Computes Euler angles
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DevI2C/DevI2C.h
- Committer:
- Wolfgang Betz
- Date:
- 2015-04-02
- Revision:
- 1:ca975408dd4e
- Parent:
- 0:5f1934431e71
- Child:
- 2:c1cac955d4bd
File content as of revision 1:ca975408dd4e:
/** ****************************************************************************** * @file DevI2C.h * @author AST / EST * @version V0.0.1 * @date 21-January-2015 * @brief Header file for a special I2C class DecI2C which provides some * helper function for on-board communication ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Define to prevent from recursive inclusion --------------------------------*/ #ifndef __DEV_I2C_H #define __DEV_I2C_H /* Includes ------------------------------------------------------------------*/ #include "mbed.h" /* Classes -------------------------------------------------------------------*/ /** Helper class DevI2C providing functions for multi-register I2C communication * common for a series of I2C devices */ class DevI2C : public I2C { public: /** Create a DevI2C Master interface, connected to the specified pins * * @param sda I2C data line pin * @param scl I2C clock line pin */ DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {} /** * @brief Writes a buffer from the I2C peripheral device. * @param pBuffer pointer to data to be written. * @param DeviceAddr specifies the peripheral device slave address. * @param RegisterAddr specifies the internal address register * where to start writing to (must be correctly masked). * @param NumByteToWrite number of bytes to be written. * @retval 0 if ok, -1 if an I2C error has occured * @note On some devices if NumByteToWrite is greater * than one, the RegisterAddr must be masked correctly! */ int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, uint16_t NumByteToWrite) { int ret; uint8_t tmp[32]; /* First, send device address. Then, send data and STOP condition */ tmp[0] = RegisterAddr; memcpy(tmp+1, pBuffer, NumByteToWrite); ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, 0); if(ret) { error("%s: dev = %d, reg = %d, num = %d\n", __func__, DeviceAddr, RegisterAddr, NumByteToWrite); return -1; } return 0; } /** * @brief Reads a buffer from the I2C peripheral device. * @param pBuffer pointer to data to be read. * @param DaviceAddr specifies the peripheral device slave address. * @param RegisterAddr specifies the internal address register * where to start reading from (must be correctly masked). * @param NumByteToRead number of bytes to be read. * @retval 0 if ok, -1 if an I2C error has occured * @note On some devices if NumByteToWrite is greater * than one, the RegisterAddr must be masked correctly! */ int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, uint16_t NumByteToRead) { int ret; /* Send device address, with no STOP condition */ ret = write(DeviceAddr, (const char*)&RegisterAddr, 1, 1); if(!ret) { /* Read data, with STOP condition */ ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, 0); } if(ret) { error("%s: dev = %d, reg = %d, num = %d\n", __func__, DeviceAddr, RegisterAddr, NumByteToRead); return -1; } return 0; } }; #endif /* __DEV_I2C_H */