Allows for reading accelerometer, gyroscope, and magnetometer data from an LSM9DS0 IMU device
Dependents: uVGA_4180 uLCD_4180_mini ECE4781_Project
I2Cdev.cpp@5:e6a15dcba942, 2015-01-11 (annotated)
- Committer:
- randrews33
- Date:
- Sun Jan 11 14:44:43 2015 +0000
- Revision:
- 5:e6a15dcba942
- Parent:
- 0:1b975a6ae539
Gave credit where credit was due
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
randrews33 | 0:1b975a6ae539 | 1 | // ported from arduino library: https://github.com/jrowberg/i2cdevlib |
randrews33 | 0:1b975a6ae539 | 2 | // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl) |
randrews33 | 0:1b975a6ae539 | 3 | // Changelog: |
randrews33 | 0:1b975a6ae539 | 4 | // 2013-01-08 - first release |
randrews33 | 0:1b975a6ae539 | 5 | |
randrews33 | 0:1b975a6ae539 | 6 | #include "I2Cdev.h" |
randrews33 | 0:1b975a6ae539 | 7 | |
randrews33 | 0:1b975a6ae539 | 8 | #define useDebugSerial |
randrews33 | 0:1b975a6ae539 | 9 | |
randrews33 | 0:1b975a6ae539 | 10 | I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX) |
randrews33 | 0:1b975a6ae539 | 11 | { |
randrews33 | 0:1b975a6ae539 | 12 | |
randrews33 | 0:1b975a6ae539 | 13 | } |
randrews33 | 0:1b975a6ae539 | 14 | |
randrews33 | 0:1b975a6ae539 | 15 | I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX) |
randrews33 | 0:1b975a6ae539 | 16 | { |
randrews33 | 0:1b975a6ae539 | 17 | i2c.frequency(100000); |
randrews33 | 0:1b975a6ae539 | 18 | } |
randrews33 | 0:1b975a6ae539 | 19 | |
randrews33 | 0:1b975a6ae539 | 20 | /** Read a single bit from an 8-bit device register. |
randrews33 | 0:1b975a6ae539 | 21 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 22 | * @param regAddr Register regAddr to read from |
randrews33 | 0:1b975a6ae539 | 23 | * @param bitNum Bit position to read (0-7) |
randrews33 | 0:1b975a6ae539 | 24 | * @param data Container for single bit value |
randrews33 | 0:1b975a6ae539 | 25 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
randrews33 | 0:1b975a6ae539 | 26 | * @return Status of read operation (true = success) |
randrews33 | 0:1b975a6ae539 | 27 | */ |
randrews33 | 0:1b975a6ae539 | 28 | int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { |
randrews33 | 0:1b975a6ae539 | 29 | uint8_t b; |
randrews33 | 0:1b975a6ae539 | 30 | uint8_t count = readByte(devAddr, regAddr, &b, timeout); |
randrews33 | 0:1b975a6ae539 | 31 | *data = b & (1 << bitNum); |
randrews33 | 0:1b975a6ae539 | 32 | return count; |
randrews33 | 0:1b975a6ae539 | 33 | } |
randrews33 | 0:1b975a6ae539 | 34 | |
randrews33 | 0:1b975a6ae539 | 35 | /** Read a single bit from a 16-bit device register. |
randrews33 | 0:1b975a6ae539 | 36 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 37 | * @param regAddr Register regAddr to read from |
randrews33 | 0:1b975a6ae539 | 38 | * @param bitNum Bit position to read (0-15) |
randrews33 | 0:1b975a6ae539 | 39 | * @param data Container for single bit value |
randrews33 | 0:1b975a6ae539 | 40 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
randrews33 | 0:1b975a6ae539 | 41 | * @return Status of read operation (true = success) |
randrews33 | 0:1b975a6ae539 | 42 | */ |
randrews33 | 0:1b975a6ae539 | 43 | int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { |
randrews33 | 0:1b975a6ae539 | 44 | uint16_t b; |
randrews33 | 0:1b975a6ae539 | 45 | uint8_t count = readWord(devAddr, regAddr, &b, timeout); |
randrews33 | 0:1b975a6ae539 | 46 | *data = b & (1 << bitNum); |
randrews33 | 0:1b975a6ae539 | 47 | return count; |
randrews33 | 0:1b975a6ae539 | 48 | } |
randrews33 | 0:1b975a6ae539 | 49 | |
randrews33 | 0:1b975a6ae539 | 50 | /** Read multiple bits from an 8-bit device register. |
randrews33 | 0:1b975a6ae539 | 51 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 52 | * @param regAddr Register regAddr to read from |
randrews33 | 0:1b975a6ae539 | 53 | * @param bitStart First bit position to read (0-7) |
