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 #include "mbed.h"
00012 
00013 #ifndef I2C_SDA
00014     #define I2C_SDA p9
00015     #define I2C_SCL p10
00016 #endif
00017 
00018 #include "mbed.h"
00019 #include "MODI2C.h"
00020 
00021 class I2Cdev {
00022     private:
00023         
00024         Serial debugSerial;
00025     public:
00026         I2Cdev();
00027         I2Cdev(PinName i2cSda, PinName i2cScl);        
00028         I2Cdev(MODI2C i2c_);
00029         
00030         int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00031         int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00032         int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00033         int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00034         int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00035         int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00036         int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
00037         int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
00038 
00039         bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
00040         bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
00041         bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
00042         bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
00043         bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
00044         bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
00045         bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
00046         bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
00047         
00048         void readBytes_nb(uint8_t devAddr, char *command, uint8_t length, uint8_t *data, uint32_t (*function)(uint32_t), void* param);
00049 
00050         static uint16_t readTimeout(void);
00051 
00052         MODI2C i2c;
00053         
00054         char* allocbuffer();
00055         void freebuffer();
00056         
00057         MemoryPool<char[14], 16> pool;
00058         Queue<char, 16> queue;
00059 };
00060 
00061 #endif