Shundo Kishi
ported from https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050. Please refer this examples https://developer.mbed.org/users/syundo0730/code/MPU6050_Example/ to run this library in mbed.
Dependencies: ArduinoSerial I2Cdev
Fork of
MPU6050 + MPU9150
by 
Andreas Kodewitz
Revision 8:4ee054567b6c, committed 2016-01-31
- Comitter:
- syundo0730
- Date:
- Sun Jan 31 14:02:32 2016 +0000
- Parent:
- 7:d5845b617139
- Commit message:
- follow changes of original arduino project
Changed in this revision
--- a/ArduinoSerial.lib Sun Jan 31 09:12:19 2016 +0000 +++ b/ArduinoSerial.lib Sun Jan 31 14:02:32 2016 +0000 @@ -1,1 +1,1 @@ -ArduinoSerial#35db472ea9e6 +https://developer.mbed.org/users/syundo0730/code/ArduinoSerial/#e5a32ea3587b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/I2Cdev.lib Sun Jan 31 14:02:32 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/syundo0730/code/I2Cdev/#3aa973ebe3e5
--- a/I2Cdev/I2Cdev.cpp Sun Jan 31 09:12:19 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,273 +0,0 @@
-// ported from arduino library: https://github.com/jrowberg/i2cdevlib
-// written by szymon gaertig (email: szymon@gaertig.com.pl, website: szymongaertig.pl)
-// modified by shundo kishi
-//
-// Changelog:
-// 2013-01-08 - first release
-// 2016-01-31 - changed all functions and variables static to make porting from arduino easier(by shundo kishi)
-
-#include "I2Cdev.h"
-
-I2C I2Cdev::i2c(I2C_SDA,I2C_SCL);
-
-/** Default constructor.
- */
-I2Cdev::I2Cdev() {
-}
-
-/** Read a single bit from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitNum Bit position to read (0-7)
- * @param data Container for single bit value
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
- uint8_t b;
- uint8_t count = readByte(devAddr, regAddr, &b, timeout);
- *data = b & (1 << bitNum);
- return count;
-}
-
-/** Read a single bit from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitNum Bit position to read (0-15)
- * @param data Container for single bit value
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) {
- uint16_t b;
- uint8_t count = readWord(devAddr, regAddr, &b, timeout);
- *data = b & (1 << bitNum);
- return count;
-}
-
-/** Read multiple bits from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitStart First bit position to read (0-7)
- * @param length Number of bits to read (not more than 8)
- * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
- // 01101001 read byte
- // 76543210 bit numbers
- // xxx args: bitStart=4, length=3
- // 010 masked
- // -> 010 shifted
- uint8_t count, b;
- if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
- uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
- b &= mask;
- b >>= (bitStart - length + 1);
- *data = b;
- }
- return count;
-}
-
-/** Read multiple bits from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param bitStart First bit position to read (0-15)
- * @param length Number of bits to read (not more than 16)
- * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (1 = success, 0 = failure, -1 = timeout)
- */
-int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) {
- // 1101011001101001 read byte
- // fedcba9876543210 bit numbers
- // xxx args: bitStart=12, length=3
- // 010 masked
- // -> 010 shifted
- uint8_t count;
- uint16_t w;
- if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
- uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
- w &= mask;
- w >>= (bitStart - length + 1);
- *data = w;
- }
- return count;
-}
-/** Read single byte from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param data Container for byte value read from device
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
- return readBytes(devAddr, regAddr, 1, data, timeout);
-}
-
-/** Read single word from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to read from
- * @param data Container for word value read from device
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Status of read operation (true = success)
- */
-int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) {
- return readWords(devAddr, regAddr, 1, data, timeout);
-}
-
-/** Read multiple bytes from an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register regAddr to read from
- * @param length Number of bytes to read
- * @param data Buffer to store read data in
- * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
- * @return Number of bytes read (-1 indicates failure)
- */
-int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout)
-{
- char command[1];
- command[0] = regAddr;
- char *redData = (char*)malloc(length);
- i2c.write(devAddr<<1, command, 1, true);
- i2c.read(devAddr<<1, redData, length);
- for(int i =0; i < length; i++) {
- data[i] = redData[i];
- }
- free (redData);
- return length;
-}
-
-int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout)
-{
- return 0;
-}
-
-/** write a single bit in an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitNum Bit position to write (0-7)
- * @param value New bit value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
- uint8_t b;
- readByte(devAddr, regAddr, &b);
- b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
- return writeByte(devAddr, regAddr, b);
-}
-
-/** write a single bit in a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitNum Bit position to write (0-15)
- * @param value New bit value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) {
- uint16_t w;
- readWord(devAddr, regAddr, &w);
- w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
