This is our rendition of popular labyrinth games. We use readings from the IMU accelerometer to move a little yellow ball around the screen. We have created a maze of walls and holes that will end the game if the user runs into either of these.
Dependencies: 4DGL-uLCD-SE mbed
I2Cdev.cpp@1:2250e33823e2, 2015-10-20 (annotated)
- Committer:
- dbegasse
- Date:
- Tue Oct 20 18:34:56 2015 +0000
- Revision:
- 1:2250e33823e2
- Parent:
- 0:7b4bbd744f6d
ECE4180 Lab 4 to_publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
dbegasse | 0:7b4bbd744f6d | 1 | // ported from arduino library: https://github.com/jrowberg/i2cdevlib |
dbegasse | 0:7b4bbd744f6d | 2 | // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl) |
dbegasse | 0:7b4bbd744f6d | 3 | // Changelog: |
dbegasse | 0:7b4bbd744f6d | 4 | // 2013-01-08 - first release |
dbegasse | 0:7b4bbd744f6d | 5 | |
dbegasse | 0:7b4bbd744f6d | 6 | #include "I2Cdev.h" |
dbegasse | 0:7b4bbd744f6d | 7 | |
dbegasse | 0:7b4bbd744f6d | 8 | #define useDebugSerial |
dbegasse | 0:7b4bbd744f6d | 9 | |
dbegasse | 0:7b4bbd744f6d | 10 | I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX) |
dbegasse | 0:7b4bbd744f6d | 11 | { |
dbegasse | 0:7b4bbd744f6d | 12 | |
dbegasse | 0:7b4bbd744f6d | 13 | } |
dbegasse | 0:7b4bbd744f6d | 14 | |
dbegasse | 0:7b4bbd744f6d | 15 | I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX) |
dbegasse | 0:7b4bbd744f6d | 16 | { |
dbegasse | 0:7b4bbd744f6d | 17 | i2c.frequency(100000); |
dbegasse | 0:7b4bbd744f6d | 18 | } |
dbegasse | 0:7b4bbd744f6d | 19 | |
dbegasse | 0:7b4bbd744f6d | 20 | /** Read a single bit from an 8-bit device register. |
dbegasse | 0:7b4bbd744f6d | 21 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 22 | * @param regAddr Register regAddr to read from |
dbegasse | 0:7b4bbd744f6d | 23 | * @param bitNum Bit position to read (0-7) |
dbegasse | 0:7b4bbd744f6d | 24 | * @param data Container for single bit value |
dbegasse | 0:7b4bbd744f6d | 25 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
dbegasse | 0:7b4bbd744f6d | 26 | * @return Status of read operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 27 | */ |
dbegasse | 0:7b4bbd744f6d | 28 | int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { |
dbegasse | 0:7b4bbd744f6d | 29 | uint8_t b; |
dbegasse | 0:7b4bbd744f6d | 30 | uint8_t count = readByte(devAddr, regAddr, &b, timeout); |
dbegasse | 0:7b4bbd744f6d | 31 | *data = b & (1 << bitNum); |
dbegasse | 0:7b4bbd744f6d | 32 | return count; |
dbegasse | 0:7b4bbd744f6d | 33 | } |
dbegasse | 0:7b4bbd744f6d | 34 | |
dbegasse | 0:7b4bbd744f6d | 35 | /** Read a single bit from a 16-bit device register. |
dbegasse | 0:7b4bbd744f6d | 36 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 37 | * @param regAddr Register regAddr to read from |
dbegasse | 0:7b4bbd744f6d | 38 | * @param bitNum Bit position to read (0-15) |
dbegasse | 0:7b4bbd744f6d | 39 | * @param data Container for single bit value |
dbegasse | 0:7b4bbd744f6d | 40 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
dbegasse | 0:7b4bbd744f6d | 41 | * @return Status of read operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 42 | */ |
