Li Weiyi / Mbed 2 deprecated BalanceCar

虽然移植完毕，但是不work。需要细调……

Dependencies:   mbed

I2Cdev.cpp@3:c6caae712d5d, 2016-06-07 (annotated)

Committer:
lixianyu
Date:
Tue Jun 07 08:14:15 2016 +0000
Revision:
3:c6caae712d5d
Parent:
2:99785a1007a4 
??????????work? ?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 0:a4d8f5b3c546 1 #include "I2Cdev.h"
lixianyu 0:a4d8f5b3c546 2
lixianyu 2:99785a1007a4 3 extern DigitalOut myled;
lixianyu 0:a4d8f5b3c546 4 static uint8_t buffer[24];
lixianyu 0:a4d8f5b3c546 5 I2C g_i2c(P0_11, P0_10);
lixianyu 0:a4d8f5b3c546 6
lixianyu 0:a4d8f5b3c546 7 uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
lixianyu 0:a4d8f5b3c546 8
lixianyu 2:99785a1007a4 9 void I2Cdev::init()
lixianyu 2:99785a1007a4 10 {
lixianyu 2:99785a1007a4 11 g_i2c.frequency(267000);
lixianyu 2:99785a1007a4 12 }
lixianyu 2:99785a1007a4 13
lixianyu 0:a4d8f5b3c546 14 /** Default constructor.
lixianyu 0:a4d8f5b3c546 15 */
lixianyu 0:a4d8f5b3c546 16 I2Cdev::I2Cdev()
lixianyu 0:a4d8f5b3c546 17 {
lixianyu 0:a4d8f5b3c546 18 g_i2c.frequency(400000);
lixianyu 2:99785a1007a4 19 //myled = 1;
lixianyu 0:a4d8f5b3c546 20 }
lixianyu 0:a4d8f5b3c546 21
lixianyu 0:a4d8f5b3c546 22 /** Read a single bit from an 8-bit device register.
lixianyu 0:a4d8f5b3c546 23 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 24 * @param regAddr Register regAddr to read from
lixianyu 0:a4d8f5b3c546 25 * @param bitNum Bit position to read (0-7)
lixianyu 0:a4d8f5b3c546 26 * @param data Container for single bit value
lixianyu 0:a4d8f5b3c546 27 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
lixianyu 0:a4d8f5b3c546 28 * @return Status of read operation (true = success)
lixianyu 0:a4d8f5b3c546 29 */
lixianyu 0:a4d8f5b3c546 30 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout)
lixianyu 0:a4d8f5b3c546 31 {
lixianyu 0:a4d8f5b3c546 32 uint8_t b;
lixianyu 0:a4d8f5b3c546 33 uint8_t count = readByte(devAddr, regAddr, &b, timeout);
lixianyu 0:a4d8f5b3c546 34 *data = b & (1 << bitNum);
lixianyu 0:a4d8f5b3c546 35 return count;
lixianyu 0:a4d8f5b3c546 36 }
lixianyu 0:a4d8f5b3c546 37
lixianyu 0:a4d8f5b3c546 38 /** Read a single bit from a 16-bit device register.
lixianyu 0:a4d8f5b3c546 39 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 40 * @param regAddr Register regAddr to read from
lixianyu 0:a4d8f5b3c546 41 * @param bitNum Bit position to read (0-15)
lixianyu 0:a4d8f5b3c546 42 * @param data Container for single bit value
lixianyu 0:a4d8f5b3c546 43 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
lixianyu 0:a4d8f5b3c546 44 * @return Status of read operation (true = success)
lixianyu 0:a4d8f5b3c546 45 */
lixianyu 0:a4d8f5b3c546 46 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout)
lixianyu 0:a4d8f5b3c546 47 {
lixianyu 0:a4d8f5b3c546 48 uint16_t b;
lixianyu 0:a4d8f5b3c546 49 uint8_t count = readWord(devAddr, regAddr, &b, timeout);
lixianyu 0:a4d8f5b3c546 50 *data = b & (1 << bitNum);
lixianyu 0:a4d8f5b3c546 51 return count;
lixianyu 0:a4d8f5b3c546 52 }
lixianyu 0:a4d8f5b3c546 53
lixianyu 0:a4d8f5b3c546 54 /** Read multiple bits from an 8-bit device register.
