Chris Seto
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MPU6050-DMP-4
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I2Cdev.h
00001 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050 00002 //written by szymon gaertig (email: szymon@gaertig.com.pl) 00003 // 00004 //Changelog: 00005 //2013-01-08 - first beta release 00006 00007 #ifndef I2Cdev_h 00008 #define I2Cdev_h 00009 00010 #include "mbed.h" 00011 00012 #define I2C_SDA PB_9 00013 #define I2C_SCL PB_8 00014 00015 class I2Cdev { 00016 private: 00017 I2C i2c; 00018 public: 00019 I2Cdev(); 00020 I2Cdev(PinName i2cSda, PinName i2cScl); 00021 00022 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); 00023 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); 00024 int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); 00025 int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); 00026 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); 00027 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); 00028 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout()); 00029 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout()); 00030 00031 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); 00032 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); 00033 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); 00034 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); 00035 bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); 00036 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); 00037 bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); 00038 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); 00039 00040 static uint16_t readTimeout(void); 00041 }; 00042 00043 #endif
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