dbegasse | 0:7b4bbd744f6d | 43 | int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { |
dbegasse | 0:7b4bbd744f6d | 44 | uint16_t b; |
dbegasse | 0:7b4bbd744f6d | 45 | uint8_t count = readWord(devAddr, regAddr, &b, timeout); |
dbegasse | 0:7b4bbd744f6d | 46 | *data = b & (1 << bitNum); |
dbegasse | 0:7b4bbd744f6d | 47 | return count; |
dbegasse | 0:7b4bbd744f6d | 48 | } |
dbegasse | 0:7b4bbd744f6d | 49 | |
dbegasse | 0:7b4bbd744f6d | 50 | /** Read multiple bits from an 8-bit device register. |
dbegasse | 0:7b4bbd744f6d | 51 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 52 | * @param regAddr Register regAddr to read from |
dbegasse | 0:7b4bbd744f6d | 53 | * @param bitStart First bit position to read (0-7) |
dbegasse | 0:7b4bbd744f6d | 54 | * @param length Number of bits to read (not more than 8) |
dbegasse | 0:7b4bbd744f6d | 55 | * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) |
dbegasse | 0:7b4bbd744f6d | 56 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
dbegasse | 0:7b4bbd744f6d | 57 | * @return Status of read operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 58 | */ |
dbegasse | 0:7b4bbd744f6d | 59 | int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { |
dbegasse | 0:7b4bbd744f6d | 60 | // 01101001 read byte |
dbegasse | 0:7b4bbd744f6d | 61 | // 76543210 bit numbers |
dbegasse | 0:7b4bbd744f6d | 62 | // xxx args: bitStart=4, length=3 |
dbegasse | 0:7b4bbd744f6d | 63 | // 010 masked |
dbegasse | 0:7b4bbd744f6d | 64 | // -> 010 shifted |
dbegasse | 0:7b4bbd744f6d | 65 | uint8_t count, b; |
dbegasse | 0:7b4bbd744f6d | 66 | if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { |
dbegasse | 0:7b4bbd744f6d | 67 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
dbegasse | 0:7b4bbd744f6d | 68 | b &= mask; |
dbegasse | 0:7b4bbd744f6d | 69 | b >>= (bitStart - length + 1); |
dbegasse | 0:7b4bbd744f6d | 70 | *data = b; |
dbegasse | 0:7b4bbd744f6d | 71 | } |
dbegasse | 0:7b4bbd744f6d | 72 | return count; |
dbegasse | 0:7b4bbd744f6d | 73 | } |
dbegasse | 0:7b4bbd744f6d | 74 | |
dbegasse | 0:7b4bbd744f6d | 75 | /** Read multiple bits from a 16-bit device register. |
dbegasse | 0:7b4bbd744f6d | 76 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 77 | * @param regAddr Register regAddr to read from |
dbegasse | 0:7b4bbd744f6d | 78 | * @param bitStart First bit position to read (0-15) |
dbegasse | 0:7b4bbd744f6d | 79 | * @param length Number of bits to read (not more than 16) |
dbegasse | 0:7b4bbd744f6d | 80 | * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) |
dbegasse | 0:7b4bbd744f6d | 81 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
dbegasse | 0:7b4bbd744f6d | 82 | * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) |
dbegasse | 0:7b4bbd744f6d | 83 | */ |
dbegasse | 0:7b4bbd744f6d | 84 | int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { |
dbegasse | 0:7b4bbd744f6d | 85 | // 1101011001101001 read byte |
dbegasse | 0:7b4bbd744f6d | 86 | // fedcba9876543210 bit numbers |
dbegasse | 0:7b4bbd744f6d | 87 | // xxx args: bitStart=12, length=3 |
dbegasse | 0:7b4bbd744f6d | 88 | // 010 masked |
