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.cpp@15:4d3c598e3719, 2015-02-26 (annotated)

Committer:
zcw607
Date:
Thu Feb 26 04:00:23 2015 +0000
Revision:
15:4d3c598e3719
Parent:
7:4619a083f289 
Reduced FIFO packet size (18 bytes); Optimized DMP initialization (less memory)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pHysiX 6:2dc23167c8d8 1 // ported from arduino library: https://github.com/jrowberg/i2cdevlib
pHysiX 6:2dc23167c8d8 2 // written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
pHysiX 6:2dc23167c8d8 3 // Changelog:
pHysiX 6:2dc23167c8d8 4 // 2013-01-08 - first release
pHysiX 6:2dc23167c8d8 5
pHysiX 6:2dc23167c8d8 6 #include "I2Cdev.h"
pHysiX 6:2dc23167c8d8 7
pHysiX 6:2dc23167c8d8 8 #define useDebugSerial
pHysiX 6:2dc23167c8d8 9
pHysiX 6:2dc23167c8d8 10 I2Cdev::I2Cdev(): i2c(I2C_SDA,I2C_SCL), debugSerial(USBTX, USBRX)
pHysiX 6:2dc23167c8d8 11 {
pHysiX 6:2dc23167c8d8 12 i2c.frequency(400000);
pHysiX 6:2dc23167c8d8 13 debugSerial.baud(115200);
pHysiX 6:2dc23167c8d8 14 }
pHysiX 6:2dc23167c8d8 15
pHysiX 6:2dc23167c8d8 16 I2Cdev::I2Cdev(PinName i2cSda, PinName i2cScl): i2c(i2cSda,i2cScl), debugSerial(USBTX, USBRX)
pHysiX 6:2dc23167c8d8 17 {
pHysiX 6:2dc23167c8d8 18 i2c.frequency(400000);
pHysiX 6:2dc23167c8d8 19 debugSerial.baud(115200);
pHysiX 6:2dc23167c8d8 20 }
pHysiX 6:2dc23167c8d8 21
pHysiX 6:2dc23167c8d8 22 /** Read a single bit from an 8-bit device register.
pHysiX 6:2dc23167c8d8 23 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 24 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 25 * @param bitNum Bit position to read (0-7)
pHysiX 6:2dc23167c8d8 26 * @param data Container for single bit value
pHysiX 6:2dc23167c8d8 27 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 28 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 29 */
pHysiX 6:2dc23167c8d8 30 int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 31 {
pHysiX 6:2dc23167c8d8 32 uint8_t b;
pHysiX 6:2dc23167c8d8 33 uint8_t count = readByte(devAddr, regAddr, &b, timeout);
pHysiX 6:2dc23167c8d8 34 *data = b & (1 << bitNum);
pHysiX 6:2dc23167c8d8 35 return count;
pHysiX 6:2dc23167c8d8 36 }
pHysiX 6:2dc23167c8d8 37
pHysiX 6:2dc23167c8d8 38 /** Read a single bit from a 16-bit device register.
pHysiX 6:2dc23167c8d8 39 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 40 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 41 * @param bitNum Bit position to read (0-15)
pHysiX 6:2dc23167c8d8 42 * @param data Container for single bit value
pHysiX 6:2dc23167c8d8 43 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 44 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 45 */
pHysiX 6:2dc23167c8d8 46 int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 47 {
pHysiX 6:2dc23167c8d8 48 uint16_t b = 0x0000;
pHysiX 6:2dc23167c8d8 49 uint8_t count = readWord(devAddr, regAddr, &b, timeout);
pHysiX 6:2dc23167c8d8 50 *data = b & (1 << bitNum);
pHysiX 6:2dc23167c8d8 51 return count;
pHysiX 6:2dc23167c8d8 52 }
pHysiX 6:2dc23167c8d8 53
pHysiX 6:2dc23167c8d8 54 /** Read multiple bits from an 8-bit device register.
pHysiX 6:2dc23167c8d8 55 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 56 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 57 * @param bitStart First bit position to read (0-7)
pHysiX 6:2dc23167c8d8 58 * @param length Number of bits to read (not more than 8)
pHysiX 6:2dc23167c8d8 59 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
pHysiX 6:2dc23167c8d8 60 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 61 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 62 */
pHysiX 6:2dc23167c8d8 63 int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 64 {
pHysiX 6:2dc23167c8d8 65 // 01101001 read byte
pHysiX 6:2dc23167c8d8 66 // 76543210 bit numbers
pHysiX 6:2dc23167c8d8 67 // xxx args: bitStart=4, length=3
pHysiX 6:2dc23167c8d8 68 // 010 masked
pHysiX 6:2dc23167c8d8 69 // -> 010 shifted
pHysiX 6:2dc23167c8d8 70 uint8_t count, b;
pHysiX 6:2dc23167c8d8 71 if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
pHysiX 6:2dc23167c8d8 72 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 73 b &= mask;
pHysiX 6:2dc23167c8d8 74 b >>= (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 75 *data = b;
pHysiX 6:2dc23167c8d8 76 }
pHysiX 6:2dc23167c8d8 77 return count;
pHysiX 6:2dc23167c8d8 78 }
pHysiX 6:2dc23167c8d8 79
pHysiX 6:2dc23167c8d8 80 /** Read multiple bits from a 16-bit device register.