randrews33 | 0:1b975a6ae539 | 54 | * @param length Number of bits to read (not more than 8) |
randrews33 | 0:1b975a6ae539 | 55 | * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) |
randrews33 | 0:1b975a6ae539 | 56 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
randrews33 | 0:1b975a6ae539 | 57 | * @return Status of read operation (true = success) |
randrews33 | 0:1b975a6ae539 | 58 | */ |
randrews33 | 0:1b975a6ae539 | 59 | int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { |
randrews33 | 0:1b975a6ae539 | 60 | // 01101001 read byte |
randrews33 | 0:1b975a6ae539 | 61 | // 76543210 bit numbers |
randrews33 | 0:1b975a6ae539 | 62 | // xxx args: bitStart=4, length=3 |
randrews33 | 0:1b975a6ae539 | 63 | // 010 masked |
randrews33 | 0:1b975a6ae539 | 64 | // -> 010 shifted |
randrews33 | 0:1b975a6ae539 | 65 | uint8_t count, b; |
randrews33 | 0:1b975a6ae539 | 66 | if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { |
randrews33 | 0:1b975a6ae539 | 67 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
randrews33 | 0:1b975a6ae539 | 68 | b &= mask; |
randrews33 | 0:1b975a6ae539 | 69 | b >>= (bitStart - length + 1); |
randrews33 | 0:1b975a6ae539 | 70 | *data = b; |
randrews33 | 0:1b975a6ae539 | 71 | } |
randrews33 | 0:1b975a6ae539 | 72 | return count; |
randrews33 | 0:1b975a6ae539 | 73 | } |
randrews33 | 0:1b975a6ae539 | 74 | |
randrews33 | 0:1b975a6ae539 | 75 | /** Read multiple bits from a 16-bit device register. |
randrews33 | 0:1b975a6ae539 | 76 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 77 | * @param regAddr Register regAddr to read from |
randrews33 | 0:1b975a6ae539 | 78 | * @param bitStart First bit position to read (0-15) |
randrews33 | 0:1b975a6ae539 | 79 | * @param length Number of bits to read (not more than 16) |
randrews33 | 0:1b975a6ae539 | 80 | * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) |
randrews33 | 0:1b975a6ae539 | 81 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
randrews33 | 0:1b975a6ae539 | 82 | * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) |
randrews33 | 0:1b975a6ae539 | 83 | */ |
randrews33 | 0:1b975a6ae539 | 84 | int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { |
randrews33 | 0:1b975a6ae539 | 85 | // 1101011001101001 read byte |
randrews33 | 0:1b975a6ae539 | 86 | // fedcba9876543210 bit numbers |
randrews33 | 0:1b975a6ae539 | 87 | // xxx args: bitStart=12, length=3 |
randrews33 | 0:1b975a6ae539 | 88 | // 010 masked |
randrews33 | 0:1b975a6ae539 | 89 | // -> 010 shifted |
randrews33 | 0:1b975a6ae539 | 90 | uint8_t count; |
randrews33 | 0:1b975a6ae539 | 91 | uint16_t w; |
randrews33 | 0:1b975a6ae539 | 92 | if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { |
randrews33 | 0:1b975a6ae539 | 93 | uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
randrews33 | 0:1b975a6ae539 | 94 | w &= mask; |
randrews33 | 0:1b975a6ae539 | 95 | w >>= (bitStart - length + 1); |
randrews33 | 0:1b975a6ae539 | 96 | *data = w; |
randrews33 | 0:1b975a6ae539 | 97 | } |
randrews33 | 0:1b975a6ae539 | 98 | return count; |
randrews33 | 0:1b975a6ae539 | 99 | } |
randrews33 | 0:1b975a6ae539 | 100 | /** Read single byte from an 8-bit device register. |
randrews33 | 0:1b975a6ae539 | 101 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 102 | * @param regAddr Register regAddr to read from |
randrews33 | 0:1b975a6ae539 | 103 | * @param data Container for byte value read from device |
randrews33 | 0:1b975a6ae539 | 104 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
randrews33 | 0:1b975a6ae539 | 105 | * @return Status of read operation (true = success) |
randrews33 | 0:1b975a6ae539 | 106 | */ |
randrews33 | 0:1b975a6ae539 | 107 | int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { |
randrews33 | 0:1b975a6ae539 | 108 | |
