Ian Hua / MPU6050-DMP-Ian

Rearranged original code port/fork to: * Make library compatible with TiltyQuad IMU; * Prevent multiple definition, and added inclusion guard; * Cleaner access to library functions and file structure; and * "Broke out" code to control Sampling Rate and FIFO buffer update rate. By Trung Tin Ian HUA 2014. Credit to Jeff Rowberg for his original code, the best DMP implementation thus far; and szymon gaertig for porting the arduino library to mbed.

Dependents:   MPU6050-DMP_test

Fork of MPU6050 by Shundo Kishi

I2C/I2Cdev.cpp@14:86afc8447df9, 2014-05-14 (annotated)

Committer:
pHysiX
Date:
Wed May 14 12:41:19 2014 +0000
Revision:
14:86afc8447df9
Parent:
7:4619a083f289 
Moved configuration to file named "config.h"

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 6:2dc23167c8d8 1 // ported from arduino library: https://github.com/jrowberg/i2cdevlib
pHysiX 6:2dc23167c8d8 2 // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
pHysiX 6:2dc23167c8d8 3 // Changelog:
pHysiX 6:2dc23167c8d8 4 // 2013-01-08 - first release
pHysiX 6:2dc23167c8d8 5
pHysiX 6:2dc23167c8d8 6 #include "I2Cdev.h"
pHysiX 6:2dc23167c8d8 7
pHysiX 6:2dc23167c8d8 8 #define useDebugSerial
pHysiX 6:2dc23167c8d8 9
pHysiX 6:2dc23167c8d8 10 I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX)
pHysiX 6:2dc23167c8d8 11 {
pHysiX 6:2dc23167c8d8 12 i2c.frequency(400000);
pHysiX 6:2dc23167c8d8 13 debugSerial.baud(115200);
pHysiX 6:2dc23167c8d8 14 }
pHysiX 6:2dc23167c8d8 15
pHysiX 6:2dc23167c8d8 16 I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX)
pHysiX 6:2dc23167c8d8 17 {
pHysiX 6:2dc23167c8d8 18 i2c.frequency(400000);
pHysiX 6:2dc23167c8d8 19 debugSerial.baud(115200);
pHysiX 6:2dc23167c8d8 20 }
pHysiX 6:2dc23167c8d8 21
pHysiX 6:2dc23167c8d8 22 /** Read a single bit from an 8-bit device register.
pHysiX 6:2dc23167c8d8 23 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 24 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 25 * @param bitNum Bit position to read (0-7)
pHysiX 6:2dc23167c8d8 26 * @param data Container for single bit value
pHysiX 6:2dc23167c8d8 27 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 28 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 29 */
pHysiX 6:2dc23167c8d8 30 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 31 {
pHysiX 6:2dc23167c8d8 32 uint8_t b;
pHysiX 6:2dc23167c8d8 33 uint8_t count = readByte(devAddr, regAddr, &b, timeout);
pHysiX 6:2dc23167c8d8 34 *data = b & (1 << bitNum);
pHysiX 6:2dc23167c8d8 35 return count;
pHysiX 6:2dc23167c8d8 36 }
pHysiX 6:2dc23167c8d8 37
pHysiX 6:2dc23167c8d8 38 /** Read a single bit from a 16-bit device register.
pHysiX 6:2dc23167c8d8 39 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 40 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 41 * @param bitNum Bit position to read (0-15)
pHysiX 6:2dc23167c8d8 42 * @param data Container for single bit value
pHysiX 6:2dc23167c8d8 43 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 44 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 45 */
pHysiX 6:2dc23167c8d8 46 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 47 {
pHysiX 6:2dc23167c8d8 48 uint16_t b = 0x0000;
pHysiX 6:2dc23167c8d8 49 uint8_t count = readWord(devAddr, regAddr, &b, timeout);
pHysiX 6:2dc23167c8d8 50 *data = b & (1 << bitNum);
pHysiX 6:2dc23167c8d8 51 return count;
pHysiX 6:2dc23167c8d8 52 }
pHysiX 6:2dc23167c8d8 53
pHysiX 6:2dc23167c8d8 54 /** Read multiple bits from an 8-bit device register.