pHysiX 6:2dc23167c8d8 81 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 82 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 83 * @param bitStart First bit position to read (0-15)
pHysiX 6:2dc23167c8d8 84 * @param length Number of bits to read (not more than 16)
pHysiX 6:2dc23167c8d8 85 * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
pHysiX 6:2dc23167c8d8 86 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 87 * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
pHysiX 6:2dc23167c8d8 88 */
pHysiX 6:2dc23167c8d8 89 int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 90 {
pHysiX 6:2dc23167c8d8 91 // 1101011001101001 read byte
pHysiX 6:2dc23167c8d8 92 // fedcba9876543210 bit numbers
pHysiX 6:2dc23167c8d8 93 // xxx args: bitStart=12, length=3
pHysiX 6:2dc23167c8d8 94 // 010 masked
pHysiX 6:2dc23167c8d8 95 // -> 010 shifted
pHysiX 6:2dc23167c8d8 96 uint8_t count;
pHysiX 6:2dc23167c8d8 97 uint16_t w;
pHysiX 6:2dc23167c8d8 98 if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
pHysiX 6:2dc23167c8d8 99 uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 100 w &= mask;
pHysiX 6:2dc23167c8d8 101 w >>= (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 102 *data = w;
pHysiX 6:2dc23167c8d8 103 }
pHysiX 6:2dc23167c8d8 104 return count;
pHysiX 6:2dc23167c8d8 105 }
pHysiX 6:2dc23167c8d8 106 /** Read single byte from an 8-bit device register.
pHysiX 6:2dc23167c8d8 107 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 108 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 109 * @param data Container for byte value read from device
pHysiX 6:2dc23167c8d8 110 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 111 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 112 */
pHysiX 6:2dc23167c8d8 113 int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 114 {
pHysiX 6:2dc23167c8d8 115 return readBytes(devAddr, regAddr, 1, data, timeout);
pHysiX 6:2dc23167c8d8 116 }
pHysiX 6:2dc23167c8d8 117
pHysiX 6:2dc23167c8d8 118 /** Read single word from a 16-bit device register.
pHysiX 6:2dc23167c8d8 119 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 120 * @param regAddr Register regAddr to read from
pHysiX 6:2dc23167c8d8 121 * @param data Container for word value read from device
pHysiX 6:2dc23167c8d8 122 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 123 * @return Status of read operation (true = success)
pHysiX 6:2dc23167c8d8 124 */
pHysiX 6:2dc23167c8d8 125 int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 126 {
pHysiX 6:2dc23167c8d8 127 return readWords(devAddr, regAddr, 1, data, timeout);
pHysiX 6:2dc23167c8d8 128 }
pHysiX 6:2dc23167c8d8 129
pHysiX 6:2dc23167c8d8 130 /** Read multiple bytes from an 8-bit device register.
pHysiX 6:2dc23167c8d8 131 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 132 * @param regAddr First register regAddr to read from
pHysiX 6:2dc23167c8d8 133 * @param length Number of bytes to read
pHysiX 6:2dc23167c8d8 134 * @param data Buffer to store read data in
pHysiX 6:2dc23167c8d8 135 * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
pHysiX 6:2dc23167c8d8 136 * @return Number of bytes read (-1 indicates failure)
pHysiX 6:2dc23167c8d8 137 */
pHysiX 6:2dc23167c8d8 138 int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 139 {
pHysiX 6:2dc23167c8d8 140 char command[1];
pHysiX 6:2dc23167c8d8 141 command[0] = regAddr;
pHysiX 6:2dc23167c8d8 142 char *redData = (char*)malloc(length);
pHysiX 6:2dc23167c8d8 143 i2c.write(devAddr<<1, command, 1, true);
pHysiX 6:2dc23167c8d8 144 i2c.read(devAddr<<1, redData, length);
pHysiX 6:2dc23167c8d8 145 for(int i =0; i < length; i++) {
pHysiX 6:2dc23167c8d8 146 data[i] = redData[i];
pHysiX 6:2dc23167c8d8 147 }
pHysiX 6:2dc23167c8d8 148 free (redData);
pHysiX 6:2dc23167c8d8 149 return length;
pHysiX 6:2dc23167c8d8 150 }
pHysiX 6:2dc23167c8d8 151
pHysiX 6:2dc23167c8d8 152 int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
pHysiX 6:2dc23167c8d8 153 {
pHysiX 6:2dc23167c8d8 154 return 0;
pHysiX 6:2dc23167c8d8 155 }
pHysiX 6:2dc23167c8d8 156
pHysiX 6:2dc23167c8d8 157 /** write a single bit in an 8-bit device register.
