quadcopter cufe / Mbed 2 deprecated 2006_Theta_Control_yaw

Quadcopter Attitude Control(Yaw-Pitch-Roll)

Dependencies:   mbed

I2Cdev.cpp@0:e63996fd7d3e, 2015-07-03 (annotated)

Committer:
khaledelmadawi
Date:
Fri Jul 03 11:16:02 2015 +0000
Revision:
0:e63996fd7d3e
Quadcopter Attitude Control(Yaw-Pitch-Roll)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
khaledelmadawi 0:e63996fd7d3e 1 // ported from arduino library: https://github.com/jrowberg/i2cdevlib
khaledelmadawi 0:e63996fd7d3e 2 // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
khaledelmadawi 0:e63996fd7d3e 3 // Changelog:
khaledelmadawi 0:e63996fd7d3e 4 // 2013-01-08 - first release
khaledelmadawi 0:e63996fd7d3e 5
khaledelmadawi 0:e63996fd7d3e 6 #include "I2Cdev.h"
khaledelmadawi 0:e63996fd7d3e 7
khaledelmadawi 0:e63996fd7d3e 8 #define useDebugSerial
khaledelmadawi 0:e63996fd7d3e 9
khaledelmadawi 0:e63996fd7d3e 10 I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX)
khaledelmadawi 0:e63996fd7d3e 11 {
khaledelmadawi 0:e63996fd7d3e 12
khaledelmadawi 0:e63996fd7d3e 13 }
khaledelmadawi 0:e63996fd7d3e 14
khaledelmadawi 0:e63996fd7d3e 15 I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX)
khaledelmadawi 0:e63996fd7d3e 16 {
khaledelmadawi 0:e63996fd7d3e 17
khaledelmadawi 0:e63996fd7d3e 18 }
khaledelmadawi 0:e63996fd7d3e 19
khaledelmadawi 0:e63996fd7d3e 20 /** Read a single bit from an 8-bit device register.
khaledelmadawi 0:e63996fd7d3e 21 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 22 * @param regAddr Register regAddr to read from
khaledelmadawi 0:e63996fd7d3e 23 * @param bitNum Bit position to read (0-7)
khaledelmadawi 0:e63996fd7d3e 24 * @param data Container for single bit value
khaledelmadawi 0:e63996fd7d3e 25 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
khaledelmadawi 0:e63996fd7d3e 26 * @return Status of read operation (true = success)
khaledelmadawi 0:e63996fd7d3e 27 */
khaledelmadawi 0:e63996fd7d3e 28 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
khaledelmadawi 0:e63996fd7d3e 29 uint8_t b;
khaledelmadawi 0:e63996fd7d3e 30 uint8_t count = readByte(devAddr, regAddr, &b, timeout);
khaledelmadawi 0:e63996fd7d3e 31 *data = b & (1 << bitNum);
khaledelmadawi 0:e63996fd7d3e 32 return count;
khaledelmadawi 0:e63996fd7d3e 33 }
khaledelmadawi 0:e63996fd7d3e 34
khaledelmadawi 0:e63996fd7d3e 35 /** Read a single bit from a 16-bit device register.
khaledelmadawi 0:e63996fd7d3e 36 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 37 * @param regAddr Register regAddr to read from
khaledelmadawi 0:e63996fd7d3e 38 * @param bitNum Bit position to read (0-15)
khaledelmadawi 0:e63996fd7d3e 39 * @param data Container for single bit value
khaledelmadawi 0:e63996fd7d3e 40 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
khaledelmadawi 0:e63996fd7d3e 41 * @return Status of read operation (true = success)
khaledelmadawi 0:e63996fd7d3e 42 */
khaledelmadawi 0:e63996fd7d3e 43 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
khaledelmadawi 0:e63996fd7d3e 44 uint16_t b;
khaledelmadawi 0:e63996fd7d3e 45 uint8_t count = readWord(devAddr, regAddr, &b, timeout);
khaledelmadawi 0:e63996fd7d3e 46 *data = b & (1 << bitNum);
khaledelmadawi 0:e63996fd7d3e 47 return count;
khaledelmadawi 0:e63996fd7d3e 48 }
khaledelmadawi 0:e63996fd7d3e 49
khaledelmadawi 0:e63996fd7d3e 50 /** Read multiple bits from an 8-bit device register.
