Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

drivers/MPU6050-DMP-Ian/I2C/I2Cdev.h@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
majik 0:964eb6a2ef00 2 //written by szymon gaertig (email: szymon@gaertig.com.pl)
majik 0:964eb6a2ef00 3 //
majik 0:964eb6a2ef00 4 //Changelog:
majik 0:964eb6a2ef00 5 //2013-01-08 - first beta release
majik 0:964eb6a2ef00 6
majik 0:964eb6a2ef00 7 #ifndef I2Cdev_h
majik 0:964eb6a2ef00 8 #define I2Cdev_h
majik 0:964eb6a2ef00 9
majik 0:964eb6a2ef00 10 #include "mbed.h"
majik 0:964eb6a2ef00 11
majik 0:964eb6a2ef00 12 #define I2C_SDA PTE0
majik 0:964eb6a2ef00 13 #define I2C_SCL PTE1
majik 0:964eb6a2ef00 14
majik 0:964eb6a2ef00 15 class I2Cdev {
majik 0:964eb6a2ef00 16 private:
majik 0:964eb6a2ef00 17 I2C i2c;
majik 0:964eb6a2ef00 18 //Serial debugSerial;
majik 0:964eb6a2ef00 19 public:
majik 0:964eb6a2ef00 20 I2Cdev();
majik 0:964eb6a2ef00 21 I2Cdev(PinName i2cSda, PinName i2cScl);
majik 0:964eb6a2ef00 22
majik 0:964eb6a2ef00 23 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
majik 0:964eb6a2ef00 24 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
majik 0:964eb6a2ef00 25 int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
majik 0:964eb6a2ef00 26 int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
majik 0:964eb6a2ef00 27 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
majik 0:964eb6a2ef00 28 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
majik 0:964eb6a2ef00 29 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
majik 0:964eb6a2ef00 30 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
majik 0:964eb6a2ef00 31
majik 0:964eb6a2ef00 32 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
majik 0:964eb6a2ef00 33 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
majik 0:964eb6a2ef00 34 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
majik 0:964eb6a2ef00 35 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
majik 0:964eb6a2ef00 36 bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
majik 0:964eb6a2ef00 37 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
majik 0:964eb6a2ef00 38 bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
majik 0:964eb6a2ef00 39 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
majik 0:964eb6a2ef00 40
majik 0:964eb6a2ef00 41 static uint16_t readTimeout(void);
majik 0:964eb6a2ef00 42 };
majik 0:964eb6a2ef00 43
majik 0:964eb6a2ef00 44 #endif