dbegasse | 0:7b4bbd744f6d | 89 | // -> 010 shifted |
dbegasse | 0:7b4bbd744f6d | 90 | uint8_t count; |
dbegasse | 0:7b4bbd744f6d | 91 | uint16_t w; |
dbegasse | 0:7b4bbd744f6d | 92 | if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { |
dbegasse | 0:7b4bbd744f6d | 93 | uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
dbegasse | 0:7b4bbd744f6d | 94 | w &= mask; |
dbegasse | 0:7b4bbd744f6d | 95 | w >>= (bitStart - length + 1); |
dbegasse | 0:7b4bbd744f6d | 96 | *data = w; |
dbegasse | 0:7b4bbd744f6d | 97 | } |
dbegasse | 0:7b4bbd744f6d | 98 | return count; |
dbegasse | 0:7b4bbd744f6d | 99 | } |
dbegasse | 0:7b4bbd744f6d | 100 | /** Read single byte from an 8-bit device register. |
dbegasse | 0:7b4bbd744f6d | 101 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 102 | * @param regAddr Register regAddr to read from |
dbegasse | 0:7b4bbd744f6d | 103 | * @param data Container for byte value read from device |
dbegasse | 0:7b4bbd744f6d | 104 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
dbegasse | 0:7b4bbd744f6d | 105 | * @return Status of read operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 106 | */ |
dbegasse | 0:7b4bbd744f6d | 107 | int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { |
dbegasse | 0:7b4bbd744f6d | 108 | |
dbegasse | 0:7b4bbd744f6d | 109 | return readBytes(devAddr, regAddr, 1, data, timeout); |
dbegasse | 0:7b4bbd744f6d | 110 | } |
dbegasse | 0:7b4bbd744f6d | 111 | |
dbegasse | 0:7b4bbd744f6d | 112 | /** Read single word from a 16-bit device register. |
dbegasse | 0:7b4bbd744f6d | 113 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 114 | * @param regAddr Register regAddr to read from |
dbegasse | 0:7b4bbd744f6d | 115 | * @param data Container for word value read from device |
dbegasse | 0:7b4bbd744f6d | 116 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
dbegasse | 0:7b4bbd744f6d | 117 | * @return Status of read operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 118 | */ |
dbegasse | 0:7b4bbd744f6d | 119 | int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { |
dbegasse | 0:7b4bbd744f6d | 120 | return readWords(devAddr, regAddr, 1, data, timeout); |
dbegasse | 0:7b4bbd744f6d | 121 | } |
dbegasse | 0:7b4bbd744f6d | 122 | |
dbegasse | 0:7b4bbd744f6d | 123 | /** Read multiple bytes from an 8-bit device register. |
dbegasse | 0:7b4bbd744f6d | 124 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 125 | * @param regAddr First register regAddr to read from |
dbegasse | 0:7b4bbd744f6d | 126 | * @param length Number of bytes to read |
dbegasse | 0:7b4bbd744f6d | 127 | * @param data Buffer to store read data in |
dbegasse | 0:7b4bbd744f6d | 128 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
dbegasse | 0:7b4bbd744f6d | 129 | * @return Number of bytes read (-1 indicates failure) |
dbegasse | 0:7b4bbd744f6d | 130 | */ |
dbegasse | 0:7b4bbd744f6d | 131 | int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) |
dbegasse | 0:7b4bbd744f6d | 132 | { |
dbegasse | 0:7b4bbd744f6d | 133 | char command[1]; |
dbegasse | 0:7b4bbd744f6d | 134 | command[0] = regAddr; |