khaledelmadawi 0:e63996fd7d3e 51 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 52 * @param regAddr Register regAddr to read from
khaledelmadawi 0:e63996fd7d3e 53 * @param bitStart First bit position to read (0-7)
khaledelmadawi 0:e63996fd7d3e 54 * @param length Number of bits to read (not more than 8)
khaledelmadawi 0:e63996fd7d3e 55 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
khaledelmadawi 0:e63996fd7d3e 56 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
khaledelmadawi 0:e63996fd7d3e 57 * @return Status of read operation (true = success)
khaledelmadawi 0:e63996fd7d3e 58 */
khaledelmadawi 0:e63996fd7d3e 59 int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
khaledelmadawi 0:e63996fd7d3e 60 // 01101001 read byte
khaledelmadawi 0:e63996fd7d3e 61 // 76543210 bit numbers
khaledelmadawi 0:e63996fd7d3e 62 // xxx args: bitStart=4, length=3
khaledelmadawi 0:e63996fd7d3e 63 // 010 masked
khaledelmadawi 0:e63996fd7d3e 64 // -> 010 shifted
khaledelmadawi 0:e63996fd7d3e 65 uint8_t count, b;
khaledelmadawi 0:e63996fd7d3e 66 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
khaledelmadawi 0:e63996fd7d3e 67 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
khaledelmadawi 0:e63996fd7d3e 68 b &= mask;
khaledelmadawi 0:e63996fd7d3e 69 b >>= (bitStart - length + 1);
khaledelmadawi 0:e63996fd7d3e 70 *data = b;
khaledelmadawi 0:e63996fd7d3e 71 }
khaledelmadawi 0:e63996fd7d3e 72 return count;
khaledelmadawi 0:e63996fd7d3e 73 }
khaledelmadawi 0:e63996fd7d3e 74
khaledelmadawi 0:e63996fd7d3e 75 /** Read multiple bits from a 16-bit device register.
khaledelmadawi 0:e63996fd7d3e 76 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 77 * @param regAddr Register regAddr to read from
khaledelmadawi 0:e63996fd7d3e 78 * @param bitStart First bit position to read (0-15)
khaledelmadawi 0:e63996fd7d3e 79 * @param length Number of bits to read (not more than 16)
khaledelmadawi 0:e63996fd7d3e 80 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
khaledelmadawi 0:e63996fd7d3e 81 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
khaledelmadawi 0:e63996fd7d3e 82 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
khaledelmadawi 0:e63996fd7d3e 83 */
khaledelmadawi 0:e63996fd7d3e 84 int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
khaledelmadawi 0:e63996fd7d3e 85 // 1101011001101001 read byte
khaledelmadawi 0:e63996fd7d3e 86 // fedcba9876543210 bit numbers
khaledelmadawi 0:e63996fd7d3e 87 // xxx args: bitStart=12, length=3
khaledelmadawi 0:e63996fd7d3e 88 // 010 masked
khaledelmadawi 0:e63996fd7d3e 89 // -> 010 shifted
khaledelmadawi 0:e63996fd7d3e 90 uint8_t count;
khaledelmadawi 0:e63996fd7d3e 91 uint16_t w;
khaledelmadawi 0:e63996fd7d3e 92 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
khaledelmadawi 0:e63996fd7d3e 93 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
khaledelmadawi 0:e63996fd7d3e 94 w &= mask;
khaledelmadawi 0:e63996fd7d3e 95 w >>= (bitStart - length + 1);
khaledelmadawi 0:e63996fd7d3e 96 *data = w;
khaledelmadawi 0:e63996fd7d3e 97 }
khaledelmadawi 0:e63996fd7d3e 98 return count;
khaledelmadawi 0:e63996fd7d3e 99 }
khaledelmadawi 0:e63996fd7d3e 100 /** Read single byte from an 8-bit device register.
khaledelmadawi 0:e63996fd7d3e 101 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 102 * @param regAddr Register regAddr to read from
khaledelmadawi 0:e63996fd7d3e 103 * @param data Container for byte value read from device
khaledelmadawi 0:e63996fd7d3e 104 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
khaledelmadawi 0:e63996fd7d3e 105 * @return Status of read operation (true = success)
khaledelmadawi 0:e63996fd7d3e 106 */
khaledelmadawi 0:e63996fd7d3e 107 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
khaledelmadawi 0:e63996fd7d3e 108 return readBytes(devAddr, regAddr, 1, data, timeout);
khaledelmadawi 0:e63996fd7d3e 109 }
khaledelmadawi 0:e63996fd7d3e 110
khaledelmadawi 0:e63996fd7d3e 111 /** Read single word from a 16-bit device register.
