bmi160_i2c.cpp

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00032 
00033 
00034 #include "bmi160.h"
00035 
00036 
00037 //*****************************************************************************
00038 BMI160_I2C::BMI160_I2C(I2C &i2cBus, uint8_t i2cAdrs)
00039 :m_i2cBus(i2cBus), m_Wadrs(i2cAdrs << 1), m_Radrs((i2cAdrs << 1) | 1)
00040 {
00041     
00042 }
00043 
00044 
00045 //*****************************************************************************   
00046 int32_t BMI160_I2C::readRegister(Registers reg, uint8_t *data)
00047 {
00048     int32_t rtnVal = -1;
00049     char packet[] = {static_cast<char>(reg)};
00050     
00051     if(m_i2cBus.write(m_Wadrs, packet, 1) == 0)
00052     {
00053         rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), 1);
00054     }
00055     
00056     return rtnVal;
00057 }
00058 
00059 
00060 //*****************************************************************************
00061 int32_t BMI160_I2C::writeRegister(Registers reg, const uint8_t data)
00062 {
00063     char packet[] = {static_cast<char>(reg), static_cast<char>(data)};
00064     
00065     return m_i2cBus.write(m_Wadrs, packet, sizeof(packet));
00066 }
00067 
00068 
00069 //*****************************************************************************
00070 int32_t BMI160_I2C::readBlock(Registers startReg, Registers stopReg, 
00071 uint8_t *data)
00072 {
00073     int32_t rtnVal = -1;
00074     int32_t numBytes = ((stopReg - startReg) + 1);
00075     char packet[] = {static_cast<char>(startReg)};
00076     
00077     if(m_i2cBus.write(m_Wadrs, packet, 1) == 0)
00078     {
00079         rtnVal = m_i2cBus.read(m_Radrs, reinterpret_cast<char *>(data), numBytes);
00080     }
00081     
00082     return rtnVal;
00083 }
00084 
00085 
00086 //*****************************************************************************
00087 int32_t BMI160_I2C::writeBlock(Registers startReg, Registers stopReg, 
00088 const uint8_t *data)
00089 {
00090     int32_t numBytes = ((stopReg - startReg) + 1);
00091     char packet[numBytes + 1];
00092     
00093     packet[0] = static_cast<char>(startReg);
00094     
00095     memcpy(packet + 1, data, numBytes);
00096     
00097     return m_i2cBus.write(m_Wadrs, packet, sizeof(packet));
00098 }