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I2Cdev.cpp
00001 // ported from arduino library: https://github.com/jrowberg/i2cdevlib 00002 // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl) 00003 // Changelog: 00004 // 2013-01-08 - first release 00005 00006 #include "I2Cdev.h" 00007 00008 #define useDebugSerial 00009 00010 I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL) 00011 { 00012 00013 } 00014 00015 I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl) 00016 { 00017 00018 } 00019 00020 /** Read a single bit from an 8-bit device register. 00021 * @param devAddr I2C slave device address 00022 * @param regAddr Register regAddr to read from 00023 * @param bitNum Bit position to read (0-7) 00024 * @param data Container for single bit value 00025 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) 00026 * @return Status of read operation (true = success) 00027 */ 00028 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { 00029 uint8_t b; 00030 uint8_t count = readByte(devAddr, regAddr, &b, timeout); 00031 *data = b & (1 << bitNum); 00032 return count; 00033 } 00034 00035 /** Read a single bit from a 16-bit device register. 00036 * @param devAddr I2C slave device address 00037 * @param regAddr Register regAddr to read from 00038 * @param bitNum Bit position to read (0-15) 00039 * @param data Container for single bit value 00040 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) 00041 * @return Status of read operation (true = success) 00042 */ 00043 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { 00044 uint16_t b; 00045 uint8_t count = readWord(devAddr, regAddr, &b, timeout); 00046 *data = b & (1 << bitNum); 00047 return count; 00048 } 00049 00050 /** Read multiple bits from an 8-bit device register. 00051 * @param devAddr I2C slave device address 00052 * @param regAddr Register regAddr to read from 00053 * @param bitStart First bit position to read (0-7) 00054 * @param length Number of bits to read (not more than 8) 00055 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) 00056 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) 00057 * @return Status of read operation (true = success) 00058 */ 00059 int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { 00060 // 01101001 read byte 00061 // 76543210 bit numbers 00062 // xxx args: bitStart=4, length=3 00063 // 010 masked 00064 // -> 010 shifted 00065 uint8_t count, b; 00066 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { 00067 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); 00068 b &= mask; 00069 b >>= (bitStart - length + 1); 00070 *data = b; 00071 } 00072 return count; 00073 } 00074 00075 /** Read multiple bits from a 16-bit device register. 00076 * @param devAddr I2C slave device address 00077 * @param regAddr Register regAddr to read from 00078 * @param bitStart First bit position to read (0-15) 00079 * @param length Number of bits to read (not more than 16) 00080 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) 00081 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) 00082 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) 00083 */ 00084 int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { 00085 // 1101011001101001 read byte 00086 // fedcba9876543210 bit numbers 00087 // xxx args: bitStart=12, length=3 00088 // 010 masked 00089 // -> 010 shifted 00090 uint8_t count; 00091 uint16_t w; 00092 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { 00093 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); 00094 w &= mask; 00095 w >>= (bitStart - length + 1); 00096 *data = w; 00097 } 00098 return count; 00099 } 00100 /** Read single byte from an 8-bit device register. 00101 * @param devAddr I2C slave device address 00102 * @param regAddr Register regAddr to read from 00103 * @param data Container for byte value read from device 00104 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) 00105 * @return Status of read operation (true = success) 00106 */ 00107 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { 00108 return readBytes(devAddr, regAddr, 1, data, timeout); 00109 } 00110 00111 /** Read single word from a 16-bit device register. 00112 * @param devAddr I2C slave device address 00113 * @param regAddr Register regAddr to read from 00114 * @param data Container for word value read from device 00115 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) 00116 * @return Status of read operation (true = success) 00117 */ 00118 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { 00119 return readWords(devAddr, regAddr, 1, data, timeout); 00120 } 00121 00122 /** Read multiple bytes from an 8-bit device register. 00123 * @param devAddr I2C slave device address 00124 * @param regAddr First register regAddr to read from 00125 * @param length Number of bytes to read 00126 * @param data Buffer to store read data in 00127 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) 00128 * @return Number of bytes read (-1 indicates failure) 00129 */ 00130 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) 00131 { 00132 char command[1]; 00133 command[0] = regAddr; 00134 char *redData = (char*)malloc(length); 00135 i2c.write(devAddr<<1, command, 1, true); 00136 i2c.read(devAddr<<1, redData, length); 00137 for(int i =0; i < length; i++) { 00138 data[i] = redData[i]; 00139 } 00140 free(redData); 00141 return length; 00142 } 00143 00144 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) 00145 { 00146 return 0; 00147 } 00148 00149 /** write a single bit in an 8-bit device register. 