MPU6050 FreeIMU library
Dependents: FreeIMU FreeIMU_external_magnetometer
Fork of MPU6050_tmp by
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.
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.
I2Cdev.cpp@11:9549be34fa7f, 2014-09-24 (annotated)
- Committer:
- tyftyftyf
- Date:
- Wed Sep 24 01:10:42 2014 +0000
- Revision:
- 11:9549be34fa7f
- Parent:
- 10:11cc1b413f49
Allow starting and stopping MPU6050 sampling
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garfieldsg | 0:662207e34fba | 1 | // ported from arduino library: https://github.com/jrowberg/i2cdevlib |
garfieldsg | 0:662207e34fba | 2 | // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl) |
garfieldsg | 0:662207e34fba | 3 | // Changelog: |
garfieldsg | 0:662207e34fba | 4 | // 2013-01-08 - first release |
garfieldsg | 0:662207e34fba | 5 | |
tyftyftyf | 9:d879deb55ae1 | 6 | #include "MODI2C.h" |
garfieldsg | 0:662207e34fba | 7 | #include "I2Cdev.h" |
garfieldsg | 0:662207e34fba | 8 | |
tyftyftyf | 7:95e74f827c08 | 9 | //#define useDebugSerial |
garfieldsg | 0:662207e34fba | 10 | |
garfieldsg | 0:662207e34fba | 11 | I2Cdev::I2Cdev(): debugSerial(USBTX, USBRX), i2c(I2C_SDA,I2C_SCL) |
garfieldsg | 0:662207e34fba | 12 | { |
garfieldsg | 0:662207e34fba | 13 | |
garfieldsg | 0:662207e34fba | 14 | } |
garfieldsg | 0:662207e34fba | 15 | |
garfieldsg | 0:662207e34fba | 16 | I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): debugSerial(USBTX, USBRX), i2c(i2cSda,i2cScl) |
garfieldsg | 0:662207e34fba | 17 | { |
garfieldsg | 0:662207e34fba | 18 | |
garfieldsg | 0:662207e34fba | 19 | } |
garfieldsg | 0:662207e34fba | 20 | |
garfieldsg | 0:662207e34fba | 21 | /** Read a single bit from an 8-bit device register. |
garfieldsg | 0:662207e34fba | 22 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 23 | * @param regAddr Register regAddr to read from |
garfieldsg | 0:662207e34fba | 24 | * @param bitNum Bit position to read (0-7) |
garfieldsg | 0:662207e34fba | 25 | * @param data Container for single bit value |
garfieldsg | 0:662207e34fba | 26 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
garfieldsg | 0:662207e34fba | 27 | * @return Status of read operation (true = success) |
garfieldsg | 0:662207e34fba | 28 | */ |
garfieldsg | 0:662207e34fba | 29 | int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) { |
garfieldsg | 0:662207e34fba | 30 | uint8_t b; |
garfieldsg | 0:662207e34fba | 31 | uint8_t count = readByte(devAddr, regAddr, &b, timeout); |
garfieldsg | 0:662207e34fba | 32 | *data = b & (1 << bitNum); |
garfieldsg | 0:662207e34fba | 33 | return count; |
garfieldsg | 0:662207e34fba | 34 | } |
garfieldsg | 0:662207e34fba | 35 | |
garfieldsg | 0:662207e34fba | 36 | /** Read a single bit from a 16-bit device register. |
garfieldsg | 0:662207e34fba | 37 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 38 | * @param regAddr Register regAddr to read from |
garfieldsg | 0:662207e34fba | 39 | * @param bitNum Bit position to read (0-15) |
garfieldsg | 0:662207e34fba | 40 | * @param data Container for single bit value |
garfieldsg | 0:662207e34fba | 41 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
garfieldsg | 0:662207e34fba | 42 | * @return Status of read operation (true = success) |
garfieldsg | 0:662207e34fba | 43 | */ |
garfieldsg | 0:662207e34fba | 44 | int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { |
