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

Committer:
pHysiX
Date:
2014-05-14
Revision:
14:86afc8447df9
Parent:
6:2dc23167c8d8

File content as of revision 14:86afc8447df9:

//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
//written by szymon gaertig (email: szymon@gaertig.com.pl)
//
//Changelog:
//2013-01-08 - first beta release

#ifndef I2Cdev_h
#define I2Cdev_h

#include "mbed.h"

#define I2C_SDA p9
#define I2C_SCL p10

class I2Cdev
{
private:
    I2C i2c;

public:
    Serial debugSerial;
    I2Cdev();
    I2Cdev(PinName i2cSda, PinName i2cScl);

    int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());

    bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
    bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
    bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
    bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
    bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
    bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
    bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
    bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);

    static uint16_t readTimeout(void);
};

#endif