Prosper Van / MotionDriverv512

InvenSense Motion Driver v5.1.2 ported

Dependents:   Sensorv2

I2Cdev/I2Cdev.h@0:4dd021344a6b, 2014-06-03 (annotated)

Committer:
oprospero
Date:
Tue Jun 03 07:54:12 2014 +0000
Revision:
0:4dd021344a6b
Initial MotionDriver v5.1.2 ported from InvenSense

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oprospero 0:4dd021344a6b 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
oprospero 0:4dd021344a6b 2 //written by szymon gaertig (email: szymon@gaertig.com.pl)
oprospero 0:4dd021344a6b 3 //Altered for Motion Driver v5.1.2 by Prosper Van
oprospero 0:4dd021344a6b 4 //
oprospero 0:4dd021344a6b 5 //
oprospero 0:4dd021344a6b 6 //Changelog:
oprospero 0:4dd021344a6b 7 //2013-01-08 - first beta release
oprospero 0:4dd021344a6b 8 //2014-05-30 - Altered for Inverse Motion Driver v5.1.2
oprospero 0:4dd021344a6b 9
oprospero 0:4dd021344a6b 10 #ifndef I2Cdev_h
oprospero 0:4dd021344a6b 11 #define I2Cdev_h
oprospero 0:4dd021344a6b 12
oprospero 0:4dd021344a6b 13 #include "mbed.h"
oprospero 0:4dd021344a6b 14
oprospero 0:4dd021344a6b 15 #define I2C_SDA PTC9
oprospero 0:4dd021344a6b 16 #define I2C_SCL PTC8
oprospero 0:4dd021344a6b 17
oprospero 0:4dd021344a6b 18 class I2Cdev {
oprospero 0:4dd021344a6b 19 private:
oprospero 0:4dd021344a6b 20 I2C i2c;
oprospero 0:4dd021344a6b 21 public:
oprospero 0:4dd021344a6b 22 I2Cdev();
oprospero 0:4dd021344a6b 23 I2Cdev(PinName i2cSda, PinName i2cScl);
oprospero 0:4dd021344a6b 24 void frequency(int hz);
oprospero 0:4dd021344a6b 25 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
oprospero 0:4dd021344a6b 26 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
oprospero 0:4dd021344a6b 27 int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
oprospero 0:4dd021344a6b 28 int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
oprospero 0:4dd021344a6b 29 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
oprospero 0:4dd021344a6b 30 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
oprospero 0:4dd021344a6b 31 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
oprospero 0:4dd021344a6b 32 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
oprospero 0:4dd021344a6b 33
oprospero 0:4dd021344a6b 34 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
oprospero 0:4dd021344a6b 35 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
oprospero 0:4dd021344a6b 36 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
oprospero 0:4dd021344a6b 37 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
oprospero 0:4dd021344a6b 38 int writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
oprospero 0:4dd021344a6b 39 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
oprospero 0:4dd021344a6b 40 int writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
oprospero 0:4dd021344a6b 41 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
oprospero 0:4dd021344a6b 42
oprospero 0:4dd021344a6b 43 static uint16_t readTimeout(void);
oprospero 0:4dd021344a6b 44 };
oprospero 0:4dd021344a6b 45
oprospero 0:4dd021344a6b 46 #endif