garfieldsg | 0:662207e34fba | 45 | uint16_t b; |
garfieldsg | 0:662207e34fba | 46 | uint8_t count = readWord(devAddr, regAddr, &b, timeout); |
garfieldsg | 0:662207e34fba | 47 | *data = b & (1 << bitNum); |
garfieldsg | 0:662207e34fba | 48 | return count; |
garfieldsg | 0:662207e34fba | 49 | } |
garfieldsg | 0:662207e34fba | 50 | |
garfieldsg | 0:662207e34fba | 51 | /** Read multiple bits from an 8-bit device register. |
garfieldsg | 0:662207e34fba | 52 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 53 | * @param regAddr Register regAddr to read from |
garfieldsg | 0:662207e34fba | 54 | * @param bitStart First bit position to read (0-7) |
garfieldsg | 0:662207e34fba | 55 | * @param length Number of bits to read (not more than 8) |
garfieldsg | 0:662207e34fba | 56 | * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) |
garfieldsg | 0:662207e34fba | 57 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
garfieldsg | 0:662207e34fba | 58 | * @return Status of read operation (true = success) |
garfieldsg | 0:662207e34fba | 59 | */ |
garfieldsg | 0:662207e34fba | 60 | int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) { |
garfieldsg | 0:662207e34fba | 61 | // 01101001 read byte |
garfieldsg | 0:662207e34fba | 62 | // 76543210 bit numbers |
garfieldsg | 0:662207e34fba | 63 | // xxx args: bitStart=4, length=3 |
garfieldsg | 0:662207e34fba | 64 | // 010 masked |
garfieldsg | 0:662207e34fba | 65 | // -> 010 shifted |
garfieldsg | 0:662207e34fba | 66 | uint8_t count, b; |
garfieldsg | 0:662207e34fba | 67 | if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) { |
garfieldsg | 0:662207e34fba | 68 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
garfieldsg | 0:662207e34fba | 69 | b &= mask; |
garfieldsg | 0:662207e34fba | 70 | b >>= (bitStart - length + 1); |
garfieldsg | 0:662207e34fba | 71 | *data = b; |
garfieldsg | 0:662207e34fba | 72 | } |
garfieldsg | 0:662207e34fba | 73 | return count; |
garfieldsg | 0:662207e34fba | 74 | } |
garfieldsg | 0:662207e34fba | 75 | |
garfieldsg | 0:662207e34fba | 76 | /** Read multiple bits from a 16-bit device register. |
garfieldsg | 0:662207e34fba | 77 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 78 | * @param regAddr Register regAddr to read from |
garfieldsg | 0:662207e34fba | 79 | * @param bitStart First bit position to read (0-15) |
garfieldsg | 0:662207e34fba | 80 | * @param length Number of bits to read (not more than 16) |
garfieldsg | 0:662207e34fba | 81 | * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05) |
garfieldsg | 0:662207e34fba | 82 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
garfieldsg | 0:662207e34fba | 83 | * @return Status of read operation (1 = success, 0 = failure, -1 = timeout) |
garfieldsg | 0:662207e34fba | 84 | */ |
garfieldsg | 0:662207e34fba | 85 | int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { |
garfieldsg | 0:662207e34fba | 86 | // 1101011001101001 read byte |
garfieldsg | 0:662207e34fba | 87 | // fedcba9876543210 bit numbers |
garfieldsg | 0:662207e34fba | 88 | // xxx args: bitStart=12, length=3 |
garfieldsg | 0:662207e34fba | 89 | // 010 masked |
garfieldsg | 0:662207e34fba | 90 | // -> 010 shifted |
garfieldsg | 0:662207e34fba | 91 | uint8_t count; |
garfieldsg | 0:662207e34fba | 92 | uint16_t w; |
garfieldsg | 0:662207e34fba | 93 | if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { |
garfieldsg | 0:662207e34fba | 94 | uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
garfieldsg | 0:662207e34fba | 95 | w &= mask; |
garfieldsg | 0:662207e34fba | 96 | w >>= (bitStart - length + 1); |
garfieldsg | 0:662207e34fba | 97 | *data = w; |
garfieldsg | 0:662207e34fba | 98 | } |
garfieldsg | 0:662207e34fba | 99 | return count; |
garfieldsg | 0:662207e34fba | 100 | } |
garfieldsg | 0:662207e34fba | 101 | /** Read single byte from an 8-bit device register. |
garfieldsg | 0:662207e34fba | 102 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 103 | * @param regAddr Register regAddr to read from |
garfieldsg | 0:662207e34fba | 104 | * @param data Container for byte value read from device |
garfieldsg | 0:662207e34fba | 105 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
garfieldsg | 0:662207e34fba | 106 | * @return Status of read operation (true = success) |
garfieldsg | 0:662207e34fba | 107 | */ |
garfieldsg | 0:662207e34fba | 108 | int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) { |
garfieldsg | 0:662207e34fba | 109 | return readBytes(devAddr, regAddr, 1, data, timeout); |
garfieldsg | 0:662207e34fba | 110 | } |
garfieldsg | 0:662207e34fba | 111 | |
garfieldsg | 0:662207e34fba | 112 | /** Read single word from a 16-bit device register. |
garfieldsg | 0:662207e34fba | 113 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 114 | * @param regAddr Register regAddr to read from |
garfieldsg | 0:662207e34fba | 115 | * @param data Container for word value read from device |
garfieldsg | 0:662207e34fba | 116 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
garfieldsg | 0:662207e34fba | 117 | * @return Status of read operation (true = success) |
garfieldsg | 0:662207e34fba | 118 | */ |
garfieldsg | 0:662207e34fba | 119 | int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { |
garfieldsg | 0:662207e34fba | 120 | return readWords(devAddr, regAddr, 1, data, timeout); |
garfieldsg | 0:662207e34fba | 121 | } |
garfieldsg | 0:662207e34fba | 122 | |
garfieldsg | 0:662207e34fba | 123 | /** Read multiple bytes from an 8-bit device register. |
garfieldsg | 0:662207e34fba | 124 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 125 | * @param regAddr First register regAddr to read from |
garfieldsg | 0:662207e34fba | 126 | * @param length Number of bytes to read |
garfieldsg | 0:662207e34fba | 127 | * @param data Buffer to store read data in |
garfieldsg | 0:662207e34fba | 128 | * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout) |
garfieldsg | 0:662207e34fba | 129 | * @return Number of bytes read (-1 indicates failure) |
garfieldsg | 0:662207e34fba | 130 | */ |
garfieldsg | 0:662207e34fba | 131 | int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) |
garfieldsg | 0:662207e34fba | 132 | { |
garfieldsg | 0:662207e34fba | 133 | char command[1]; |
garfieldsg | 0:662207e34fba | 134 | command[0] = regAddr; |
tyftyftyf | 9:d879deb55ae1 | 135 | i2c.write(devAddr, command, 1, true); |
tyftyftyf | 9:d879deb55ae1 | 136 | i2c.read(devAddr, (char*)data, length); |
garfieldsg | 0:662207e34fba | 137 | return length; |
garfieldsg | 0:662207e34fba | 138 | } |
garfieldsg | 0:662207e34fba | 139 | |
tyftyftyf | 9:d879deb55ae1 | 140 | void I2Cdev::readBytes_nb(uint8_t devAddr, char *command, uint8_t length, uint8_t *data, uint32_t (*function)(uint32_t), void* param) |
tyftyftyf | 9:d879deb55ae1 | 141 | { |
