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Diff: I2Cdev.cpp
- Revision:
- 0:3aa973ebe3e5
- Child:
- 1:0631d7e009fa
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/I2Cdev.cpp Sun Jan 31 13:52:23 2016 +0000
@@ -0,0 +1,273 @@
+// ported from arduino library: https://github.com/jrowberg/i2cdevlib
+// written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
+// modified by shundo kishi
+//
+// Changelog:
+// 2013-01-08 - first release
+// 2016-01-31 - changed all functions and variables static to make porting from arduino easier(by shundo kishi)
+
+#include "I2Cdev.h"
+
+I2C I2Cdev::i2c(I2C_SDA,I2C_SCL);
+
+/** Default constructor.
+ */
+I2Cdev::I2Cdev() {
+}
+
+/** Read a single bit from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitNum Bit position to read (0-7)
+ * @param data Container for single bit value
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
+ uint8_t b;
+ uint8_t count = readByte(devAddr, regAddr, &b, timeout);
+ *data = b & (1 << bitNum);
+ return count;
+}
+
+/** Read a single bit from a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitNum Bit position to read (0-15)
+ * @param data Container for single bit value
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
+ uint16_t b;
+ uint8_t count = readWord(devAddr, regAddr, &b, timeout);
+ *data = b & (1 << bitNum);
+ return count;
+}
+
+/** Read multiple bits from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitStart First bit position to read (0-7)
+ * @param length Number of bits to read (not more than 8)
+ * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
+ // 01101001 read byte
+ // 76543210 bit numbers
+ // xxx args: bitStart=4, length=3
+ // 010 masked
+ // -> 010 shifted
+ uint8_t count, b;
+ if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
+ uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+ b &= mask;
+ b >>= (bitStart - length + 1);
+ *data = b;
+ }
+ return count;
+}
+
+/** Read multiple bits from a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitStart First bit position to read (0-15)
+ * @param length Number of bits to read (not more than 16)
+ * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
+ */
+int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
+ // 1101011001101001 read byte
+ // fedcba9876543210 bit numbers
+ // xxx args: bitStart=12, length=3
+ // 010 masked
+ // -> 010 shifted
+ uint8_t count;
+ uint16_t w;
+ if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
+ uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+ w &= mask;
+ w >>= (bitStart - length + 1);
+ *data = w;
+ }
+ return count;
+}
+/** Read single byte from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param data Container for byte value read from device
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
+ return readBytes(devAddr, regAddr, 1, data, timeout);
+}
+
+/** Read single word from a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param data Container for word value read from device
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Status of read operation (true = success)
+ */
+int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
+ return readWords(devAddr, regAddr, 1, data, timeout);
+}
+
+/** Read multiple bytes from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr First register regAddr to read from
+ * @param length Number of bytes to read
+ * @param data Buffer to store read data in
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return Number of bytes read (-1 indicates failure)
+ */
+int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
+{
+ char command[1];
+ command[0] = regAddr;
+ char *redData = (char*)malloc(length);
+ i2c.write(devAddr<<1, command, 1, true);
+ i2c.read(devAddr<<1, redData, length);
+ for(int i =0; i < length; i++) {
+ data[i] = redData[i];
+ }
+ free (redData);
+ return length;
+}
+
+int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
+{
+ return 0;
+}
+
+/** write a single bit in an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitNum Bit position to write (0-7)
+ * @param value New bit value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
+ uint8_t b;
+ readByte(devAddr, regAddr, &b);
+ b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
+ return writeByte(devAddr, regAddr, b);
+}
+
+/** write a single bit in a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitNum Bit position to write (0-15)
+ * @param value New bit value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
+ uint16_t w;
+ readWord(devAddr, regAddr, &w);
+ w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
+ return writeWord(devAddr, regAddr, w);
+}
+
+/** Write multiple bits in an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitStart First bit position to write (0-7)
+ * @param length Number of bits to write (not more than 8)
+ * @param data Right-aligned value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
+ // 010 value to write
+ // 76543210 bit numbers
+ // xxx args: bitStart=4, length=3
+ // 00011100 mask byte
+ // 10101111 original value (sample)
+ // 10100011 original & ~mask
+ // 10101011 masked | value
+ uint8_t b;
+ if (readByte(devAddr, regAddr, &b) != 0) {
+ uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+ data <<= (bitStart - length + 1); // shift data into correct position
+ data &= mask; // zero all non-important bits in data
+ b &= ~(mask); // zero all important bits in existing byte
+ b |= data; // combine data with existing byte
+ return writeByte(devAddr, regAddr, b);
+ } else {
+ return false;
+ }
+}
+
+/** Write multiple bits in a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitStart First bit position to write (0-15)
+ * @param length Number of bits to write (not more than 16)
+ * @param data Right-aligned value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
+ // 010 value to write
+ // fedcba9876543210 bit numbers
+ // xxx args: bitStart=12, length=3
+ // 0001110000000000 mask byte
+ // 1010111110010110 original value (sample)
+ // 1010001110010110 original & ~mask
+ // 1010101110010110 masked | value
+ uint16_t w;
+ if (readWord(devAddr, regAddr, &w) != 0) {
+ uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+ data <<= (bitStart - length + 1); // shift data into correct position
+ data &= mask; // zero all non-important bits in data
+ w &= ~(mask); // zero all important bits in existing word
+ w |= data; // combine data with existing word
+ return writeWord(devAddr, regAddr, w);
+ } else {
+ return false;
+ }
+}
+
+/** Write single byte to an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register address to write to
+ * @param data New byte value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
+ return writeBytes(devAddr, regAddr, 1, &data);
+}
+
+/** Write single word to a 16-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register address to write to
+ * @param data New word value to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
+ return writeWords(devAddr, regAddr, 1, &data);
+}
+
+bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
+{
+ i2c.start();
+ i2c.write(devAddr<<1);
+ i2c.write(regAddr);
+ for(int i = 0; i < length; i++) {
+ i2c.write(data[i]);
+ }
+ i2c.stop();
+ return true;
+}
+
+bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
+{
+ return true;
+}
+
+uint16_t I2Cdev::readTimeout(void)
+{
+ return 0;
+}
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