Chengwei Zhang / MPU6050-DMP

Reduced FIFO packet size (18 bytes Optimized DMP initialization (less memory)

Dependents:   MPU6050-DMP_test_JJ

Fork of MPU6050-DMP-Ian by Ian Hua

I2C/I2Cdev.h

Committer:
pHysiX
Date:
2014-04-29
Revision:
6:2dc23167c8d8

File content as of revision 6:2dc23167c8d8:

//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
//written by szymon gaertig (email: szymon@gaertig.com.pl)
//
//Changelog:
//2013-01-08 - first beta release

#ifndef I2Cdev_h
#define I2Cdev_h

#include "mbed.h"

#define I2C_SDA p9
#define I2C_SCL p10

class I2Cdev
{
private:
    I2C i2c;

public:
    Serial debugSerial;
    I2Cdev();
    I2Cdev(PinName i2cSda, PinName i2cScl);

    int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
    int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());

    bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
    bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
    bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
    bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
    bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
    bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
    bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
    bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);

    static uint16_t readTimeout(void);
};

#endif