khaledelmadawi 0:e63996fd7d3e 112 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 113 * @param regAddr Register regAddr to read from
khaledelmadawi 0:e63996fd7d3e 114 * @param data Container for word value read from device
khaledelmadawi 0:e63996fd7d3e 115 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
khaledelmadawi 0:e63996fd7d3e 116 * @return Status of read operation (true = success)
khaledelmadawi 0:e63996fd7d3e 117 */
khaledelmadawi 0:e63996fd7d3e 118 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
khaledelmadawi 0:e63996fd7d3e 119 return readWords(devAddr, regAddr, 1, data, timeout);
khaledelmadawi 0:e63996fd7d3e 120 }
khaledelmadawi 0:e63996fd7d3e 121
khaledelmadawi 0:e63996fd7d3e 122 /** Read multiple bytes from an 8-bit device register.
khaledelmadawi 0:e63996fd7d3e 123 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 124 * @param regAddr First register regAddr to read from
khaledelmadawi 0:e63996fd7d3e 125 * @param length Number of bytes to read
khaledelmadawi 0:e63996fd7d3e 126 * @param data Buffer to store read data in
khaledelmadawi 0:e63996fd7d3e 127 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
khaledelmadawi 0:e63996fd7d3e 128 * @return Number of bytes read (-1 indicates failure)
khaledelmadawi 0:e63996fd7d3e 129 */
khaledelmadawi 0:e63996fd7d3e 130 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
khaledelmadawi 0:e63996fd7d3e 131 {
khaledelmadawi 0:e63996fd7d3e 132 char command[1];
khaledelmadawi 0:e63996fd7d3e 133 command[0] = regAddr;
khaledelmadawi 0:e63996fd7d3e 134 char *redData = (char*)malloc(length);
khaledelmadawi 0:e63996fd7d3e 135 i2c.write(devAddr<<1, command, 1, true);
khaledelmadawi 0:e63996fd7d3e 136 i2c.read(devAddr<<1, redData, length);
khaledelmadawi 0:e63996fd7d3e 137 for(int i =0; i < length; i++) {
khaledelmadawi 0:e63996fd7d3e 138 data[i] = redData[i];
khaledelmadawi 0:e63996fd7d3e 139 }
khaledelmadawi 0:e63996fd7d3e 140 free (redData);
khaledelmadawi 0:e63996fd7d3e 141 return length;
khaledelmadawi 0:e63996fd7d3e 142 }
khaledelmadawi 0:e63996fd7d3e 143
khaledelmadawi 0:e63996fd7d3e 144 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
khaledelmadawi 0:e63996fd7d3e 145 {
khaledelmadawi 0:e63996fd7d3e 146 return 0;
khaledelmadawi 0:e63996fd7d3e 147 }
khaledelmadawi 0:e63996fd7d3e 148
khaledelmadawi 0:e63996fd7d3e 149 /** write a single bit in an 8-bit device register.
khaledelmadawi 0:e63996fd7d3e 150 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 151 * @param regAddr Register regAddr to write to
khaledelmadawi 0:e63996fd7d3e 152 * @param bitNum Bit position to write (0-7)
khaledelmadawi 0:e63996fd7d3e 153 * @param value New bit value to write
khaledelmadawi 0:e63996fd7d3e 154 * @return Status of operation (true = success)
khaledelmadawi 0:e63996fd7d3e 155 */
khaledelmadawi 0:e63996fd7d3e 156 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
khaledelmadawi 0:e63996fd7d3e 157 uint8_t b;
khaledelmadawi 0:e63996fd7d3e 158 readByte(devAddr, regAddr, &b);
khaledelmadawi 0:e63996fd7d3e 159 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
khaledelmadawi 0:e63996fd7d3e 160 return writeByte(devAddr, regAddr, b);
khaledelmadawi 0:e63996fd7d3e 161 }
khaledelmadawi 0:e63996fd7d3e 162
khaledelmadawi 0:e63996fd7d3e 163 /** write a single bit in a 16-bit device register.