pHysiX 6:2dc23167c8d8 55 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 56 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 57 * @param bitStart First bit position to read (0-7)
pHysiX 6:2dc23167c8d8 58 * @param length Number of bits to read (not more than 8)
pHysiX 6:2dc23167c8d8 59 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
pHysiX 6:2dc23167c8d8 60 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 61 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 62 */
pHysiX 6:2dc23167c8d8 63 int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 64 {
pHysiX 6:2dc23167c8d8 65 // 01101001 read byte
pHysiX 6:2dc23167c8d8 66 // 76543210 bit numbers
pHysiX 6:2dc23167c8d8 67 // xxx args: bitStart=4, length=3
pHysiX 6:2dc23167c8d8 68 // 010 masked
pHysiX 6:2dc23167c8d8 69 // -> 010 shifted
pHysiX 6:2dc23167c8d8 70 uint8_t count, b;
pHysiX 6:2dc23167c8d8 71 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
pHysiX 6:2dc23167c8d8 72 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 73 b &= mask;
pHysiX 6:2dc23167c8d8 74 b >>= (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 75 *data = b;
pHysiX 6:2dc23167c8d8 76 }
pHysiX 6:2dc23167c8d8 77 return count;
pHysiX 6:2dc23167c8d8 78 }
pHysiX 6:2dc23167c8d8 79
pHysiX 6:2dc23167c8d8 80 /** Read multiple bits from a 16-bit device register.
pHysiX 6:2dc23167c8d8 81 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 82 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 83 * @param bitStart First bit position to read (0-15)
pHysiX 6:2dc23167c8d8 84 * @param length Number of bits to read (not more than 16)
pHysiX 6:2dc23167c8d8 85 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
pHysiX 6:2dc23167c8d8 86 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 87 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
pHysiX 6:2dc23167c8d8 88 */
pHysiX 6:2dc23167c8d8 89 int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 90 {
pHysiX 6:2dc23167c8d8 91 // 1101011001101001 read byte
pHysiX 6:2dc23167c8d8 92 // fedcba9876543210 bit numbers
pHysiX 6:2dc23167c8d8 93 // xxx args: bitStart=12, length=3
pHysiX 6:2dc23167c8d8 94 // 010 masked
pHysiX 6:2dc23167c8d8 95 // -> 010 shifted
pHysiX 6:2dc23167c8d8 96 uint8_t count;
pHysiX 6:2dc23167c8d8 97 uint16_t w;
pHysiX 6:2dc23167c8d8 98 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
pHysiX 6:2dc23167c8d8 99 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 100 w &= mask;
pHysiX 6:2dc23167c8d8 101 w >>= (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 102 *data = w;
pHysiX 6:2dc23167c8d8 103 }
pHysiX 6:2dc23167c8d8 104 return count;
pHysiX 6:2dc23167c8d8 105 }
pHysiX 6:2dc23167c8d8 106 /** Read single byte from an 8-bit device register.
pHysiX 6:2dc23167c8d8 107 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 108 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 109 * @param data Container for byte value read from device
pHysiX 6:2dc23167c8d8 110 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 111 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 112 */
pHysiX 6:2dc23167c8d8 113 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 114 {
pHysiX 6:2dc23167c8d8 115 return readBytes(devAddr, regAddr, 1, data, timeout);
pHysiX 6:2dc23167c8d8 116 }
pHysiX 6:2dc23167c8d8 117
pHysiX 6:2dc23167c8d8 118 /** Read single word from a 16-bit device register.
pHysiX 6:2dc23167c8d8 119 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 120 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 121 * @param data Container for word value read from device
pHysiX 6:2dc23167c8d8 122 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 123 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 124 */
pHysiX 6:2dc23167c8d8 125 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 126 {
pHysiX 6:2dc23167c8d8 127 return readWords(devAddr, regAddr, 1, data, timeout);
pHysiX 6:2dc23167c8d8 128 }
pHysiX 6:2dc23167c8d8 129
pHysiX 6:2dc23167c8d8 130 /** Read multiple bytes from an 8-bit device register.
pHysiX 6:2dc23167c8d8 131 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 132 * @param regAddr First register regAddr to read from
pHysiX 6:2dc23167c8d8 133 * @param length Number of bytes to read
pHysiX 6:2dc23167c8d8 134 * @param data Buffer to store read data in
pHysiX 6:2dc23167c8d8 135 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 136 * @return Number of bytes read (-1 indicates failure)
pHysiX 6:2dc23167c8d8 137 */
pHysiX 6:2dc23167c8d8 138 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 139 {
pHysiX 6:2dc23167c8d8 140 char command[1];
pHysiX 6:2dc23167c8d8 141 command[0] = regAddr;
pHysiX 6:2dc23167c8d8 142 char *redData = (char*)malloc(length);
pHysiX 6:2dc23167c8d8 143 i2c.write(devAddr<<1, command, 1, true);
pHysiX 6:2dc23167c8d8 144 i2c.read(devAddr<<1, redData, length);
pHysiX 6:2dc23167c8d8 145 for(int i =0; i < length; i++) {
pHysiX 6:2dc23167c8d8 146 data[i] = redData[i];
pHysiX 6:2dc23167c8d8 147 }
pHysiX 6:2dc23167c8d8 148 free (redData);
pHysiX 6:2dc23167c8d8 149 return length;
pHysiX 6:2dc23167c8d8 150 }
pHysiX 6:2dc23167c8d8 151
pHysiX 6:2dc23167c8d8 152 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 153 {
pHysiX 6:2dc23167c8d8 154 return 0;
pHysiX 6:2dc23167c8d8 155 }
pHysiX 6:2dc23167c8d8 156
pHysiX 6:2dc23167c8d8 157 /** write a single bit in an 8-bit device register.
