Diff: mdcompat.cpp

Revision:

1:a6c3f8680fe0

Child:

2:e7e761471df9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mdcompat.cpp	Mon Aug 07 13:49:51 2017 +0000
@@ -0,0 +1,71 @@
+#include "mdcompat.h"
+#include "mbed.h" // must be out of the scope of extern "C"
+I2C imu9250(PB_7,PB_6);
+
+void imu_init(void){
+imu9250.frequency(400000);    
+}
+unsigned short constrain(
+    unsigned short x,
+    unsigned short a, 
+    unsigned short b) {unsigned short result;
+    result= (x<a) ? a:x;
+    result= (x>b) ? b:x;
+    return result;    
+}
+
+extern "C" {
+
+int mbed_i2c_write(
+    unsigned char slave_addr,
+    unsigned char reg_addr,
+    unsigned char length,
+    char const *data) {
+        
+    imu9250.write((int)slave_addr,(char const*)reg_addr,1,true);//sending register adress first to indicate which register we are writing and a write register(0)
+    imu9250.write((int)slave_addr,data,(int)length,false);
+    
+    return 0;
+}
+
+int mbed_i2c_read(
+    unsigned char slave_addr,
+    unsigned char reg_addr,
+    unsigned char length,
+    char *data) {
+        
+    imu9250.write((int)slave_addr,(char const*)reg_addr,1,true);//sending register adress first to indicate which register we are writing and a write register(0)
+    imu9250.read((int)slave_addr,data,(int)length,false);
+    return 0;
+}
+
+int delay_ms(
+    unsigned long num_ms) {
+    return 0;
+}
+
+int get_ms(
+    unsigned long *count) {
+    return 0;
+}
+
+int reg_int_cb(
+    void (*cb)(void),
+    unsigned char port,
+    unsigned char pin) {
+    return 0;   
+}
+
+long labs(long x) {
+    return x > 0 ? x : -x;
+}
+
+float fabsf(float x) {
+    return x > 0 ? x : -x;
+}
+
+int min(int a, int b) {
+    return a > b ? b : a;
+}
+
+};