khaledelmadawi 0:e63996fd7d3e 164 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 165 * @param regAddr Register regAddr to write to
khaledelmadawi 0:e63996fd7d3e 166 * @param bitNum Bit position to write (0-15)
khaledelmadawi 0:e63996fd7d3e 167 * @param value New bit value to write
khaledelmadawi 0:e63996fd7d3e 168 * @return Status of operation (true = success)
khaledelmadawi 0:e63996fd7d3e 169 */
khaledelmadawi 0:e63996fd7d3e 170 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
khaledelmadawi 0:e63996fd7d3e 171 uint16_t w;
khaledelmadawi 0:e63996fd7d3e 172 readWord(devAddr, regAddr, &w);
khaledelmadawi 0:e63996fd7d3e 173 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
khaledelmadawi 0:e63996fd7d3e 174 return writeWord(devAddr, regAddr, w);
khaledelmadawi 0:e63996fd7d3e 175 }
khaledelmadawi 0:e63996fd7d3e 176
khaledelmadawi 0:e63996fd7d3e 177 /** Write multiple bits in an 8-bit device register.
khaledelmadawi 0:e63996fd7d3e 178 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 179 * @param regAddr Register regAddr to write to
khaledelmadawi 0:e63996fd7d3e 180 * @param bitStart First bit position to write (0-7)
khaledelmadawi 0:e63996fd7d3e 181 * @param length Number of bits to write (not more than 8)
khaledelmadawi 0:e63996fd7d3e 182 * @param data Right-aligned value to write
khaledelmadawi 0:e63996fd7d3e 183 * @return Status of operation (true = success)
khaledelmadawi 0:e63996fd7d3e 184 */
khaledelmadawi 0:e63996fd7d3e 185 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
khaledelmadawi 0:e63996fd7d3e 186 // 010 value to write
khaledelmadawi 0:e63996fd7d3e 187 // 76543210 bit numbers
khaledelmadawi 0:e63996fd7d3e 188 // xxx args: bitStart=4, length=3
khaledelmadawi 0:e63996fd7d3e 189 // 00011100 mask byte
khaledelmadawi 0:e63996fd7d3e 190 // 10101111 original value (sample)
khaledelmadawi 0:e63996fd7d3e 191 // 10100011 original & ~mask
khaledelmadawi 0:e63996fd7d3e 192 // 10101011 masked | value
khaledelmadawi 0:e63996fd7d3e 193 uint8_t b;
khaledelmadawi 0:e63996fd7d3e 194 if (readByte(devAddr, regAddr, &b) != 0) {
khaledelmadawi 0:e63996fd7d3e 195 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
khaledelmadawi 0:e63996fd7d3e 196 data <<= (bitStart - length + 1); // shift data into correct position
khaledelmadawi 0:e63996fd7d3e 197 data &= mask; // zero all non-important bits in data
khaledelmadawi 0:e63996fd7d3e 198 b &= ~(mask); // zero all important bits in existing byte
khaledelmadawi 0:e63996fd7d3e 199 b |= data; // combine data with existing byte
khaledelmadawi 0:e63996fd7d3e 200 return writeByte(devAddr, regAddr, b);
khaledelmadawi 0:e63996fd7d3e 201 } else {
khaledelmadawi 0:e63996fd7d3e 202 return false;
khaledelmadawi 0:e63996fd7d3e 203 }
khaledelmadawi 0:e63996fd7d3e 204 }
khaledelmadawi 0:e63996fd7d3e 205
khaledelmadawi 0:e63996fd7d3e 206 /** Write multiple bits in a 16-bit device register.