pHysiX 6:2dc23167c8d8 158 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 159 * @param regAddr Register regAddr to write to
pHysiX 6:2dc23167c8d8 160 * @param bitNum Bit position to write (0-7)
pHysiX 6:2dc23167c8d8 161 * @param value New bit value to write
pHysiX 6:2dc23167c8d8 162 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 163 */
pHysiX 6:2dc23167c8d8 164 bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)
pHysiX 6:2dc23167c8d8 165 {
pHysiX 6:2dc23167c8d8 166 uint8_t b;
pHysiX 6:2dc23167c8d8 167 readByte(devAddr, regAddr, &b);
pHysiX 6:2dc23167c8d8 168 b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
pHysiX 6:2dc23167c8d8 169 return writeByte(devAddr, regAddr, b);
pHysiX 6:2dc23167c8d8 170 }
pHysiX 6:2dc23167c8d8 171
pHysiX 6:2dc23167c8d8 172 /** write a single bit in a 16-bit device register.
pHysiX 6:2dc23167c8d8 173 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 174 * @param regAddr Register regAddr to write to
pHysiX 6:2dc23167c8d8 175 * @param bitNum Bit position to write (0-15)
pHysiX 6:2dc23167c8d8 176 * @param value New bit value to write
pHysiX 6:2dc23167c8d8 177 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 178 */
pHysiX 6:2dc23167c8d8 179 bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data)
pHysiX 6:2dc23167c8d8 180 {
pHysiX 6:2dc23167c8d8 181 uint16_t w;
pHysiX 6:2dc23167c8d8 182 readWord(devAddr, regAddr, &w);
pHysiX 6:2dc23167c8d8 183 w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
pHysiX 6:2dc23167c8d8 184 return writeWord(devAddr, regAddr, w);
pHysiX 6:2dc23167c8d8 185 }
pHysiX 6:2dc23167c8d8 186
pHysiX 6:2dc23167c8d8 187 /** Write multiple bits in an 8-bit device register.
pHysiX 6:2dc23167c8d8 188 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 189 * @param regAddr Register regAddr to write to
pHysiX 6:2dc23167c8d8 190 * @param bitStart First bit position to write (0-7)
pHysiX 6:2dc23167c8d8 191 * @param length Number of bits to write (not more than 8)
pHysiX 6:2dc23167c8d8 192 * @param data Right-aligned value to write
pHysiX 6:2dc23167c8d8 193 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 194 */
pHysiX 6:2dc23167c8d8 195 bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
pHysiX 6:2dc23167c8d8 196 {
pHysiX 6:2dc23167c8d8 197 // 010 value to write
pHysiX 6:2dc23167c8d8 198 // 76543210 bit numbers
pHysiX 6:2dc23167c8d8 199 // xxx args: bitStart=4, length=3
pHysiX 6:2dc23167c8d8 200 // 00011100 mask byte
pHysiX 6:2dc23167c8d8 201 // 10101111 original value (sample)
pHysiX 6:2dc23167c8d8 202 // 10100011 original & ~mask
pHysiX 6:2dc23167c8d8 203 // 10101011 masked | value
pHysiX 6:2dc23167c8d8 204 uint8_t b;
pHysiX 6:2dc23167c8d8 205 if (readByte(devAddr, regAddr, &b) != 0) {
pHysiX 6:2dc23167c8d8 206 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 207 data <<= (bitStart - length + 1); // shift data into correct position
pHysiX 6:2dc23167c8d8 208 data &= mask; // zero all non-important bits in data
pHysiX 6:2dc23167c8d8 209 b &= ~(mask); // zero all important bits in existing byte
pHysiX 6:2dc23167c8d8 210 b |= data; // combine data with existing byte
pHysiX 6:2dc23167c8d8 211 return writeByte(devAddr, regAddr, b);
pHysiX 6:2dc23167c8d8 212 } else {
pHysiX 6:2dc23167c8d8 213 return false;
pHysiX 6:2dc23167c8d8 214 }
pHysiX 6:2dc23167c8d8 215 }
pHysiX 6:2dc23167c8d8 216
pHysiX 6:2dc23167c8d8 217 /** Write multiple bits in a 16-bit device register.
