu Apr 12 01:11:08 2018 +0000 +++ b/I2Cdev.h Thu May 10 08:15:44 2018 +0000 @@ -1,42 +1,42 @@ //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 //written by szymon gaertig (email: szymon@gaertig.com.pl) +// modified by shundo kishi // -//Changelog: -//2013-01-08 - first beta release +// Changelog: +// 2013-01-08 - first release +// 2016-01-31 - changed all functions and variables static to make porting from arduino easier(by shundo kishi) #ifndef I2Cdev_h #define I2Cdev_h #include "mbed.h" -#define I2C_SDA PB_7//P0_23 -#define I2C_SCL PB_6//P0_22 +#define I2C_SDA PB_7//p28 +#define I2C_SCL PB_6//p27 class I2Cdev { private: - I2C i2c; - Serial debugSerial; + static I2C i2c; public: I2Cdev(); - I2Cdev(PinName i2cSda, PinName i2cScl); - - int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); - int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); - int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); - int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); - int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); - int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); - int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); - int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); - bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); - bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); - bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); - bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); - bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); - bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); - bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); - bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); + static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); + static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); + + static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); + static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); + static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); + static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); + static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); + static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); + static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); + static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); static uint16_t readTimeout(void); };