randrews33 | 0:1b975a6ae539 | 109 | return readBytes(devAddr, regAddr, 1, data, timeout); |
randrews33 | 0:1b975a6ae539 | 110 | } |
randrews33 | 0:1b975a6ae539 | 111 | |
randrews33 | 0:1b975a6ae539 | 112 | /** Read single word from a 16-bit device register. |
randrews33 | 0:1b975a6ae539 | 113 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 114 | * @param regAddr Register regAddr to read from |
randrews33 | 0:1b975a6ae539 | 115 | * @param data Container for word value read from device |
randrews33 | 0:1b975a6ae539 | 116 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
randrews33 | 0:1b975a6ae539 | 117 | * @return Status of read operation (true = success) |
randrews33 | 0:1b975a6ae539 | 118 | */ |
randrews33 | 0:1b975a6ae539 | 119 | int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { |
randrews33 | 0:1b975a6ae539 | 120 | return readWords(devAddr, regAddr, 1, data, timeout); |
randrews33 | 0:1b975a6ae539 | 121 | } |
randrews33 | 0:1b975a6ae539 | 122 | |
randrews33 | 0:1b975a6ae539 | 123 | /** Read multiple bytes from an 8-bit device register. |
randrews33 | 0:1b975a6ae539 | 124 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 125 | * @param regAddr First register regAddr to read from |
randrews33 | 0:1b975a6ae539 | 126 | * @param length Number of bytes to read |
randrews33 | 0:1b975a6ae539 | 127 | * @param data Buffer to store read data in |
randrews33 | 0:1b975a6ae539 | 128 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
randrews33 | 0:1b975a6ae539 | 129 | * @return Number of bytes read (-1 indicates failure) |
randrews33 | 0:1b975a6ae539 | 130 | */ |
randrews33 | 0:1b975a6ae539 | 131 | int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) |
randrews33 | 0:1b975a6ae539 | 132 | { |
randrews33 | 0:1b975a6ae539 | 133 | char command[1]; |
randrews33 | 0:1b975a6ae539 | 134 | command[0] = regAddr; |
randrews33 | 0:1b975a6ae539 | 135 | char *redData = (char*)malloc(length); |
randrews33 | 0:1b975a6ae539 | 136 | i2c.write(devAddr<<1, command, 1, true); |
randrews33 | 0:1b975a6ae539 | 137 | i2c.read(devAddr<<1, redData, length); |
randrews33 | 0:1b975a6ae539 | 138 | for(int i =0; i < length; i++) { |
randrews33 | 0:1b975a6ae539 | 139 | data[i] = redData[i]; |
randrews33 | 0:1b975a6ae539 | 140 | //debugSerial.printf("We read %x\n" , redData[i]); |
randrews33 | 0:1b975a6ae539 | 141 | |
randrews33 | 0:1b975a6ae539 | 142 | } |
randrews33 | 0:1b975a6ae539 | 143 | free (redData); |
randrews33 | 0:1b975a6ae539 | 144 | return length; |
randrews33 | 0:1b975a6ae539 | 145 | } |
randrews33 | 0:1b975a6ae539 | 146 | |
randrews33 | 0:1b975a6ae539 | 147 | int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) |
randrews33 | 0:1b975a6ae539 | 148 | { |
randrews33 | 0:1b975a6ae539 | 149 | return 0; |
randrews33 | 0:1b975a6ae539 | 150 | } |
randrews33 | 0:1b975a6ae539 | 151 | |
randrews33 | 0:1b975a6ae539 | 152 | /** write a single bit in an 8-bit device register. |
randrews33 | 0:1b975a6ae539 | 153 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 154 | * @param regAddr Register regAddr to write to |
randrews33 | 0:1b975a6ae539 | 155 | * @param bitNum Bit position to write (0-7) |
randrews33 | 0:1b975a6ae539 | 156 | * @param value New bit value to write |
randrews33 | 0:1b975a6ae539 | 157 | * @return Status of operation (true = success) |
randrews33 | 0:1b975a6ae539 | 158 | */ |
randrews33 | 0:1b975a6ae539 | 159 | bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { |
randrews33 | 0:1b975a6ae539 | 160 | uint8_t b; |
randrews33 | 0:1b975a6ae539 | 161 | readByte(devAddr, regAddr, &b); |
randrews33 | 0:1b975a6ae539 | 162 | b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); |
randrews33 | 0:1b975a6ae539 | 163 | return writeByte(devAddr, regAddr, b); |
randrews33 | 0:1b975a6ae539 | 164 | } |
randrews33 | 0:1b975a6ae539 | 165 | |