00150 * @param devAddr I2C slave device address 00151 * @param regAddr Register regAddr to write to 00152 * @param bitNum Bit position to write (0-7) 00153 * @param value New bit value to write 00154 * @return Status of operation (true = success) 00155 */ 00156 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { 00157 uint8_t b; 00158 readByte(devAddr, regAddr, &b); 00159 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); 00160 return writeByte(devAddr, regAddr, b); 00161 } 00162 00163 /** write a single bit in a 16-bit device register. 00164 * @param devAddr I2C slave device address 00165 * @param regAddr Register regAddr to write to 00166 * @param bitNum Bit position to write (0-15) 00167 * @param value New bit value to write 00168 * @return Status of operation (true = success) 00169 */ 00170 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { 00171 uint16_t w; 00172 readWord(devAddr, regAddr, &w); 00173 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); 00174 return writeWord(devAddr, regAddr, w); 00175 } 00176 00177 /** Write multiple bits in an 8-bit device register. 00178 * @param devAddr I2C slave device address 00179 * @param regAddr Register regAddr to write to 00180 * @param bitStart First bit position to write (0-7) 00181 * @param length Number of bits to write (not more than 8) 00182 * @param data Right-aligned value to write 00183 * @return Status of operation (true = success) 00184 */ 00185 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { 00186 // 010 value to write 00187 // 76543210 bit numbers 00188 // xxx args: bitStart=4, length=3 00189 // 00011100 mask byte 00190 // 10101111 original value (sample) 00191 // 10100011 original & ~mask 00192 // 10101011 masked | value 00193 uint8_t b; 00194 if (readByte(devAddr, regAddr, &b) != 0) { 00195 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); 00196 data <<= (bitStart - length + 1); // shift data into correct position 00197 data &= mask; // zero all non-important bits in data 00198 b &= ~(mask); // zero all important bits in existing byte 00199 b |= data; // combine data with existing byte 00200 return writeByte(devAddr, regAddr, b); 00201 } else { 00202 return false; 00203 } 00204 } 00205 00206 /** Write multiple bits in a 16-bit device register. 00207 * @param devAddr I2C slave device address 00208 * @param regAddr Register regAddr to write to 00209 * @param bitStart First bit position to write (0-15) 00210 * @param length Number of bits to write (not more than 16) 00211 * @param data Right-aligned value to write 00212 * @return Status of operation (true = success) 00213 */ 00214 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { 00215 // 010 value to write 00216 // fedcba9876543210 bit numbers 00217 // xxx args: bitStart=12, length=3 00218 // 0001110000000000 mask byte 00219 // 1010111110010110 original value (sample) 00220 // 1010001110010110 original & ~mask 00221 // 1010101110010110 masked | value 00222 uint16_t w; 00223 if (readWord(devAddr, regAddr, &w) != 0) { 00224 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); 00225 data <<= (bitStart - length + 1); // shift data into correct position 00226 data &= mask; // zero all non-important bits in data 00227 w &= ~(mask); // zero all important bits in existing word 00228 w |= data; // combine data with existing word 00229 return writeWord(devAddr, regAddr, w); 00230 } else { 00231 return false; 00232 } 00233 } 00234 00235 /** Write single byte to an 8-bit device register. 00236 * @param devAddr I2C slave device address 00237 * @param regAddr Register address to write to 00238 * @param data New byte value to write 00239 * @return Status of operation (true = success) 00240 */ 00241 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { 00242 return writeBytes(devAddr, regAddr, 1, &data); 00243 } 00244 00245 /** Write single word to a 16-bit device register. 00246 * @param devAddr I2C slave device address 00247 * @param regAddr Register address to write to 00248 * @param data New word value to write 00249 * @return Status of operation (true = success) 00250 */ 00251 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { 00252 return writeWords(devAddr, regAddr, 1, &data); 00253 } 00254 00255 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) 00256 { 00257 i2c.start(); 00258 i2c.write(devAddr<<1); 00259 i2c.write(regAddr); 00260 for(int i = 0; i < length; i++) { 00261 i2c.write(data[i]); 00262 } 00263 i2c.stop(); 00264 return true; 00265 } 00266 00267 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data) 00268 { 00269 return true; 00270 } 00271 00272 uint16_t I2Cdev::readTimeout(void) 00273 { 00274 return 0; 00275 }
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