Yifei Teng / MPU6050

MPU6050 FreeIMU library

Dependents:   FreeIMU FreeIMU_external_magnetometer

Fork of MPU6050_tmp by Aloïs Wolff

Async MPU6050 library

My port of the MPU6050 library samples the chip at 500Hz using Timer. Async I2C is achieved using a custom I2C library, which supports I2C calls from interrupts. Link given below:

Import libraryMODI2C

Improvements to Olieman's MODI2C library. Supports calls from IRQ.

Last commit 28 Mar 2018 by Yifei Teng

Difference between this port and the Arduino MPU6050 library

The getMotion6 function only returns a copy of the last obtained readings, which is sampled at a frequency of 500Hz (adjustable). Hence it can be called at any frequency without taxing the I2C.

Diff: I2Cdev.cpp

Revision:
9:d879deb55ae1
Parent:
7:95e74f827c08
Child:
10:11cc1b413f49
--- a/I2Cdev.cpp	Tue Nov 05 11:28:54 2013 +0000
+++ b/I2Cdev.cpp	Sat Nov 09 08:51:07 2013 +0000
@@ -3,6 +3,7 @@
 // Changelog:
 // 2013-01-08 - first release
 
+#include "MODI2C.h"
 #include "I2Cdev.h"
 
 //#define useDebugSerial
@@ -17,11 +18,6 @@
 
 }
 
-I2Cdev::I2Cdev(I2C i2c_): debugSerial(USBTX, USBRX), i2c(i2c_)
-{
-
-}
-
 /** Read a single bit from an 8-bit device register.
  * @param devAddr I2C slave device address
  * @param regAddr Register regAddr to read from
@@ -136,16 +132,17 @@
 {
     char command[1];
     command[0] = regAddr;
-    char *redData = (char*)malloc(length);
-    i2c.write(devAddr<<1, command, 1, true);
-    i2c.read((devAddr<<1)+1, redData, length);
-    for(int i =0; i < length; i++) {
-        data[i] = redData[i];
-    }
-    free(redData);
+    i2c.write(devAddr, command, 1, true);
+    i2c.read(devAddr, (char*)data, length);
     return length;
 }
 
+void I2Cdev::readBytes_nb(uint8_t devAddr, char *command, uint8_t length, uint8_t *data, uint32_t (*function)(uint32_t), void* param)
+{
+    i2c.write(devAddr, command, 1, true);
+    i2c.read_nb(devAddr, (char*)data, length, function, param);
+}
+
 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
 {
     return 0;
@@ -257,18 +254,41 @@
     return writeWords(devAddr, regAddr, 1, &data);
 }
 
+uint32_t writefinhdl(uint32_t param){
+    //free((void*)param);
+    ((I2Cdev*)param)->freebuffer();
+    return 0;
+}
+
 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
 {
-    i2c.start();
-    i2c.write(devAddr<<1);
-    i2c.write(regAddr);
-    for(int i = 0; i < length; i++) {
-        i2c.write(data[i]);
-    }
-    i2c.stop();
+    //i2c.start();
+    //i2c.write(devAddr<<1);
+    //i2c.write(regAddr);
+    //for(int i = 0; i < length; i++) {
+    //    i2c.write(data[i]);
+    //}
+    //i2c.stop();
+    char* mem = NULL;
+    mem = allocbuffer();//(char*)malloc(length+1);
+    *mem = regAddr;
+    memcpy(mem+1, data, length);
+    
+    i2c.write(devAddr, mem, length+1, &writefinhdl, mem);
     return true;
 }
 
+char *I2Cdev::allocbuffer(){
+    char *buff = (char *)pool.alloc();
+    queue.put(buff);
+    return buff;
+}
+
+void I2Cdev::freebuffer(){
+    osEvent evt = queue.get(0);
+    pool.free((char(*)[20])evt.value.p);
+}
+
 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
 {
     return true;