Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

I2CPeripheral.cpp@5:b9f2f62a8f90, 2015-02-12 (annotated)

Committer:
pvaibhav
Date:
Thu Feb 12 17:17:35 2015 +0000
Revision:
5:b9f2f62a8f90
Parent:
1:c279bc3af90c
Child:
7:604a8369b801
Gyro data can now be read fine. 100 Hz.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pvaibhav 0:943820483318 1 #include "I2CPeripheral.h"
pvaibhav 0:943820483318 2 #include "mbed.h"
pvaibhav 0:943820483318 3 #define DEBUG "I2CPeripheral"
pvaibhav 0:943820483318 4 #include "Logger.h"
pvaibhav 0:943820483318 5
pvaibhav 0:943820483318 6 I2CPeripheral::I2CPeripheral(I2C &i2c, const uint8_t address) : mBus(&i2c), mAddress(address) {
pvaibhav 1:c279bc3af90c 7 LOG("Initialised with ADDR=0x%02X", mAddress);
pvaibhav 0:943820483318 8 }
pvaibhav 0:943820483318 9
pvaibhav 0:943820483318 10 void I2CPeripheral::write_reg(const uint8_t reg, const uint8_t val)
pvaibhav 0:943820483318 11 {
pvaibhav 0:943820483318 12 char data[2];
pvaibhav 0:943820483318 13 data[0] = reg;
pvaibhav 0:943820483318 14 data[1] = val;
pvaibhav 0:943820483318 15 if (mBus->write(mAddress, data, 2)) {
pvaibhav 1:c279bc3af90c 16 ERR("Write failed, addr=0x%02x, reg=%02Xh, data=%02Xh", mAddress, reg, val);
pvaibhav 0:943820483318 17 }
pvaibhav 0:943820483318 18 }
pvaibhav 0:943820483318 19
pvaibhav 0:943820483318 20 uint8_t I2CPeripheral::read_reg(const uint8_t reg) {
pvaibhav 5:b9f2f62a8f90 21 uint8_t byte;
pvaibhav 5:b9f2f62a8f90 22 read_reg(reg, &byte, 1);
pvaibhav 5:b9f2f62a8f90 23 return byte;
pvaibhav 5:b9f2f62a8f90 24 }
pvaibhav 5:b9f2f62a8f90 25
pvaibhav 5:b9f2f62a8f90 26 void I2CPeripheral::read_reg(const uint8_t reg, uint8_t* destination, const size_t nBytes) {
pvaibhav 1:c279bc3af90c 27 mBus->start();
pvaibhav 1:c279bc3af90c 28
pvaibhav 1:c279bc3af90c 29 if (!mBus->write(mAddress | 0x00)) {
pvaibhav 1:c279bc3af90c 30 WARN("No ACK after writing addr 0x%02x", mAddress);
pvaibhav 0:943820483318 31 mBus->stop();
pvaibhav 5:b9f2f62a8f90 32 return;
pvaibhav 0:943820483318 33 }
pvaibhav 0:943820483318 34
pvaibhav 1:c279bc3af90c 35 if (!mBus->write(reg)) {
pvaibhav 1:c279bc3af90c 36 WARN("No ACK after writing reg 0x%02x to addr 0x%02x", reg, mAddress);
pvaibhav 1:c279bc3af90c 37 mBus->stop();
pvaibhav 5:b9f2f62a8f90 38 return;
pvaibhav 0:943820483318 39 }
pvaibhav 1:c279bc3af90c 40
pvaibhav 1:c279bc3af90c 41 // Generated repeated start
pvaibhav 1:c279bc3af90c 42 mBus->start();
pvaibhav 1:c279bc3af90c 43 if (!mBus->write(mAddress | 0x01)) {
pvaibhav 1:c279bc3af90c 44 WARN("No ACK after writing addr 0x%02x after Sr", mAddress);
pvaibhav 1:c279bc3af90c 45 mBus->stop();
pvaibhav 5:b9f2f62a8f90 46 return;
pvaibhav 1:c279bc3af90c 47 }
pvaibhav 1:c279bc3af90c 48
pvaibhav 5:b9f2f62a8f90 49 for (size_t i = 0; i < nBytes; i++) {
pvaibhav 5:b9f2f62a8f90 50 destination[i] = mBus->read(i < nBytes ? 1 : 0); // 0 signals to the chip that this is the last byte we're reading
pvaibhav 5:b9f2f62a8f90 51 //LOG("byte[%d] = %#x", i, destination[i]);
pvaibhav 5:b9f2f62a8f90 52 }
pvaibhav 1:c279bc3af90c 53
pvaibhav 5:b9f2f62a8f90 54 mBus->stop();
pvaibhav 0:943820483318 55 }