MPU6050 DMP Library
I2Cdev.cpp
- Committer:
- deepanaishtaweera174
- Date:
- 2019-09-30
- Revision:
- 6:70f4de44591d
- Parent:
- 2:f8bfb37b2e1f
File content as of revision 6:70f4de44591d:
// ported from arduino library: https://github.com/jrowberg/i2cdevlib // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl) // Changelog: // 2013-01-08 - first release #include "I2Cdev.h" #define useDebugSerial I2Cdev::I2Cdev(): i2c(PB_9,PB_8), debugSerial(USBTX, USBRX) { } I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX) { } /** Read a single bit from an 8-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to read from * @param bitNum Bit position to read (0-7) * @param data Container for single bit value * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { uint8_t b; uint8_t count = readByte(devAddr, regAddr, &b, timeout); *data = b & (1 << bitNum); return count; } /** Read a single bit from a 16-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to read from * @param bitNum Bit position to read (0-15) * @param data Container for single bit value * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { uint16_t b; uint8_t count = readWord(devAddr, regAddr, &b, timeout); *data = b & (1 << bitNum); return count; } /** Read multiple bits from an 8-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to read from * @param bitStart First bit position to read (0-7) * @param length Number of bits to read (not more than 8) * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { // 01101001 read byte // 76543210 bit numbers // xxx args: bitStart=4, length=3 // 010 masked // -> 010 shifted uint8_t count, b; if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); b &= mask; b >>= (bitStart - length + 1); *data = b; } return count; } /** Read multiple bits from a 16-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to read from * @param bitStart First bit position to read (0-15) * @param length Number of bits to read (not more than 16) * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) */ int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { // 1101011001101001 read byte // fedcba9876543210 bit numbers // xxx args: bitStart=12, length=3 // 010 masked // -> 010 shifted uint8_t count; uint16_t w; if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); w &= mask; w >>= (bitStart - length + 1); *data = w; } return count; } /** Read single byte from an 8-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to read from * @param data Container for byte value read from device * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { return readBytes(devAddr, regAddr, 1, data, timeout); } /** Read single word from a 16-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to read from * @param data Container for word value read from device * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Status of read operation (true = success) */ int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { return readWords(devAddr, regAddr, 1, data, timeout); } /** Read multiple bytes from an 8-bit device register. * @param devAddr I2C slave device address * @param regAddr First register regAddr to read from * @param length Number of bytes to read * @param data Buffer to store read data in * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) * @return Number of bytes read (-1 indicates failure) */ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) { char command[1]; command[0] = regAddr; char *redData = (char*)malloc(length); i2c.write(devAddr<<1, command, 1, true); i2c.read(devAddr<<1, redData, length); for(int i =0; i < length; i++) { data[i] = redData[i]; } free (redData); return length; } int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) { return 0; } /** write a single bit in an 8-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to write to * @param bitNum Bit position to write (0-7) * @param value New bit value to write * @return Status of operation (true = success) */ bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { uint8_t b; readByte(devAddr, regAddr, &b); b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); return writeByte(devAddr, regAddr, b); } /** write a single bit in a 16-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to write to * @param bitNum Bit position to write (0-15) * @param value New bit value to write * @return Status of operation (true = success) */ bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { uint16_t w; readWord(devAddr, regAddr, &w); w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); return writeWord(devAddr, regAddr, w); } /** Write multiple bits in an 8-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to write to * @param bitStart First bit position to write (0-7) * @param length Number of bits to write (not more than 8) * @param data Right-aligned value to write * @return Status of operation (true = success) */ bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { // 010 value to write // 76543210 bit numbers // xxx args: bitStart=4, length=3 // 00011100 mask byte // 10101111 original value (sample) // 10100011 original & ~mask // 10101011 masked | value uint8_t b; if (readByte(devAddr, regAddr, &b) != 0) { uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); data <<= (bitStart - length + 1); // shift data into correct position data &= mask; // zero all non-important bits in data b &= ~(mask); // zero all important bits in existing byte b |= data; // combine data with existing byte return writeByte(devAddr, regAddr, b); } else { return false; } } /** Write multiple bits in a 16-bit device register. * @param devAddr I2C slave device address * @param regAddr Register regAddr to write to * @param bitStart First bit position to write (0-15) * @param length Number of bits to write (not more than 16) * @param data Right-aligned value to write * @return Status of operation (true = success) */ bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { // 010 value to write // fedcba9876543210 bit numbers // xxx args: bitStart=12, length=3 // 0001110000000000 mask byte // 1010111110010110 original value (sample) // 1010001110010110 original & ~mask // 1010101110010110 masked | value uint16_t w; if (readWord(devAddr, regAddr, &w) != 0) { uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); data <<= (bitStart - length + 1); // shift data into correct position data &= mask; // zero all non-important bits in data w &= ~(mask); // zero all important bits in existing word w |= data; // combine data with existing word return writeWord(devAddr, regAddr, w); } else { return false; } } /** Write single byte to an 8-bit device register. * @param devAddr I2C slave device address * @param regAddr Register address to write to * @param data New byte value to write * @return Status of operation (true = success) */ bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { return writeBytes(devAddr, regAddr, 1, &data); } /** Write single word to a 16-bit device register. * @param devAddr I2C slave device address * @param regAddr Register address to write to * @param data New word value to write * @return Status of operation (true = success) */ bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { return writeWords(devAddr, regAddr, 1, &data); } bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) { i2c.start(); i2c.write(devAddr<<1); i2c.write(regAddr); for(int i = 0; i < length; i++) { i2c.write(data[i]); } i2c.stop(); return true; } bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data) { return true; } uint16_t I2Cdev::readTimeout(void) { return 0; }