tyftyftyf | 9:d879deb55ae1 | 142 | i2c.write(devAddr, command, 1, true); |
tyftyftyf | 9:d879deb55ae1 | 143 | i2c.read_nb(devAddr, (char*)data, length, function, param); |
tyftyftyf | 9:d879deb55ae1 | 144 | } |
tyftyftyf | 9:d879deb55ae1 | 145 | |
garfieldsg | 0:662207e34fba | 146 | int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) |
garfieldsg | 0:662207e34fba | 147 | { |
garfieldsg | 0:662207e34fba | 148 | return 0; |
garfieldsg | 0:662207e34fba | 149 | } |
garfieldsg | 0:662207e34fba | 150 | |
garfieldsg | 0:662207e34fba | 151 | /** write a single bit in an 8-bit device register. |
garfieldsg | 0:662207e34fba | 152 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 153 | * @param regAddr Register regAddr to write to |
garfieldsg | 0:662207e34fba | 154 | * @param bitNum Bit position to write (0-7) |
garfieldsg | 0:662207e34fba | 155 | * @param value New bit value to write |
garfieldsg | 0:662207e34fba | 156 | * @return Status of operation (true = success) |
garfieldsg | 0:662207e34fba | 157 | */ |
garfieldsg | 0:662207e34fba | 158 | bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) { |
garfieldsg | 0:662207e34fba | 159 | uint8_t b; |
garfieldsg | 0:662207e34fba | 160 | readByte(devAddr, regAddr, &b); |
garfieldsg | 0:662207e34fba | 161 | b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); |
garfieldsg | 0:662207e34fba | 162 | return writeByte(devAddr, regAddr, b); |
garfieldsg | 0:662207e34fba | 163 | } |
garfieldsg | 0:662207e34fba | 164 | |
garfieldsg | 0:662207e34fba | 165 | /** write a single bit in a 16-bit device register. |
garfieldsg | 0:662207e34fba | 166 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 167 | * @param regAddr Register regAddr to write to |
garfieldsg | 0:662207e34fba | 168 | * @param bitNum Bit position to write (0-15) |
garfieldsg | 0:662207e34fba | 169 | * @param value New bit value to write |
garfieldsg | 0:662207e34fba | 170 | * @return Status of operation (true = success) |
garfieldsg | 0:662207e34fba | 171 | */ |
garfieldsg | 0:662207e34fba | 172 | bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { |
garfieldsg | 0:662207e34fba | 173 | uint16_t w; |
garfieldsg | 0:662207e34fba | 174 | readWord(devAddr, regAddr, &w); |
garfieldsg | 0:662207e34fba | 175 | w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); |
garfieldsg | 0:662207e34fba | 176 | return writeWord(devAddr, regAddr, w); |
garfieldsg | 0:662207e34fba | 177 | } |
garfieldsg | 0:662207e34fba | 178 | |
garfieldsg | 0:662207e34fba | 179 | /** Write multiple bits in an 8-bit device register. |
garfieldsg | 0:662207e34fba | 180 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 181 | * @param regAddr Register regAddr to write to |
garfieldsg | 0:662207e34fba | 182 | * @param bitStart First bit position to write (0-7) |
garfieldsg | 0:662207e34fba | 183 | * @param length Number of bits to write (not more than 8) |
garfieldsg | 0:662207e34fba | 184 | * @param data Right-aligned value to write |
garfieldsg | 0:662207e34fba | 185 | * @return Status of operation (true = success) |
garfieldsg | 0:662207e34fba | 186 | */ |
garfieldsg | 0:662207e34fba | 187 | bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) { |
garfieldsg | 0:662207e34fba | 188 | // 010 value to write |
garfieldsg | 0:662207e34fba | 189 | // 76543210 bit numbers |
garfieldsg | 0:662207e34fba | 190 | // xxx args: bitStart=4, length=3 |
