Yifei Teng / MPU9250

MPU9250

Dependents:   FreeIMU

Fork of MPU6050 by Yifei Teng

I2Cdev.h@22:ec9725201195, 2018-04-18 (annotated)

Committer:
tyftyftyf
Date:
Wed Apr 18 20:24:13 2018 +0000
Revision:
22:ec9725201195
Parent:
15:09f072efa71e 
change to I2C 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garfieldsg 0:662207e34fba 1 //ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
pommzorz 2:3cf70c42a784 2 //written by szymon gaertig (email: szymon@gaertig.com.pl), small correction by Aloïs Wolff
garfieldsg 0:662207e34fba 3 //
garfieldsg 0:662207e34fba 4 //Changelog:
garfieldsg 0:662207e34fba 5 //2013-01-08 - first beta release
pommzorz 2:3cf70c42a784 6 //2013-02-18 - fixed a malloc with no free in ::readBytes
garfieldsg 0:662207e34fba 7
garfieldsg 0:662207e34fba 8 #ifndef I2Cdev_h
garfieldsg 0:662207e34fba 9 #define I2Cdev_h
garfieldsg 0:662207e34fba 10
tyftyftyf 15:09f072efa71e 11 #include "mbed.h"
tyftyftyf 15:09f072efa71e 12
tyftyftyf 9:d879deb55ae1 13 #ifndef I2C_SDA
tyftyftyf 22:ec9725201195 14 #define I2C_SDA p9
tyftyftyf 22:ec9725201195 15 #define I2C_SCL p10
tyftyftyf 9:d879deb55ae1 16 #endif
garfieldsg 0:662207e34fba 17
tyftyftyf 9:d879deb55ae1 18 #include "mbed.h"
tyftyftyf 9:d879deb55ae1 19 #include "MODI2C.h"
garfieldsg 0:662207e34fba 20
garfieldsg 0:662207e34fba 21 class I2Cdev {
garfieldsg 0:662207e34fba 22 private:
tyftyftyf 9:d879deb55ae1 23
garfieldsg 0:662207e34fba 24 Serial debugSerial;
garfieldsg 0:662207e34fba 25 public:
garfieldsg 0:662207e34fba 26 I2Cdev();
garfieldsg 0:662207e34fba 27 I2Cdev(PinName i2cSda, PinName i2cScl);
tyftyftyf 9:d879deb55ae1 28 I2Cdev(MODI2C i2c_);
garfieldsg 0:662207e34fba 29
garfieldsg 0:662207e34fba 30 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 31 int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 32 int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 33 int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 34 int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 35 int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 36 int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 37 int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
garfieldsg 0:662207e34fba 38
garfieldsg 0:662207e34fba 39 bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
garfieldsg 0:662207e34fba 40 bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
garfieldsg 0:662207e34fba 41 bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
garfieldsg 0:662207e34fba 42 bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
garfieldsg 0:662207e34fba 43 bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
garfieldsg 0:662207e34fba 44 bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
garfieldsg 0:662207e34fba 45 bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
garfieldsg 0:662207e34fba 46 bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
tyftyftyf 9:d879deb55ae1 47
tyftyftyf 9:d879deb55ae1 48 void readBytes_nb(uint8_t devAddr, char *command, uint8_t length, uint8_t *data, uint32_t (*function)(uint32_t), void* param);
garfieldsg 0:662207e34fba 49
garfieldsg 0:662207e34fba 50 static uint16_t readTimeout(void);
tyftyftyf 9:d879deb55ae1 51
tyftyftyf 9:d879deb55ae1 52 MODI2C i2c;
tyftyftyf 9:d879deb55ae1 53
tyftyftyf 9:d879deb55ae1 54 char* allocbuffer();
tyftyftyf 9:d879deb55ae1 55 void freebuffer();
tyftyftyf 9:d879deb55ae1 56
tyftyftyf 10:11cc1b413f49 57 MemoryPool<char[14], 16> pool;
tyftyftyf 10:11cc1b413f49 58 Queue<char, 16> queue;
garfieldsg 0:662207e34fba 59 };
garfieldsg 0:662207e34fba 60
garfieldsg 0:662207e34fba 61 #endif