randrews33 | 0:1b975a6ae539 | 166 | /** write a single bit in a 16-bit device register. |
randrews33 | 0:1b975a6ae539 | 167 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 168 | * @param regAddr Register regAddr to write to |
randrews33 | 0:1b975a6ae539 | 169 | * @param bitNum Bit position to write (0-15) |
randrews33 | 0:1b975a6ae539 | 170 | * @param value New bit value to write |
randrews33 | 0:1b975a6ae539 | 171 | * @return Status of operation (true = success) |
randrews33 | 0:1b975a6ae539 | 172 | */ |
randrews33 | 0:1b975a6ae539 | 173 | bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { |
randrews33 | 0:1b975a6ae539 | 174 | uint16_t w; |
randrews33 | 0:1b975a6ae539 | 175 | readWord(devAddr, regAddr, &w); |
randrews33 | 0:1b975a6ae539 | 176 | w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); |
randrews33 | 0:1b975a6ae539 | 177 | return writeWord(devAddr, regAddr, w); |
randrews33 | 0:1b975a6ae539 | 178 | } |
randrews33 | 0:1b975a6ae539 | 179 | |
randrews33 | 0:1b975a6ae539 | 180 | /** Write multiple bits in an 8-bit device register. |
randrews33 | 0:1b975a6ae539 | 181 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 182 | * @param regAddr Register regAddr to write to |
randrews33 | 0:1b975a6ae539 | 183 | * @param bitStart First bit position to write (0-7) |
randrews33 | 0:1b975a6ae539 | 184 | * @param length Number of bits to write (not more than 8) |
randrews33 | 0:1b975a6ae539 | 185 | * @param data Right-aligned value to write |
randrews33 | 0:1b975a6ae539 | 186 | * @return Status of operation (true = success) |
randrews33 | 0:1b975a6ae539 | 187 | */ |
randrews33 | 0:1b975a6ae539 | 188 | bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { |
randrews33 | 0:1b975a6ae539 | 189 | // 010 value to write |
randrews33 | 0:1b975a6ae539 | 190 | // 76543210 bit numbers |
randrews33 | 0:1b975a6ae539 | 191 | // xxx args: bitStart=4, length=3 |
randrews33 | 0:1b975a6ae539 | 192 | // 00011100 mask byte |
randrews33 | 0:1b975a6ae539 | 193 | // 10101111 original value (sample) |
randrews33 | 0:1b975a6ae539 | 194 | // 10100011 original & ~mask |
randrews33 | 0:1b975a6ae539 | 195 | // 10101011 masked | value |
randrews33 | 0:1b975a6ae539 | 196 | uint8_t b; |
randrews33 | 0:1b975a6ae539 | 197 | if (readByte(devAddr, regAddr, &b) != 0) { |
randrews33 | 0:1b975a6ae539 | 198 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
randrews33 | 0:1b975a6ae539 | 199 | data <<= (bitStart - length + 1); // shift data into correct position |
randrews33 | 0:1b975a6ae539 | 200 | data &= mask; // zero all non-important bits in data |
randrews33 | 0:1b975a6ae539 | 201 | b &= ~(mask); // zero all important bits in existing byte |
randrews33 | 0:1b975a6ae539 | 202 | b |= data; // combine data with existing byte |
randrews33 | 0:1b975a6ae539 | 203 | return writeByte(devAddr, regAddr, b); |
randrews33 | 0:1b975a6ae539 | 204 | } else { |
randrews33 | 0:1b975a6ae539 | 205 | return false; |
randrews33 | 0:1b975a6ae539 | 206 | } |
randrews33 | 0:1b975a6ae539 | 207 | } |
randrews33 | 0:1b975a6ae539 | 208 | |
randrews33 | 0:1b975a6ae539 | 209 | /** Write multiple bits in a 16-bit device register. |
randrews33 | 0:1b975a6ae539 | 210 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 211 | * @param regAddr Register regAddr to write to |
randrews33 | 0:1b975a6ae539 | 212 | * @param bitStart First bit position to write (0-15) |
randrews33 | 0:1b975a6ae539 | 213 | * @param length Number of bits to write (not more than 16) |
randrews33 | 0:1b975a6ae539 | 214 | * @param data Right-aligned value to write |
randrews33 | 0:1b975a6ae539 | 215 | * @return Status of operation (true = success) |
randrews33 | 0:1b975a6ae539 | 216 | */ |
randrews33 | 0:1b975a6ae539 | 217 | bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { |
randrews33 | 0:1b975a6ae539 | 218 | // 010 value to write |