dbegasse | 0:7b4bbd744f6d | 135 | char *redData = (char*)malloc(length); |
dbegasse | 0:7b4bbd744f6d | 136 | i2c.write(devAddr<<1, command, 1, true); |
dbegasse | 0:7b4bbd744f6d | 137 | i2c.read(devAddr<<1, redData, length); |
dbegasse | 0:7b4bbd744f6d | 138 | for(int i =0; i < length; i++) { |
dbegasse | 0:7b4bbd744f6d | 139 | data[i] = redData[i]; |
dbegasse | 0:7b4bbd744f6d | 140 | //debugSerial.printf("We read %x\n" , redData[i]); |
dbegasse | 0:7b4bbd744f6d | 141 | |
dbegasse | 0:7b4bbd744f6d | 142 | } |
dbegasse | 0:7b4bbd744f6d | 143 | free (redData); |
dbegasse | 0:7b4bbd744f6d | 144 | return length; |
dbegasse | 0:7b4bbd744f6d | 145 | } |
dbegasse | 0:7b4bbd744f6d | 146 | |
dbegasse | 0:7b4bbd744f6d | 147 | int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) |
dbegasse | 0:7b4bbd744f6d | 148 | { |
dbegasse | 0:7b4bbd744f6d | 149 | return 0; |
dbegasse | 0:7b4bbd744f6d | 150 | } |
dbegasse | 0:7b4bbd744f6d | 151 | |
dbegasse | 0:7b4bbd744f6d | 152 | /** write a single bit in an 8-bit device register. |
dbegasse | 0:7b4bbd744f6d | 153 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 154 | * @param regAddr Register regAddr to write to |
dbegasse | 0:7b4bbd744f6d | 155 | * @param bitNum Bit position to write (0-7) |
dbegasse | 0:7b4bbd744f6d | 156 | * @param value New bit value to write |
dbegasse | 0:7b4bbd744f6d | 157 | * @return Status of operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 158 | */ |
dbegasse | 0:7b4bbd744f6d | 159 | bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { |
dbegasse | 0:7b4bbd744f6d | 160 | uint8_t b; |
dbegasse | 0:7b4bbd744f6d | 161 | readByte(devAddr, regAddr, &b); |
dbegasse | 0:7b4bbd744f6d | 162 | b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); |
dbegasse | 0:7b4bbd744f6d | 163 | return writeByte(devAddr, regAddr, b); |
dbegasse | 0:7b4bbd744f6d | 164 | } |
dbegasse | 0:7b4bbd744f6d | 165 | |
dbegasse | 0:7b4bbd744f6d | 166 | /** write a single bit in a 16-bit device register. |
dbegasse | 0:7b4bbd744f6d | 167 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 168 | * @param regAddr Register regAddr to write to |
dbegasse | 0:7b4bbd744f6d | 169 | * @param bitNum Bit position to write (0-15) |
dbegasse | 0:7b4bbd744f6d | 170 | * @param value New bit value to write |
dbegasse | 0:7b4bbd744f6d | 171 | * @return Status of operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 172 | */ |
dbegasse | 0:7b4bbd744f6d | 173 | bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { |
dbegasse | 0:7b4bbd744f6d | 174 | uint16_t w; |
dbegasse | 0:7b4bbd744f6d | 175 | readWord(devAddr, regAddr, &w); |
dbegasse | 0:7b4bbd744f6d | 176 | w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); |
dbegasse | 0:7b4bbd744f6d | 177 | return writeWord(devAddr, regAddr, w); |
dbegasse | 0:7b4bbd744f6d | 178 | } |
dbegasse | 0:7b4bbd744f6d | 179 | |
dbegasse | 0:7b4bbd744f6d | 180 | /** Write multiple bits in an 8-bit device register. |
dbegasse | 0:7b4bbd744f6d | 181 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 182 | * @param regAddr Register regAddr to write to |
dbegasse | 0:7b4bbd744f6d | 183 | * @param bitStart First bit position to write (0-7) |