lixianyu 0:a4d8f5b3c546 55 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 56 * @param regAddr Register regAddr to read from
lixianyu 0:a4d8f5b3c546 57 * @param bitStart First bit position to read (0-7)
lixianyu 0:a4d8f5b3c546 58 * @param length Number of bits to read (not more than 8)
lixianyu 0:a4d8f5b3c546 59 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
lixianyu 0:a4d8f5b3c546 60 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
lixianyu 0:a4d8f5b3c546 61 * @return Status of read operation (true = success)
lixianyu 0:a4d8f5b3c546 62 */
lixianyu 0:a4d8f5b3c546 63 int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout)
lixianyu 0:a4d8f5b3c546 64 {
lixianyu 0:a4d8f5b3c546 65 // 01101001 read byte
lixianyu 0:a4d8f5b3c546 66 // 76543210 bit numbers
lixianyu 0:a4d8f5b3c546 67 // xxx args: bitStart=4, length=3
lixianyu 0:a4d8f5b3c546 68 // 010 masked
lixianyu 0:a4d8f5b3c546 69 // -> 010 shifted
lixianyu 0:a4d8f5b3c546 70 uint8_t count, b;
lixianyu 0:a4d8f5b3c546 71 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
lixianyu 0:a4d8f5b3c546 72 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
lixianyu 0:a4d8f5b3c546 73 b &= mask;
lixianyu 0:a4d8f5b3c546 74 b >>= (bitStart - length + 1);
lixianyu 0:a4d8f5b3c546 75 *data = b;
lixianyu 0:a4d8f5b3c546 76 }
lixianyu 0:a4d8f5b3c546 77 return count;
lixianyu 0:a4d8f5b3c546 78 }
lixianyu 0:a4d8f5b3c546 79
lixianyu 0:a4d8f5b3c546 80 /** Read multiple bits from a 16-bit device register.
lixianyu 0:a4d8f5b3c546 81 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 82 * @param regAddr Register regAddr to read from
lixianyu 0:a4d8f5b3c546 83 * @param bitStart First bit position to read (0-15)
lixianyu 0:a4d8f5b3c546 84 * @param length Number of bits to read (not more than 16)
lixianyu 0:a4d8f5b3c546 85 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
lixianyu 0:a4d8f5b3c546 86 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
lixianyu 0:a4d8f5b3c546 87 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
lixianyu 0:a4d8f5b3c546 88 */
lixianyu 0:a4d8f5b3c546 89 int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout)
lixianyu 0:a4d8f5b3c546 90 {
lixianyu 0:a4d8f5b3c546 91 // 1101011001101001 read byte
lixianyu 0:a4d8f5b3c546 92 // fedcba9876543210 bit numbers
lixianyu 0:a4d8f5b3c546 93 // xxx args: bitStart=12, length=3
lixianyu 0:a4d8f5b3c546 94 // 010 masked
lixianyu 0:a4d8f5b3c546 95 // -> 010 shifted
lixianyu 0:a4d8f5b3c546 96 uint8_t count;
lixianyu 0:a4d8f5b3c546 97 uint16_t w;
lixianyu 0:a4d8f5b3c546 98 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
lixianyu 0:a4d8f5b3c546 99 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
lixianyu 0:a4d8f5b3c546 100 w &= mask;
lixianyu 0:a4d8f5b3c546 101 w >>= (bitStart - length + 1);
lixianyu 0:a4d8f5b3c546 102 *data = w;
lixianyu 0:a4d8f5b3c546 103 }
lixianyu 0:a4d8f5b3c546 104 return count;
lixianyu 0:a4d8f5b3c546 105 }
lixianyu 0:a4d8f5b3c546 106
lixianyu 0:a4d8f5b3c546 107 /** Read single byte from an 8-bit device register.