randrews33 | 0:1b975a6ae539 | 219 | // fedcba9876543210 bit numbers |
randrews33 | 0:1b975a6ae539 | 220 | // xxx args: bitStart=12, length=3 |
randrews33 | 0:1b975a6ae539 | 221 | // 0001110000000000 mask byte |
randrews33 | 0:1b975a6ae539 | 222 | // 1010111110010110 original value (sample) |
randrews33 | 0:1b975a6ae539 | 223 | // 1010001110010110 original & ~mask |
randrews33 | 0:1b975a6ae539 | 224 | // 1010101110010110 masked | value |
randrews33 | 0:1b975a6ae539 | 225 | uint16_t w; |
randrews33 | 0:1b975a6ae539 | 226 | if (readWord(devAddr, regAddr, &w) != 0) { |
randrews33 | 0:1b975a6ae539 | 227 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
randrews33 | 0:1b975a6ae539 | 228 | data <<= (bitStart - length + 1); // shift data into correct position |
randrews33 | 0:1b975a6ae539 | 229 | data &= mask; // zero all non-important bits in data |
randrews33 | 0:1b975a6ae539 | 230 | w &= ~(mask); // zero all important bits in existing word |
randrews33 | 0:1b975a6ae539 | 231 | w |= data; // combine data with existing word |
randrews33 | 0:1b975a6ae539 | 232 | return writeWord(devAddr, regAddr, w); |
randrews33 | 0:1b975a6ae539 | 233 | } else { |
randrews33 | 0:1b975a6ae539 | 234 | return false; |
randrews33 | 0:1b975a6ae539 | 235 | } |
randrews33 | 0:1b975a6ae539 | 236 | } |
randrews33 | 0:1b975a6ae539 | 237 | |
randrews33 | 0:1b975a6ae539 | 238 | /** Write single byte to an 8-bit device register. |
randrews33 | 0:1b975a6ae539 | 239 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 240 | * @param regAddr Register address to write to |
randrews33 | 0:1b975a6ae539 | 241 | * @param data New byte value to write |
randrews33 | 0:1b975a6ae539 | 242 | * @return Status of operation (true = success) |
randrews33 | 0:1b975a6ae539 | 243 | */ |
randrews33 | 0:1b975a6ae539 | 244 | bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { |
randrews33 | 0:1b975a6ae539 | 245 | return writeBytes(devAddr, regAddr, 1, &data); |
randrews33 | 0:1b975a6ae539 | 246 | } |
randrews33 | 0:1b975a6ae539 | 247 | |
randrews33 | 0:1b975a6ae539 | 248 | /** Write single word to a 16-bit device register. |
randrews33 | 0:1b975a6ae539 | 249 | * @param devAddr I2C slave device address |
randrews33 | 0:1b975a6ae539 | 250 | * @param regAddr Register address to write to |
randrews33 | 0:1b975a6ae539 | 251 | * @param data New word value to write |
randrews33 | 0:1b975a6ae539 | 252 | * @return Status of operation (true = success) |
randrews33 | 0:1b975a6ae539 | 253 | */ |
randrews33 | 0:1b975a6ae539 | 254 | bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { |
randrews33 | 0:1b975a6ae539 | 255 | return writeWords(devAddr, regAddr, 1, &data); |
randrews33 | 0:1b975a6ae539 | 256 | } |
randrews33 | 0:1b975a6ae539 | 257 | |
randrews33 | 0:1b975a6ae539 | 258 | bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) |
randrews33 | 0:1b975a6ae539 | 259 | { |
randrews33 | 0:1b975a6ae539 | 260 | i2c.start(); |
randrews33 | 0:1b975a6ae539 | 261 | i2c.write(devAddr<<1); |
randrews33 | 0:1b975a6ae539 | 262 | i2c.write(regAddr); |
randrews33 | 0:1b975a6ae539 | 263 | for(int i = 0; i < length; i++) { |
randrews33 | 0:1b975a6ae539 | 264 | i2c.write(data[i]); |
randrews33 | 0:1b975a6ae539 | 265 | } |
randrews33 | 0:1b975a6ae539 | 266 | i2c.stop(); |
randrews33 | 0:1b975a6ae539 | 267 | return true; |
randrews33 | 0:1b975a6ae539 | 268 | } |
randrews33 | 0:1b975a6ae539 | 269 | |
randrews33 | 0:1b975a6ae539 | 270 | bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data) |
randrews33 | 0:1b975a6ae539 | 271 | { |
randrews33 | 0:1b975a6ae539 | 272 | return true; |
randrews33 | 0:1b975a6ae539 | 273 | } |
randrews33 | 0:1b975a6ae539 | 274 | |
randrews33 | 0:1b975a6ae539 | 275 | uint16_t I2Cdev::readTimeout(void) |
randrews33 | 0:1b975a6ae539 | 276 | { |
randrews33 | 0:1b975a6ae539 | 277 | return 0; |
randrews33 | 0:1b975a6ae539 | 278 | } |