dbegasse | 0:7b4bbd744f6d | 184 | * @param length Number of bits to write (not more than 8) |
dbegasse | 0:7b4bbd744f6d | 185 | * @param data Right-aligned value to write |
dbegasse | 0:7b4bbd744f6d | 186 | * @return Status of operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 187 | */ |
dbegasse | 0:7b4bbd744f6d | 188 | bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { |
dbegasse | 0:7b4bbd744f6d | 189 | // 010 value to write |
dbegasse | 0:7b4bbd744f6d | 190 | // 76543210 bit numbers |
dbegasse | 0:7b4bbd744f6d | 191 | // xxx args: bitStart=4, length=3 |
dbegasse | 0:7b4bbd744f6d | 192 | // 00011100 mask byte |
dbegasse | 0:7b4bbd744f6d | 193 | // 10101111 original value (sample) |
dbegasse | 0:7b4bbd744f6d | 194 | // 10100011 original & ~mask |
dbegasse | 0:7b4bbd744f6d | 195 | // 10101011 masked | value |
dbegasse | 0:7b4bbd744f6d | 196 | uint8_t b; |
dbegasse | 0:7b4bbd744f6d | 197 | if (readByte(devAddr, regAddr, &b) != 0) { |
dbegasse | 0:7b4bbd744f6d | 198 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
dbegasse | 0:7b4bbd744f6d | 199 | data <<= (bitStart - length + 1); // shift data into correct position |
dbegasse | 0:7b4bbd744f6d | 200 | data &= mask; // zero all non-important bits in data |
dbegasse | 0:7b4bbd744f6d | 201 | b &= ~(mask); // zero all important bits in existing byte |
dbegasse | 0:7b4bbd744f6d | 202 | b |= data; // combine data with existing byte |
dbegasse | 0:7b4bbd744f6d | 203 | return writeByte(devAddr, regAddr, b); |
dbegasse | 0:7b4bbd744f6d | 204 | } else { |
dbegasse | 0:7b4bbd744f6d | 205 | return false; |
dbegasse | 0:7b4bbd744f6d | 206 | } |
dbegasse | 0:7b4bbd744f6d | 207 | } |
dbegasse | 0:7b4bbd744f6d | 208 | |
dbegasse | 0:7b4bbd744f6d | 209 | /** Write multiple bits in a 16-bit device register. |
dbegasse | 0:7b4bbd744f6d | 210 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 211 | * @param regAddr Register regAddr to write to |
dbegasse | 0:7b4bbd744f6d | 212 | * @param bitStart First bit position to write (0-15) |
dbegasse | 0:7b4bbd744f6d | 213 | * @param length Number of bits to write (not more than 16) |
dbegasse | 0:7b4bbd744f6d | 214 | * @param data Right-aligned value to write |
dbegasse | 0:7b4bbd744f6d | 215 | * @return Status of operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 216 | */ |
dbegasse | 0:7b4bbd744f6d | 217 | bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { |
dbegasse | 0:7b4bbd744f6d | 218 | // 010 value to write |
dbegasse | 0:7b4bbd744f6d | 219 | // fedcba9876543210 bit numbers |
dbegasse | 0:7b4bbd744f6d | 220 | // xxx args: bitStart=12, length=3 |
dbegasse | 0:7b4bbd744f6d | 221 | // 0001110000000000 mask byte |
dbegasse | 0:7b4bbd744f6d | 222 | // 1010111110010110 original value (sample) |
dbegasse | 0:7b4bbd744f6d | 223 | // 1010001110010110 original & ~mask |
dbegasse | 0:7b4bbd744f6d | 224 | // 1010101110010110 masked | value |
dbegasse | 0:7b4bbd744f6d | 225 | uint16_t w; |
dbegasse | 0:7b4bbd744f6d | 226 | if (readWord(devAddr, regAddr, &w) != 0) { |
dbegasse | 0:7b4bbd744f6d | 227 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