pHysiX 6:2dc23167c8d8 218 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 219 * @param regAddr Register regAddr to write to
pHysiX 6:2dc23167c8d8 220 * @param bitStart First bit position to write (0-15)
pHysiX 6:2dc23167c8d8 221 * @param length Number of bits to write (not more than 16)
pHysiX 6:2dc23167c8d8 222 * @param data Right-aligned value to write
pHysiX 6:2dc23167c8d8 223 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 224 */
pHysiX 6:2dc23167c8d8 225 bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data)
pHysiX 6:2dc23167c8d8 226 {
pHysiX 6:2dc23167c8d8 227 // 010 value to write
pHysiX 6:2dc23167c8d8 228 // fedcba9876543210 bit numbers
pHysiX 6:2dc23167c8d8 229 // xxx args: bitStart=12, length=3
pHysiX 6:2dc23167c8d8 230 // 0001110000000000 mask byte
pHysiX 6:2dc23167c8d8 231 // 1010111110010110 original value (sample)
pHysiX 6:2dc23167c8d8 232 // 1010001110010110 original & ~mask
pHysiX 6:2dc23167c8d8 233 // 1010101110010110 masked | value
pHysiX 6:2dc23167c8d8 234 uint16_t w;
pHysiX 6:2dc23167c8d8 235 if (readWord(devAddr, regAddr, &w) != 0) {
pHysiX 6:2dc23167c8d8 236 uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
pHysiX 6:2dc23167c8d8 237 data <<= (bitStart - length + 1); // shift data into correct position
pHysiX 6:2dc23167c8d8 238 data &= mask; // zero all non-important bits in data
pHysiX 6:2dc23167c8d8 239 w &= ~(mask); // zero all important bits in existing word
pHysiX 6:2dc23167c8d8 240 w |= data; // combine data with existing word
pHysiX 6:2dc23167c8d8 241 return writeWord(devAddr, regAddr, w);
pHysiX 6:2dc23167c8d8 242 } else {
pHysiX 6:2dc23167c8d8 243 return false;
pHysiX 6:2dc23167c8d8 244 }
pHysiX 6:2dc23167c8d8 245 }
pHysiX 6:2dc23167c8d8 246
pHysiX 6:2dc23167c8d8 247 /** Write single byte to an 8-bit device register.
pHysiX 6:2dc23167c8d8 248 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 249 * @param regAddr Register address to write to
pHysiX 6:2dc23167c8d8 250 * @param data New byte value to write
pHysiX 6:2dc23167c8d8 251 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 252 */
pHysiX 6:2dc23167c8d8 253 bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data)
pHysiX 6:2dc23167c8d8 254 {
pHysiX 6:2dc23167c8d8 255 return writeBytes(devAddr, regAddr, 1, &data);
pHysiX 6:2dc23167c8d8 256 }
pHysiX 6:2dc23167c8d8 257
pHysiX 6:2dc23167c8d8 258 /** Write single word to a 16-bit device register.
pHysiX 6:2dc23167c8d8 259 * @param devAddr I2C slave device address
pHysiX 6:2dc23167c8d8 260 * @param regAddr Register address to write to
pHysiX 6:2dc23167c8d8 261 * @param data New word value to write
pHysiX 6:2dc23167c8d8 262 * @return Status of operation (true = success)
pHysiX 6:2dc23167c8d8 263 */
pHysiX 6:2dc23167c8d8 264 bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data)
pHysiX 6:2dc23167c8d8 265 {
pHysiX 6:2dc23167c8d8 266 return writeWords(devAddr, regAddr, 1, &data);
pHysiX 6:2dc23167c8d8 267 }
pHysiX 6:2dc23167c8d8 268
pHysiX 6:2dc23167c8d8 269 bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
pHysiX 6:2dc23167c8d8 270 {
pHysiX 6:2dc23167c8d8 271 i2c.start();
pHysiX 6:2dc23167c8d8 272 i2c.write(devAddr<<1);
pHysiX 6:2dc23167c8d8 273 i2c.write(regAddr);
pHysiX 6:2dc23167c8d8 274 for(int i = 0; i < length; i++) {
pHysiX 6:2dc23167c8d8 275 i2c.write(data[i]);
pHysiX 6:2dc23167c8d8 276 }
pHysiX 6:2dc23167c8d8 277 i2c.stop();
pHysiX 6:2dc23167c8d8 278 return true;
pHysiX 6:2dc23167c8d8 279 }
pHysiX 6:2dc23167c8d8 280
pHysiX 6:2dc23167c8d8 281 bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
pHysiX 6:2dc23167c8d8 282 {
pHysiX 6:2dc23167c8d8 283 return true;
pHysiX 6:2dc23167c8d8 284 }
pHysiX 6:2dc23167c8d8 285
pHysiX 6:2dc23167c8d8 286 uint16_t I2Cdev::readTimeout(void)
pHysiX 6:2dc23167c8d8 287 {
pHysiX 6:2dc23167c8d8 288 return 0;
pHysiX 7:4619a083f289 289 }