pHysiX 6:2dc23167c8d8 158 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 159 * @param regAddr Register regAddr to write to
pHysiX 6:2dc23167c8d8 160 * @param bitNum Bit position to write (0-7)
pHysiX 6:2dc23167c8d8 161 * @param value New bit value to write
pHysiX 6:2dc23167c8d8 162 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 163 */
pHysiX 6:2dc23167c8d8 164 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)
pHysiX 6:2dc23167c8d8 165 {
pHysiX 6:2dc23167c8d8 166 uint8_t b;
pHysiX 6:2dc23167c8d8 167 readByte(devAddr, regAddr, &b);
pHysiX 6:2dc23167c8d8 168 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
pHysiX 6:2dc23167c8d8 169 return writeByte(devAddr, regAddr, b);
pHysiX 6:2dc23167c8d8 170 }
pHysiX 6:2dc23167c8d8 171
pHysiX 6:2dc23167c8d8 172 /** write a single bit in a 16-bit device register.
pHysiX 6:2dc23167c8d8 173 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 174 * @param regAddr Register regAddr to write to
pHysiX 6:2dc23167c8d8 175 * @param bitNum Bit position to write (0-15)
pHysiX 6:2dc23167c8d8 176 * @param value New bit value to write
pHysiX 6:2dc23167c8d8 177 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 178 */
pHysiX 6:2dc23167c8d8 179 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data)
pHysiX 6:2dc23167c8d8 180 {
pHysiX 6:2dc23167c8d8 181 uint16_t w;
pHysiX 6:2dc23167c8d8 182 readWord(devAddr, regAddr, &w);
pHysiX 6:2dc23167c8d8 183 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
pHysiX 6:2dc23167c8d8 184 return writeWord(devAddr, regAddr, w);
pHysiX 6:2dc23167c8d8 185 }
pHysiX 6:2dc23167c8d8 186
pHysiX 6:2dc23167c8d8 187 /** Write multiple bits in an 8-bit device register.
pHysiX 6:2dc23167c8d8 188 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 189 * @param regAddr Register regAddr to write to
pHysiX 6:2dc23167c8d8 190 * @param bitStart First bit position to write (0-7)
pHysiX 6:2dc23167c8d8 191 * @param length Number of bits to write (not more than 8)
pHysiX 6:2dc23167c8d8 192 * @param data Right-aligned value to write
pHysiX 6:2dc23167c8d8 193 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 194 */
pHysiX 6:2dc23167c8d8 195 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
pHysiX 6:2dc23167c8d8 196 {
pHysiX 6:2dc23167c8d8 197 // 010 value to write
pHysiX 6:2dc23167c8d8 198 // 76543210 bit numbers
pHysiX 6:2dc23167c8d8 199 // xxx args: bitStart=4, length=3
pHysiX 6:2dc23167c8d8 200 // 00011100 mask byte
pHysiX 6:2dc23167c8d8 201 // 10101111 original value (sample)
pHysiX 6:2dc23167c8d8 202 // 10100011 original & ~mask
pHysiX 6:2dc23167c8d8 203 // 10101011 masked | value
pHysiX 6:2dc23167c8d8 204 uint8_t b;
pHysiX 6:2dc23167c8d8 205 if (readByte(devAddr, regAddr, &b) != 0) {
pHysiX 6:2dc23167c8d8 206 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 207 data <<= (bitStart - length + 1); // shift data into correct position
pHysiX 6:2dc23167c8d8 208 data &= mask; // zero all non-important bits in data
pHysiX 6:2dc23167c8d8 209 b &= ~(mask); // zero all important bits in existing byte
pHysiX 6:2dc23167c8d8 210 b |= data; // combine data with existing byte
pHysiX 6:2dc23167c8d8 211 return writeByte(devAddr, regAddr, b);
pHysiX 6:2dc23167c8d8 212 } else {
pHysiX 6:2dc23167c8d8 213 return false;
pHysiX 6:2dc23167c8d8 214 }
pHysiX 6:2dc23167c8d8 215 }
pHysiX 6:2dc23167c8d8 216
pHysiX 6:2dc23167c8d8 217 /** Write multiple bits in a 16-bit device register.