khaledelmadawi 0:e63996fd7d3e 207 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 208 * @param regAddr Register regAddr to write to
khaledelmadawi 0:e63996fd7d3e 209 * @param bitStart First bit position to write (0-15)
khaledelmadawi 0:e63996fd7d3e 210 * @param length Number of bits to write (not more than 16)
khaledelmadawi 0:e63996fd7d3e 211 * @param data Right-aligned value to write
khaledelmadawi 0:e63996fd7d3e 212 * @return Status of operation (true = success)
khaledelmadawi 0:e63996fd7d3e 213 */
khaledelmadawi 0:e63996fd7d3e 214 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
khaledelmadawi 0:e63996fd7d3e 215 // 010 value to write
khaledelmadawi 0:e63996fd7d3e 216 // fedcba9876543210 bit numbers
khaledelmadawi 0:e63996fd7d3e 217 // xxx args: bitStart=12, length=3
khaledelmadawi 0:e63996fd7d3e 218 // 0001110000000000 mask byte
khaledelmadawi 0:e63996fd7d3e 219 // 1010111110010110 original value (sample)
khaledelmadawi 0:e63996fd7d3e 220 // 1010001110010110 original & ~mask
khaledelmadawi 0:e63996fd7d3e 221 // 1010101110010110 masked | value
khaledelmadawi 0:e63996fd7d3e 222 uint16_t w;
khaledelmadawi 0:e63996fd7d3e 223 if (readWord(devAddr, regAddr, &w) != 0) {
khaledelmadawi 0:e63996fd7d3e 224 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
khaledelmadawi 0:e63996fd7d3e 225 data <<= (bitStart - length + 1); // shift data into correct position
khaledelmadawi 0:e63996fd7d3e 226 data &= mask; // zero all non-important bits in data
khaledelmadawi 0:e63996fd7d3e 227 w &= ~(mask); // zero all important bits in existing word
khaledelmadawi 0:e63996fd7d3e 228 w |= data; // combine data with existing word
khaledelmadawi 0:e63996fd7d3e 229 return writeWord(devAddr, regAddr, w);
khaledelmadawi 0:e63996fd7d3e 230 } else {
khaledelmadawi 0:e63996fd7d3e 231 return false;
khaledelmadawi 0:e63996fd7d3e 232 }
khaledelmadawi 0:e63996fd7d3e 233 }
khaledelmadawi 0:e63996fd7d3e 234
khaledelmadawi 0:e63996fd7d3e 235 /** Write single byte to an 8-bit device register.
khaledelmadawi 0:e63996fd7d3e 236 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 237 * @param regAddr Register address to write to
khaledelmadawi 0:e63996fd7d3e 238 * @param data New byte value to write
khaledelmadawi 0:e63996fd7d3e 239 * @return Status of operation (true = success)
khaledelmadawi 0:e63996fd7d3e 240 */
khaledelmadawi 0:e63996fd7d3e 241 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
khaledelmadawi 0:e63996fd7d3e 242 return writeBytes(devAddr, regAddr, 1, &data);
khaledelmadawi 0:e63996fd7d3e 243 }
khaledelmadawi 0:e63996fd7d3e 244
khaledelmadawi 0:e63996fd7d3e 245 /** Write single word to a 16-bit device register.
khaledelmadawi 0:e63996fd7d3e 246 * @param devAddr I2C slave device address
khaledelmadawi 0:e63996fd7d3e 247 * @param regAddr Register address to write to
khaledelmadawi 0:e63996fd7d3e 248 * @param data New word value to write
khaledelmadawi 0:e63996fd7d3e 249 * @return Status of operation (true = success)
khaledelmadawi 0:e63996fd7d3e 250 */
khaledelmadawi 0:e63996fd7d3e 251 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
khaledelmadawi 0:e63996fd7d3e 252 return writeWords(devAddr, regAddr, 1, &data);
khaledelmadawi 0:e63996fd7d3e 253 }
khaledelmadawi 0:e63996fd7d3e 254
khaledelmadawi 0:e63996fd7d3e 255 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
khaledelmadawi 0:e63996fd7d3e 256 {
khaledelmadawi 0:e63996fd7d3e 257 i2c.start();
khaledelmadawi 0:e63996fd7d3e 258 i2c.write(devAddr<<1);
khaledelmadawi 0:e63996fd7d3e 259 i2c.write(regAddr);
khaledelmadawi 0:e63996fd7d3e 260 for(int i = 0; i < length; i++) {
khaledelmadawi 0:e63996fd7d3e 261 i2c.write(data[i]);
khaledelmadawi 0:e63996fd7d3e 262 }
khaledelmadawi 0:e63996fd7d3e 263 i2c.stop();
khaledelmadawi 0:e63996fd7d3e 264 return true;
khaledelmadawi 0:e63996fd7d3e 265 }
khaledelmadawi 0:e63996fd7d3e 266
khaledelmadawi 0:e63996fd7d3e 267 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
khaledelmadawi 0:e63996fd7d3e 268 {
khaledelmadawi 0:e63996fd7d3e 269 return true;
khaledelmadawi 0:e63996fd7d3e 270 }
khaledelmadawi 0:e63996fd7d3e 271
khaledelmadawi 0:e63996fd7d3e 272 uint16_t I2Cdev::readTimeout(void)
khaledelmadawi 0:e63996fd7d3e 273 {
khaledelmadawi 0:e63996fd7d3e 274 return 0;
khaledelmadawi 0:e63996fd7d3e 275 }