lixianyu 0:a4d8f5b3c546 108 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 109 * @param regAddr Register regAddr to read from
lixianyu 0:a4d8f5b3c546 110 * @param data Container for byte value read from device
lixianyu 0:a4d8f5b3c546 111 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
lixianyu 0:a4d8f5b3c546 112 * @return Status of read operation (true = success)
lixianyu 0:a4d8f5b3c546 113 */
lixianyu 0:a4d8f5b3c546 114 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout)
lixianyu 0:a4d8f5b3c546 115 {
lixianyu 0:a4d8f5b3c546 116 return readBytes(devAddr, regAddr, 1, data, timeout);
lixianyu 0:a4d8f5b3c546 117 }
lixianyu 0:a4d8f5b3c546 118
lixianyu 0:a4d8f5b3c546 119 /** Read single word from a 16-bit device register.
lixianyu 0:a4d8f5b3c546 120 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 121 * @param regAddr Register regAddr to read from
lixianyu 0:a4d8f5b3c546 122 * @param data Container for word value read from device
lixianyu 0:a4d8f5b3c546 123 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
lixianyu 0:a4d8f5b3c546 124 * @return Status of read operation (true = success)
lixianyu 0:a4d8f5b3c546 125 */
lixianyu 0:a4d8f5b3c546 126 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout)
lixianyu 0:a4d8f5b3c546 127 {
lixianyu 0:a4d8f5b3c546 128 return readWords(devAddr, regAddr, 1, data, timeout);
lixianyu 0:a4d8f5b3c546 129 }
lixianyu 0:a4d8f5b3c546 130
lixianyu 0:a4d8f5b3c546 131 /** Read multiple bytes from an 8-bit device register.
lixianyu 0:a4d8f5b3c546 132 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 133 * @param regAddr First register regAddr to read from
lixianyu 0:a4d8f5b3c546 134 * @param length Number of bytes to read
lixianyu 0:a4d8f5b3c546 135 * @param data Buffer to store read data in
lixianyu 0:a4d8f5b3c546 136 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
lixianyu 0:a4d8f5b3c546 137 * @return Number of bytes read (-1 indicates failure)
lixianyu 0:a4d8f5b3c546 138 */
lixianyu 0:a4d8f5b3c546 139 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
lixianyu 0:a4d8f5b3c546 140 {
lixianyu 0:a4d8f5b3c546 141 g_i2c.write(devAddr << 1, (char*)&regAddr, 1, false);
lixianyu 0:a4d8f5b3c546 142 uint8_t realReadAddr = (devAddr << 1) | 0x01;
lixianyu 0:a4d8f5b3c546 143 int retRead = g_i2c.read(realReadAddr, (char*)data, length);
lixianyu 0:a4d8f5b3c546 144 if (retRead == 0) {
lixianyu 0:a4d8f5b3c546 145 return length;
lixianyu 0:a4d8f5b3c546 146 }
lixianyu 0:a4d8f5b3c546 147 return -1;
lixianyu 0:a4d8f5b3c546 148 }
lixianyu 0:a4d8f5b3c546 149
lixianyu 0:a4d8f5b3c546 150 /** Read multiple words from a 16-bit device register.
lixianyu 0:a4d8f5b3c546 151 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 152 * @param regAddr First register regAddr to read from
lixianyu 0:a4d8f5b3c546 153 * @param length Number of words to read
lixianyu 0:a4d8f5b3c546 154 * @param data Buffer to store read data in
lixianyu 0:a4d8f5b3c546 155 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
lixianyu 0:a4d8f5b3c546 156 * @return Number of words read (0 indicates failure)
lixianyu 0:a4d8f5b3c546 157 */
lixianyu 0:a4d8f5b3c546 158 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
lixianyu 0:a4d8f5b3c546 159 {
lixianyu 0:a4d8f5b3c546 160 g_i2c.write(devAddr << 1, (char*)&regAddr, 1, false);
lixianyu 0:a4d8f5b3c546 161 uint8_t realReadAddr = (devAddr << 1) | 0x01;
lixianyu 0:a4d8f5b3c546 162 int retRead = g_i2c.read(realReadAddr, (char*)data, length*2);
lixianyu 0:a4d8f5b3c546 163 if (retRead == 0) {
lixianyu 0:a4d8f5b3c546 164 return length;
lixianyu 0:a4d8f5b3c546 165 }
lixianyu 0:a4d8f5b3c546 166 return 0;
lixianyu 0:a4d8f5b3c546 167 }
lixianyu 0:a4d8f5b3c546 168
lixianyu 0:a4d8f5b3c546 169 /** write a single bit in an 8-bit device register.