- return writeWord(devAddr, regAddr, w);
-}
-
-/** Write multiple bits in an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitStart First bit position to write (0-7)
- * @param length Number of bits to write (not more than 8)
- * @param data Right-aligned value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
- // 010 value to write
- // 76543210 bit numbers
- // xxx args: bitStart=4, length=3
- // 00011100 mask byte
- // 10101111 original value (sample)
- // 10100011 original & ~mask
- // 10101011 masked | value
- uint8_t b;
- if (readByte(devAddr, regAddr, &b) != 0) {
- uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
- data <<= (bitStart - length + 1); // shift data into correct position
- data &= mask; // zero all non-important bits in data
- b &= ~(mask); // zero all important bits in existing byte
- b |= data; // combine data with existing byte
- return writeByte(devAddr, regAddr, b);
- } else {
- return false;
- }
-}
-
-/** Write multiple bits in a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register regAddr to write to
- * @param bitStart First bit position to write (0-15)
- * @param length Number of bits to write (not more than 16)
- * @param data Right-aligned value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) {
- // 010 value to write
- // fedcba9876543210 bit numbers
- // xxx args: bitStart=12, length=3
- // 0001110000000000 mask byte
- // 1010111110010110 original value (sample)
- // 1010001110010110 original & ~mask
- // 1010101110010110 masked | value
- uint16_t w;
- if (readWord(devAddr, regAddr, &w) != 0) {
- uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
- data <<= (bitStart - length + 1); // shift data into correct position
- data &= mask; // zero all non-important bits in data
- w &= ~(mask); // zero all important bits in existing word
- w |= data; // combine data with existing word
- return writeWord(devAddr, regAddr, w);
- } else {
- return false;
- }
-}
-
-/** Write single byte to an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register address to write to
- * @param data New byte value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
- return writeBytes(devAddr, regAddr, 1, &data);
-}
-
-/** Write single word to a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr Register address to write to
- * @param data New word value to write
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
- return writeWords(devAddr, regAddr, 1, &data);
-}
-
-bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data)
-{
- i2c.start();
- i2c.write(devAddr<<1);
- i2c.write(regAddr);
- for(int i = 0; i < length; i++) {
- i2c.write(data[i]);
- }
- i2c.stop();
- return true;
-}
-
-bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data)
-{
- return true;
-}
-
-uint16_t I2Cdev::readTimeout(void)
-{
- return 0;
-}
\ No newline at end of file
--- a/I2Cdev/I2Cdev.h Sun Jan 31 09:12:19 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,44 +0,0 @@
-//ported from arduino library: https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050
-//written by szymon gaertig (email: szymon@gaertig.com.pl)
-// modified by shundo kishi
-//
-// Changelog:
-// 2013-01-08 - first release
-// 2016-01-31 - changed all functions and variables static to make porting from arduino easier(by shundo kishi)
-
-#ifndef I2Cdev_h
-#define I2Cdev_h
-
-#include "mbed.h"
-
-#define I2C_SDA p28
-#define I2C_SCL p27
-
-class I2Cdev {
- private:
- static I2C i2c;
- public:
- I2Cdev();
-
- static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
- static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
- static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
- static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
- static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
- static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
- static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout());
- static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout());
-
- static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
- static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
- static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
- static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
- static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
- static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
- static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
- static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
-
- static uint16_t readTimeout(void);
-};
-
-#endif
\ No newline at end of file
--- a/MPU6050.h Sun Jan 31 09:12:19 2016 +0000 +++ b/MPU6050.h Sun Jan 31 14:02:32 2016 +0000 @@ -10,11 +10,10 @@ #include <avr/pgmspace.h> #else #define PROGMEM /* empty */ -#define pgm_read_byte(addr) (*(const unsigned char *)(addr)) -#define pgm_read_word(addr) (*(const unsigned short *)(addr)) -#define pgm_read_dword(addr) (*(const unsigned long *)(addr)) -#define pgm_read_float(addr) (*(const float *)(addr)) -#define PSTR(str) (str) +#define pgm_read_byte(x) (*(x)) +#define pgm_read_word(x) (*(x)) +#define pgm_read_float(x) (*(x)) +#define PSTR(STR) STR #endif
--- a/MPU6050_6Axis_MotionApps20.h Sun Jan 31 09:12:19 2016 +0000
+++ b/MPU6050_6Axis_MotionApps20.h Sun Jan 31 14:02:32 2016 +0000
@@ -68,7 +68,7 @@
// after moving string constants to flash memory storage using the F()
// compiler macro (Arduino IDE 1.0+ required).
-#define DEBUG
+// #define DEBUG
#ifdef DEBUG
#include "ArduinoSerial.h"
ArduinoSerial arduinoSerial;