pHysiX 6:2dc23167c8d8 218 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 219 * @param regAddr Register regAddr to write to
pHysiX 6:2dc23167c8d8 220 * @param bitStart First bit position to write (0-15)
pHysiX 6:2dc23167c8d8 221 * @param length Number of bits to write (not more than 16)
pHysiX 6:2dc23167c8d8 222 * @param data Right-aligned value to write
pHysiX 6:2dc23167c8d8 223 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 224 */
pHysiX 6:2dc23167c8d8 225 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data)
pHysiX 6:2dc23167c8d8 226 {
pHysiX 6:2dc23167c8d8 227 // 010 value to write
pHysiX 6:2dc23167c8d8 228 // fedcba9876543210 bit numbers
pHysiX 6:2dc23167c8d8 229 // xxx args: bitStart=12, length=3
pHysiX 6:2dc23167c8d8 230 // 0001110000000000 mask byte
pHysiX 6:2dc23167c8d8 231 // 1010111110010110 original value (sample)
pHysiX 6:2dc23167c8d8 232 // 1010001110010110 original & ~mask
pHysiX 6:2dc23167c8d8 233 // 1010101110010110 masked | value
pHysiX 6:2dc23167c8d8 234 uint16_t w;
pHysiX 6:2dc23167c8d8 235 if (readWord(devAddr, regAddr, &w) != 0) {
pHysiX 6:2dc23167c8d8 236 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 237 data <<= (bitStart - length + 1); // shift data into correct position
pHysiX 6:2dc23167c8d8 238 data &= mask; // zero all non-important bits in data
pHysiX 6:2dc23167c8d8 239 w &= ~(mask); // zero all important bits in existing word
pHysiX 6:2dc23167c8d8 240 w |= data; // combine data with existing word
pHysiX 6:2dc23167c8d8 241 return writeWord(devAddr, regAddr, w);
pHysiX 6:2dc23167c8d8 242 } else {
pHysiX 6:2dc23167c8d8 243 return false;
pHysiX 6:2dc23167c8d8 244 }
pHysiX 6:2dc23167c8d8 245 }
pHysiX 6:2dc23167c8d8 246
pHysiX 6:2dc23167c8d8 247 /** Write single byte to an 8-bit device register.
pHysiX 6:2dc23167c8d8 248 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 249 * @param regAddr Register address to write to
pHysiX 6:2dc23167c8d8 250 * @param data New byte value to write
pHysiX 6:2dc23167c8d8 251 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 252 */
pHysiX 6:2dc23167c8d8 253 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data)
pHysiX 6:2dc23167c8d8 254 {
pHysiX 6:2dc23167c8d8 255 return writeBytes(devAddr, regAddr, 1, &data);
pHysiX 6:2dc23167c8d8 256 }
pHysiX 6:2dc23167c8d8 257
pHysiX 6:2dc23167c8d8 258 /** Write single word to a 16-bit device register.
pHysiX 6:2dc23167c8d8 259 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 260 * @param regAddr Register address to write to
pHysiX 6:2dc23167c8d8 261 * @param data New word value to write
pHysiX 6:2dc23167c8d8 262 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 263 */
pHysiX 6:2dc23167c8d8 264 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data)
pHysiX 6:2dc23167c8d8 265 {
pHysiX 6:2dc23167c8d8 266 return writeWords(devAddr, regAddr, 1, &data);
pHysiX 6:2dc23167c8d8 267 }
pHysiX 6:2dc23167c8d8 268
pHysiX 6:2dc23167c8d8 269 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
pHysiX 6:2dc23167c8d8 270 {
pHysiX 6:2dc23167c8d8 271 i2c.start();
pHysiX 6:2dc23167c8d8 272 i2c.write(devAddr<<1);
pHysiX 6:2dc23167c8d8 273 i2c.write(regAddr);
pHysiX 6:2dc23167c8d8 274 for(int i = 0; i < length; i++) {
pHysiX 6:2dc23167c8d8 275 i2c.write(data[i]);
pHysiX 6:2dc23167c8d8 276 }
pHysiX 6:2dc23167c8d8 277 i2c.stop();
pHysiX 6:2dc23167c8d8 278 return true;
pHysiX 6:2dc23167c8d8 279 }
pHysiX 6:2dc23167c8d8 280
pHysiX 6:2dc23167c8d8 281 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
pHysiX 6:2dc23167c8d8 282 {
pHysiX 6:2dc23167c8d8 283 return true;
pHysiX 6:2dc23167c8d8 284 }
pHysiX 6:2dc23167c8d8 285
pHysiX 6:2dc23167c8d8 286 uint16_t I2Cdev::readTimeout(void)
pHysiX 6:2dc23167c8d8 287 {
pHysiX 6:2dc23167c8d8 288 return 0;
pHysiX 7:4619a083f289 289 }