lixianyu 0:a4d8f5b3c546 170 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 171 * @param regAddr Register regAddr to write to
lixianyu 0:a4d8f5b3c546 172 * @param bitNum Bit position to write (0-7)
lixianyu 0:a4d8f5b3c546 173 * @param value New bit value to write
lixianyu 0:a4d8f5b3c546 174 * @return Status of operation (true = success)
lixianyu 0:a4d8f5b3c546 175 */
lixianyu 0:a4d8f5b3c546 176 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)
lixianyu 0:a4d8f5b3c546 177 {
lixianyu 0:a4d8f5b3c546 178 uint8_t b;
lixianyu 0:a4d8f5b3c546 179 readByte(devAddr, regAddr, &b);
lixianyu 0:a4d8f5b3c546 180 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
lixianyu 0:a4d8f5b3c546 181 return writeByte(devAddr, regAddr, b);
lixianyu 0:a4d8f5b3c546 182 }
lixianyu 0:a4d8f5b3c546 183
lixianyu 0:a4d8f5b3c546 184 /** write a single bit in a 16-bit device register.
lixianyu 0:a4d8f5b3c546 185 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 186 * @param regAddr Register regAddr to write to
lixianyu 0:a4d8f5b3c546 187 * @param bitNum Bit position to write (0-15)
lixianyu 0:a4d8f5b3c546 188 * @param value New bit value to write
lixianyu 0:a4d8f5b3c546 189 * @return Status of operation (true = success)
lixianyu 0:a4d8f5b3c546 190 */
lixianyu 0:a4d8f5b3c546 191 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data)
lixianyu 0:a4d8f5b3c546 192 {
lixianyu 0:a4d8f5b3c546 193 uint16_t w;
lixianyu 0:a4d8f5b3c546 194 readWord(devAddr, regAddr, &w);
lixianyu 0:a4d8f5b3c546 195 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
lixianyu 0:a4d8f5b3c546 196 return writeWord(devAddr, regAddr, w);
lixianyu 0:a4d8f5b3c546 197 }
lixianyu 0:a4d8f5b3c546 198
lixianyu 0:a4d8f5b3c546 199 /** Write multiple bits in an 8-bit device register.
lixianyu 0:a4d8f5b3c546 200 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 201 * @param regAddr Register regAddr to write to
lixianyu 0:a4d8f5b3c546 202 * @param bitStart First bit position to write (0-7)
lixianyu 0:a4d8f5b3c546 203 * @param length Number of bits to write (not more than 8)
lixianyu 0:a4d8f5b3c546 204 * @param data Right-aligned value to write
lixianyu 0:a4d8f5b3c546 205 * @return Status of operation (true = success)
lixianyu 0:a4d8f5b3c546 206 */
lixianyu 0:a4d8f5b3c546 207 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
lixianyu 0:a4d8f5b3c546 208 {
lixianyu 0:a4d8f5b3c546 209 // 010 value to write
lixianyu 0:a4d8f5b3c546 210 // 76543210 bit numbers
lixianyu 0:a4d8f5b3c546 211 // xxx args: bitStart=4, length=3
lixianyu 0:a4d8f5b3c546 212 // 00011100 mask byte
lixianyu 0:a4d8f5b3c546 213 // 10101111 original value (sample)
lixianyu 0:a4d8f5b3c546 214 // 10100011 original & ~mask
lixianyu 0:a4d8f5b3c546 215 // 10101011 masked | value
lixianyu 0:a4d8f5b3c546 216 uint8_t b;
lixianyu 0:a4d8f5b3c546 217 if (readByte(devAddr, regAddr, &b) != 0) {
lixianyu 0:a4d8f5b3c546 218 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
lixianyu 0:a4d8f5b3c546 219 data <<= (bitStart - length + 1); // shift data into correct position
lixianyu 0:a4d8f5b3c546 220 data &= mask; // zero all non-important bits in data
lixianyu 0:a4d8f5b3c546 221 b &= ~(mask); // zero all important bits in existing byte
lixianyu 0:a4d8f5b3c546 222 b |= data; // combine data with existing byte
lixianyu 0:a4d8f5b3c546 223 return writeByte(devAddr, regAddr, b);
lixianyu 0:a4d8f5b3c546 224 } else {
lixianyu 0:a4d8f5b3c546 225 return false;
lixianyu 0:a4d8f5b3c546 226 }
lixianyu 0:a4d8f5b3c546 227 }
lixianyu 0:a4d8f5b3c546 228
lixianyu 0:a4d8f5b3c546 229 /** Write multiple bits in a 16-bit device register.