dbegasse | 0:7b4bbd744f6d | 228 | data <<= (bitStart - length + 1); // shift data into correct position |
dbegasse | 0:7b4bbd744f6d | 229 | data &= mask; // zero all non-important bits in data |
dbegasse | 0:7b4bbd744f6d | 230 | w &= ~(mask); // zero all important bits in existing word |
dbegasse | 0:7b4bbd744f6d | 231 | w |= data; // combine data with existing word |
dbegasse | 0:7b4bbd744f6d | 232 | return writeWord(devAddr, regAddr, w); |
dbegasse | 0:7b4bbd744f6d | 233 | } else { |
dbegasse | 0:7b4bbd744f6d | 234 | return false; |
dbegasse | 0:7b4bbd744f6d | 235 | } |
dbegasse | 0:7b4bbd744f6d | 236 | } |
dbegasse | 0:7b4bbd744f6d | 237 | |
dbegasse | 0:7b4bbd744f6d | 238 | /** Write single byte to an 8-bit device register. |
dbegasse | 0:7b4bbd744f6d | 239 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 240 | * @param regAddr Register address to write to |
dbegasse | 0:7b4bbd744f6d | 241 | * @param data New byte value to write |
dbegasse | 0:7b4bbd744f6d | 242 | * @return Status of operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 243 | */ |
dbegasse | 0:7b4bbd744f6d | 244 | bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { |
dbegasse | 0:7b4bbd744f6d | 245 | return writeBytes(devAddr, regAddr, 1, &data); |
dbegasse | 0:7b4bbd744f6d | 246 | } |
dbegasse | 0:7b4bbd744f6d | 247 | |
dbegasse | 0:7b4bbd744f6d | 248 | /** Write single word to a 16-bit device register. |
dbegasse | 0:7b4bbd744f6d | 249 | * @param devAddr I2C slave device address |
dbegasse | 0:7b4bbd744f6d | 250 | * @param regAddr Register address to write to |
dbegasse | 0:7b4bbd744f6d | 251 | * @param data New word value to write |
dbegasse | 0:7b4bbd744f6d | 252 | * @return Status of operation (true = success) |
dbegasse | 0:7b4bbd744f6d | 253 | */ |
dbegasse | 0:7b4bbd744f6d | 254 | bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { |
dbegasse | 0:7b4bbd744f6d | 255 | return writeWords(devAddr, regAddr, 1, &data); |
dbegasse | 0:7b4bbd744f6d | 256 | } |
dbegasse | 0:7b4bbd744f6d | 257 | |
dbegasse | 0:7b4bbd744f6d | 258 | bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) |
dbegasse | 0:7b4bbd744f6d | 259 | { |
dbegasse | 0:7b4bbd744f6d | 260 | i2c.start(); |
dbegasse | 0:7b4bbd744f6d | 261 | i2c.write(devAddr<<1); |
dbegasse | 0:7b4bbd744f6d | 262 | i2c.write(regAddr); |
dbegasse | 0:7b4bbd744f6d | 263 | for(int i = 0; i < length; i++) { |
dbegasse | 0:7b4bbd744f6d | 264 | i2c.write(data[i]); |
dbegasse | 0:7b4bbd744f6d | 265 | } |
dbegasse | 0:7b4bbd744f6d | 266 | i2c.stop(); |
dbegasse | 0:7b4bbd744f6d | 267 | return true; |
dbegasse | 0:7b4bbd744f6d | 268 | } |
dbegasse | 0:7b4bbd744f6d | 269 | |
dbegasse | 0:7b4bbd744f6d | 270 | bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data) |
dbegasse | 0:7b4bbd744f6d | 271 | { |
dbegasse | 0:7b4bbd744f6d | 272 | return true; |
dbegasse | 0:7b4bbd744f6d | 273 | } |
dbegasse | 0:7b4bbd744f6d | 274 | |
dbegasse | 0:7b4bbd744f6d | 275 | uint16_t I2Cdev::readTimeout(void) |
dbegasse | 0:7b4bbd744f6d | 276 | { |
dbegasse | 0:7b4bbd744f6d | 277 | return 0; |
dbegasse | 0:7b4bbd744f6d | 278 | } |