garfieldsg | 0:662207e34fba | 191 | // 00011100 mask byte |
garfieldsg | 0:662207e34fba | 192 | // 10101111 original value (sample) |
garfieldsg | 0:662207e34fba | 193 | // 10100011 original & ~mask |
garfieldsg | 0:662207e34fba | 194 | // 10101011 masked | value |
garfieldsg | 0:662207e34fba | 195 | uint8_t b; |
garfieldsg | 0:662207e34fba | 196 | if (readByte(devAddr, regAddr, &b) != 0) { |
garfieldsg | 0:662207e34fba | 197 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
garfieldsg | 0:662207e34fba | 198 | data <<= (bitStart - length + 1); // shift data into correct position |
garfieldsg | 0:662207e34fba | 199 | data &= mask; // zero all non-important bits in data |
garfieldsg | 0:662207e34fba | 200 | b &= ~(mask); // zero all important bits in existing byte |
garfieldsg | 0:662207e34fba | 201 | b |= data; // combine data with existing byte |
garfieldsg | 0:662207e34fba | 202 | return writeByte(devAddr, regAddr, b); |
garfieldsg | 0:662207e34fba | 203 | } else { |
garfieldsg | 0:662207e34fba | 204 | return false; |
garfieldsg | 0:662207e34fba | 205 | } |
garfieldsg | 0:662207e34fba | 206 | } |
garfieldsg | 0:662207e34fba | 207 | |
garfieldsg | 0:662207e34fba | 208 | /** Write multiple bits in a 16-bit device register. |
garfieldsg | 0:662207e34fba | 209 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 210 | * @param regAddr Register regAddr to write to |
garfieldsg | 0:662207e34fba | 211 | * @param bitStart First bit position to write (0-15) |
garfieldsg | 0:662207e34fba | 212 | * @param length Number of bits to write (not more than 16) |
garfieldsg | 0:662207e34fba | 213 | * @param data Right-aligned value to write |
garfieldsg | 0:662207e34fba | 214 | * @return Status of operation (true = success) |
garfieldsg | 0:662207e34fba | 215 | */ |
garfieldsg | 0:662207e34fba | 216 | bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { |
garfieldsg | 0:662207e34fba | 217 | // 010 value to write |
garfieldsg | 0:662207e34fba | 218 | // fedcba9876543210 bit numbers |
garfieldsg | 0:662207e34fba | 219 | // xxx args: bitStart=12, length=3 |
garfieldsg | 0:662207e34fba | 220 | // 0001110000000000 mask byte |
garfieldsg | 0:662207e34fba | 221 | // 1010111110010110 original value (sample) |
garfieldsg | 0:662207e34fba | 222 | // 1010001110010110 original & ~mask |
garfieldsg | 0:662207e34fba | 223 | // 1010101110010110 masked | value |
garfieldsg | 0:662207e34fba | 224 | uint16_t w; |
garfieldsg | 0:662207e34fba | 225 | if (readWord(devAddr, regAddr, &w) != 0) { |
garfieldsg | 0:662207e34fba | 226 | uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1); |
garfieldsg | 0:662207e34fba | 227 | data <<= (bitStart - length + 1); // shift data into correct position |
garfieldsg | 0:662207e34fba | 228 | data &= mask; // zero all non-important bits in data |
garfieldsg | 0:662207e34fba | 229 | w &= ~(mask); // zero all important bits in existing word |
garfieldsg | 0:662207e34fba | 230 | w |= data; // combine data with existing word |
garfieldsg | 0:662207e34fba | 231 | return writeWord(devAddr, regAddr, w); |
garfieldsg | 0:662207e34fba | 232 | } else { |
garfieldsg | 0:662207e34fba | 233 | return false; |
garfieldsg | 0:662207e34fba | 234 | } |
garfieldsg | 0:662207e34fba | 235 | } |
garfieldsg | 0:662207e34fba | 236 | |
garfieldsg | 0:662207e34fba | 237 | /** Write single byte to an 8-bit device register. |
