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 #ifndef I2C_SDA
00012     #define I2C_SDA p28
00013     #define I2C_SCL p27
00014 #endif
00015 
00016 #include "mbed.h"
00017 #include "MODI2C.h"
00018 
00019 class I2Cdev {
00020     private:
00021         
00022         Serial debugSerial;
00023     public:
00024         I2Cdev();
00025         I2Cdev(PinName i2cSda, PinName i2cScl);        
00026         I2Cdev(MODI2C i2c_);
00027         
00028         int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00029         int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00030         int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00031         int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00032         int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00033         int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00034         int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00035         int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00036 
00037         bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
00038         bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
00039         bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
00040         bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
00041         bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
00042         bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
00043         bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
00044         bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
00045         
00046         void readBytes_nb(uint8_t devAddr, char *command, uint8_t length, uint8_t *data, uint32_t (*function)(uint32_t), void* param);
00047 
00048         static uint16_t readTimeout(void);
00049 
00050         MODI2C i2c;
00051         
00052         char* allocbuffer();
00053         void freebuffer();
00054         
00055         MemoryPool<char[14], 16> pool;
00056         Queue<char, 16> queue;
00057 };
00058 
00059 #endif