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.h@14:86afc8447df9, 2014-05-14 (annotated)

Committer:
pHysiX
Date:
Wed May 14 12:41:19 2014 +0000
Revision:
14:86afc8447df9
Parent:
6:2dc23167c8d8 
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/tree/master/Arduino/MPU6050
pHysiX 6:2dc23167c8d8 2 //written by szymon gaertig (email: szymon@gaertig.com.pl)
pHysiX 6:2dc23167c8d8 3 //
pHysiX 6:2dc23167c8d8 4 //Changelog:
pHysiX 6:2dc23167c8d8 5 //2013-01-08 - first beta release
pHysiX 6:2dc23167c8d8 6
pHysiX 6:2dc23167c8d8 7 #ifndef I2Cdev_h
pHysiX 6:2dc23167c8d8 8 #define I2Cdev_h
pHysiX 6:2dc23167c8d8 9
pHysiX 6:2dc23167c8d8 10 #include "mbed.h"
pHysiX 6:2dc23167c8d8 11
pHysiX 6:2dc23167c8d8 12 #define I2C_SDA p9
pHysiX 6:2dc23167c8d8 13 #define I2C_SCL p10
pHysiX 6:2dc23167c8d8 14
pHysiX 6:2dc23167c8d8 15 class I2Cdev
pHysiX 6:2dc23167c8d8 16 {
pHysiX 6:2dc23167c8d8 17 private:
pHysiX 6:2dc23167c8d8 18 I2C i2c;
pHysiX 6:2dc23167c8d8 19
pHysiX 6:2dc23167c8d8 20 public:
pHysiX 6:2dc23167c8d8 21 Serial debugSerial;
pHysiX 6:2dc23167c8d8 22 I2Cdev();
pHysiX 6:2dc23167c8d8 23 I2Cdev(PinName i2cSda, PinName i2cScl);
pHysiX 6:2dc23167c8d8 24
pHysiX 6:2dc23167c8d8 25 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
pHysiX 6:2dc23167c8d8 26 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
pHysiX 6:2dc23167c8d8 27 int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
pHysiX 6:2dc23167c8d8 28 int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
pHysiX 6:2dc23167c8d8 29 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
pHysiX 6:2dc23167c8d8 30 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
pHysiX 6:2dc23167c8d8 31 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
pHysiX 6:2dc23167c8d8 32 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
pHysiX 6:2dc23167c8d8 33
pHysiX 6:2dc23167c8d8 34 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
pHysiX 6:2dc23167c8d8 35 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
pHysiX 6:2dc23167c8d8 36 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
pHysiX 6:2dc23167c8d8 37 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
pHysiX 6:2dc23167c8d8 38 bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
pHysiX 6:2dc23167c8d8 39 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
pHysiX 6:2dc23167c8d8 40 bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
pHysiX 6:2dc23167c8d8 41 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
pHysiX 6:2dc23167c8d8 42
pHysiX 6:2dc23167c8d8 43 static uint16_t readTimeout(void);
pHysiX 6:2dc23167c8d8 44 };
pHysiX 6:2dc23167c8d8 45
pHysiX 6:2dc23167c8d8 46 #endif