garfieldsg | 0:662207e34fba | 238 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 239 | * @param regAddr Register address to write to |
garfieldsg | 0:662207e34fba | 240 | * @param data New byte value to write |
garfieldsg | 0:662207e34fba | 241 | * @return Status of operation (true = success) |
garfieldsg | 0:662207e34fba | 242 | */ |
garfieldsg | 0:662207e34fba | 243 | bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) { |
garfieldsg | 0:662207e34fba | 244 | return writeBytes(devAddr, regAddr, 1, &data); |
garfieldsg | 0:662207e34fba | 245 | } |
garfieldsg | 0:662207e34fba | 246 | |
garfieldsg | 0:662207e34fba | 247 | /** Write single word to a 16-bit device register. |
garfieldsg | 0:662207e34fba | 248 | * @param devAddr I2C slave device address |
garfieldsg | 0:662207e34fba | 249 | * @param regAddr Register address to write to |
garfieldsg | 0:662207e34fba | 250 | * @param data New word value to write |
garfieldsg | 0:662207e34fba | 251 | * @return Status of operation (true = success) |
garfieldsg | 0:662207e34fba | 252 | */ |
garfieldsg | 0:662207e34fba | 253 | bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { |
garfieldsg | 0:662207e34fba | 254 | return writeWords(devAddr, regAddr, 1, &data); |
garfieldsg | 0:662207e34fba | 255 | } |
garfieldsg | 0:662207e34fba | 256 | |
tyftyftyf | 9:d879deb55ae1 | 257 | uint32_t writefinhdl(uint32_t param){ |
tyftyftyf | 9:d879deb55ae1 | 258 | //free((void*)param); |
tyftyftyf | 9:d879deb55ae1 | 259 | ((I2Cdev*)param)->freebuffer(); |
tyftyftyf | 9:d879deb55ae1 | 260 | return 0; |
tyftyftyf | 9:d879deb55ae1 | 261 | } |
tyftyftyf | 9:d879deb55ae1 | 262 | |
garfieldsg | 0:662207e34fba | 263 | bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) |
garfieldsg | 0:662207e34fba | 264 | { |
tyftyftyf | 9:d879deb55ae1 | 265 | char* mem = NULL; |
tyftyftyf | 10:11cc1b413f49 | 266 | mem = allocbuffer(); |
tyftyftyf | 9:d879deb55ae1 | 267 | *mem = regAddr; |
tyftyftyf | 9:d879deb55ae1 | 268 | memcpy(mem+1, data, length); |
tyftyftyf | 9:d879deb55ae1 | 269 | |
tyftyftyf | 10:11cc1b413f49 | 270 | i2c.write(devAddr, mem, length+1, &writefinhdl, this); |
garfieldsg | 0:662207e34fba | 271 | return true; |
garfieldsg | 0:662207e34fba | 272 | } |
garfieldsg | 0:662207e34fba | 273 | |
tyftyftyf | 9:d879deb55ae1 | 274 | char *I2Cdev::allocbuffer(){ |
tyftyftyf | 9:d879deb55ae1 | 275 | char *buff = (char *)pool.alloc(); |
tyftyftyf | 10:11cc1b413f49 | 276 | while (buff==NULL) buff = (char *)pool.alloc(); |
tyftyftyf | 9:d879deb55ae1 | 277 | queue.put(buff); |
tyftyftyf | 9:d879deb55ae1 | 278 | return buff; |
tyftyftyf | 9:d879deb55ae1 | 279 | } |
tyftyftyf | 9:d879deb55ae1 | 280 | |
tyftyftyf | 9:d879deb55ae1 | 281 | void I2Cdev::freebuffer(){ |
tyftyftyf | 9:d879deb55ae1 | 282 | osEvent evt = queue.get(0); |
tyftyftyf | 10:11cc1b413f49 | 283 | pool.free((char(*)[14])evt.value.p); |
tyftyftyf | 9:d879deb55ae1 | 284 | } |
tyftyftyf | 9:d879deb55ae1 | 285 | |
garfieldsg | 0:662207e34fba | 286 | bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data) |
garfieldsg | 0:662207e34fba | 287 | { |
garfieldsg | 0:662207e34fba | 288 | return true; |
garfieldsg | 0:662207e34fba | 289 | } |
garfieldsg | 0:662207e34fba | 290 | |
garfieldsg | 0:662207e34fba | 291 | uint16_t I2Cdev::readTimeout(void) |
garfieldsg | 0:662207e34fba | 292 | { |
garfieldsg | 0:662207e34fba | 293 | return 0; |
garfieldsg | 0:662207e34fba | 294 | } |