I2Cdev.h

00001 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
00002 //written by szymon gaertig (email: szymon@gaertig.com.pl), small correction by Aloïs Wolff
00003 //
00004 //Changelog: 
00005 //2013-01-08 - first beta release
00006 //2013-02-18 - fixed a malloc with no free in ::readBytes
00007 
00008 #ifndef I2Cdev_h
00009 #define I2Cdev_h
00010 
00011 #include "mbed.h"
00012 
00013 #define I2C_SDA p28
00014 #define I2C_SCL p27
00015 
00016 class I2Cdev {
00017     private:
00018         I2C i2c;
00019         Serial debugSerial;
00020     public:
00021         I2Cdev();
00022         I2Cdev(PinName i2cSda, PinName i2cScl);        
00023         
00024         int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00025         int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00026         int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00027         int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00028         int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00029         int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00030         int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00031         int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00032 
00033         bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
00034         bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
00035         bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
00036         bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
00037         bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
00038         bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
00039         bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
00040         bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
00041 
00042         static uint16_t readTimeout(void);
00043 };
00044 
00045 #endif