Yifei Teng / MPU9250

MPU9250

Dependents:   FreeIMU

Fork of MPU6050 by Yifei Teng

I2Cdev.cpp@10:11cc1b413f49, 2013-12-23 (annotated)

Committer:
tyftyftyf
Date:
Mon Dec 23 08:34:58 2013 +0000
Revision:
10:11cc1b413f49
Parent:
9:d879deb55ae1
Child:
13:a74f2d622b54
Fixed a silly pointer error

Who changed what in which revision?

UserRevisionLine numberNew 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 }