lixianyu 0:a4d8f5b3c546 230 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 231 * @param regAddr Register regAddr to write to
lixianyu 0:a4d8f5b3c546 232 * @param bitStart First bit position to write (0-15)
lixianyu 0:a4d8f5b3c546 233 * @param length Number of bits to write (not more than 16)
lixianyu 0:a4d8f5b3c546 234 * @param data Right-aligned value to write
lixianyu 0:a4d8f5b3c546 235 * @return Status of operation (true = success)
lixianyu 0:a4d8f5b3c546 236 */
lixianyu 0:a4d8f5b3c546 237 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data)
lixianyu 0:a4d8f5b3c546 238 {
lixianyu 0:a4d8f5b3c546 239 // 010 value to write
lixianyu 0:a4d8f5b3c546 240 // fedcba9876543210 bit numbers
lixianyu 0:a4d8f5b3c546 241 // xxx args: bitStart=12, length=3
lixianyu 0:a4d8f5b3c546 242 // 0001110000000000 mask byte
lixianyu 0:a4d8f5b3c546 243 // 1010111110010110 original value (sample)
lixianyu 0:a4d8f5b3c546 244 // 1010001110010110 original & ~mask
lixianyu 0:a4d8f5b3c546 245 // 1010101110010110 masked | value
lixianyu 0:a4d8f5b3c546 246 uint16_t w;
lixianyu 0:a4d8f5b3c546 247 if (readWord(devAddr, regAddr, &w) != 0) {
lixianyu 0:a4d8f5b3c546 248 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
lixianyu 0:a4d8f5b3c546 249 data <<= (bitStart - length + 1); // shift data into correct position
lixianyu 0:a4d8f5b3c546 250 data &= mask; // zero all non-important bits in data
lixianyu 0:a4d8f5b3c546 251 w &= ~(mask); // zero all important bits in existing word
lixianyu 0:a4d8f5b3c546 252 w |= data; // combine data with existing word
lixianyu 0:a4d8f5b3c546 253 return writeWord(devAddr, regAddr, w);
lixianyu 0:a4d8f5b3c546 254 } else {
lixianyu 0:a4d8f5b3c546 255 return false;
lixianyu 0:a4d8f5b3c546 256 }
lixianyu 0:a4d8f5b3c546 257 }
lixianyu 0:a4d8f5b3c546 258
lixianyu 0:a4d8f5b3c546 259 /** Write single byte to an 8-bit device register.
lixianyu 0:a4d8f5b3c546 260 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 261 * @param regAddr Register address to write to
lixianyu 0:a4d8f5b3c546 262 * @param data New byte value to write
lixianyu 0:a4d8f5b3c546 263 * @return Status of operation (true = success)
lixianyu 0:a4d8f5b3c546 264 */
lixianyu 0:a4d8f5b3c546 265 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data)
lixianyu 0:a4d8f5b3c546 266 {
lixianyu 0:a4d8f5b3c546 267 return writeBytes(devAddr, regAddr, 1, &data);
lixianyu 0:a4d8f5b3c546 268 }
lixianyu 0:a4d8f5b3c546 269
lixianyu 0:a4d8f5b3c546 270 /** Write single word to a 16-bit device register.
