Mark Vandermeulen / MPU6050-DMP

MPU6050 library modified so I can use 2 IMUs

Dependents:   MPU6050-DMP_sample

Fork of MPU6050 by Shundo Kishi

I2Cdev.h@6:d348c3cad7c7, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:18:55 2015 +0000
Revision:
6:d348c3cad7c7
Parent:
0:662207e34fba 
This was modified so I can use 2 MPU6050 IMUs.; I just made a copy of the mpu6050 files under a different name. There is probably a better way to do this.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garfieldsg 0:662207e34fba 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
garfieldsg 0:662207e34fba 2 //written by szymon gaertig (email: szymon@gaertig.com.pl)
garfieldsg 0:662207e34fba 3 //
garfieldsg 0:662207e34fba 4 //Changelog:
garfieldsg 0:662207e34fba 5 //2013-01-08 - first beta release
garfieldsg 0:662207e34fba 6
garfieldsg 0:662207e34fba 7 #ifndef I2Cdev_h
garfieldsg 0:662207e34fba 8 #define I2Cdev_h
garfieldsg 0:662207e34fba 9
garfieldsg 0:662207e34fba 10 #include "mbed.h"
garfieldsg 0:662207e34fba 11
majik 6:d348c3cad7c7 12 #define I2C_SDA PTE0
majik 6:d348c3cad7c7 13 #define I2C_SCL PTE1
majik 6:d348c3cad7c7 14
majik 6:d348c3cad7c7 15 //#define I2C_SDA PTC9
majik 6:d348c3cad7c7 16 //#define I2C_SCL PTC8
majik 6:d348c3cad7c7 17
garfieldsg 0:662207e34fba 18
garfieldsg 0:662207e34fba 19 class I2Cdev {
garfieldsg 0:662207e34fba 20 private:
garfieldsg 0:662207e34fba 21 I2C i2c;
garfieldsg 0:662207e34fba 22 Serial debugSerial;
garfieldsg 0:662207e34fba 23 public:
garfieldsg 0:662207e34fba 24 I2Cdev();
garfieldsg 0:662207e34fba 25 I2Cdev(PinName i2cSda, PinName i2cScl);
garfieldsg 0:662207e34fba 26
garfieldsg 0:662207e34fba 27 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 28 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 29 int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 30 int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 31 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 32 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 33 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 34 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 35
garfieldsg 0:662207e34fba 36 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
garfieldsg 0:662207e34fba 37 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
garfieldsg 0:662207e34fba 38 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
garfieldsg 0:662207e34fba 39 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
garfieldsg 0:662207e34fba 40 bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
garfieldsg 0:662207e34fba 41 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
garfieldsg 0:662207e34fba 42 bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
garfieldsg 0:662207e34fba 43 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
garfieldsg 0:662207e34fba 44
garfieldsg 0:662207e34fba 45 static uint16_t readTimeout(void);
garfieldsg 0:662207e34fba 46 };
garfieldsg 0:662207e34fba 47
garfieldsg 0:662207e34fba 48 #endif