lixianyu 0:a4d8f5b3c546 271 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 272 * @param regAddr Register address to write to
lixianyu 0:a4d8f5b3c546 273 * @param data New word value to write
lixianyu 0:a4d8f5b3c546 274 * @return Status of operation (true = success)
lixianyu 0:a4d8f5b3c546 275 */
lixianyu 0:a4d8f5b3c546 276 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data)
lixianyu 0:a4d8f5b3c546 277 {
lixianyu 0:a4d8f5b3c546 278 return writeWords(devAddr, regAddr, 1, &data);
lixianyu 0:a4d8f5b3c546 279 }
lixianyu 0:a4d8f5b3c546 280
lixianyu 0:a4d8f5b3c546 281 /** Write multiple bytes to an 8-bit device register.
lixianyu 0:a4d8f5b3c546 282 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 283 * @param regAddr First register address to write to
lixianyu 0:a4d8f5b3c546 284 * @param length Number of bytes to write
lixianyu 0:a4d8f5b3c546 285 * @param data Buffer to copy new data from
lixianyu 0:a4d8f5b3c546 286 * @return Status of operation (true = success)
lixianyu 0:a4d8f5b3c546 287 */
lixianyu 0:a4d8f5b3c546 288 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data)
lixianyu 0:a4d8f5b3c546 289 {
lixianyu 0:a4d8f5b3c546 290 uint8_t i;
lixianyu 0:a4d8f5b3c546 291 uint8_t *p = buffer;
lixianyu 0:a4d8f5b3c546 292
lixianyu 0:a4d8f5b3c546 293 /* Copy address and data to local buffer for burst write */
lixianyu 0:a4d8f5b3c546 294 *p++ = regAddr;
lixianyu 0:a4d8f5b3c546 295 for (i = 0; i < length; i++) {
lixianyu 0:a4d8f5b3c546 296 *p++ = *data++;
lixianyu 0:a4d8f5b3c546 297 }
lixianyu 0:a4d8f5b3c546 298 length++;
lixianyu 0:a4d8f5b3c546 299 /* Send address and data */
lixianyu 0:a4d8f5b3c546 300 int status = g_i2c.write(devAddr << 1, (char*)buffer, length, false);
lixianyu 0:a4d8f5b3c546 301 return status == 0;
lixianyu 0:a4d8f5b3c546 302 }
lixianyu 0:a4d8f5b3c546 303
lixianyu 0:a4d8f5b3c546 304 /** Write multiple words to a 16-bit device register.
lixianyu 0:a4d8f5b3c546 305 * @param devAddr I2C slave device address
lixianyu 0:a4d8f5b3c546 306 * @param regAddr First register address to write to
lixianyu 0:a4d8f5b3c546 307 * @param length Number of words to write
lixianyu 0:a4d8f5b3c546 308 * @param data Buffer to copy new data from
lixianyu 0:a4d8f5b3c546 309 * @return Status of operation (true = success)
lixianyu 0:a4d8f5b3c546 310 */
lixianyu 0:a4d8f5b3c546 311 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data)
lixianyu 0:a4d8f5b3c546 312 {
lixianyu 0:a4d8f5b3c546 313 uint16_t i;
lixianyu 0:a4d8f5b3c546 314 uint8_t *p = buffer;
lixianyu 0:a4d8f5b3c546 315 uint16_t realLen = length * 2;
lixianyu 0:a4d8f5b3c546 316
lixianyu 0:a4d8f5b3c546 317 /* Copy address and data to local buffer for burst write */
lixianyu 0:a4d8f5b3c546 318 *p++ = regAddr;
lixianyu 0:a4d8f5b3c546 319 for (i = 0; i < realLen; i++) {
lixianyu 0:a4d8f5b3c546 320 *p++ = *data++;
lixianyu 0:a4d8f5b3c546 321 }
lixianyu 0:a4d8f5b3c546 322 realLen++;
lixianyu 0:a4d8f5b3c546 323 /* Send address and data */
lixianyu 0:a4d8f5b3c546 324 int status = g_i2c.write(devAddr << 1, (char*)buffer, realLen, false);
lixianyu 0:a4d8f5b3c546 325 return status == 0;
lixianyu 0:a4d8f5b3c546 326 }