Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

I2CPeripheral.cpp@46:fd5a62296b12, 2015-05-27 (annotated)

Committer:
pvaibhav
Date:
Wed May 27 13:01:43 2015 +0000
Revision:
46:fd5a62296b12
Parent:
7:604a8369b801 
Code reformatted

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 7:604a8369b801 6 I2CPeripheral::I2CPeripheral(I2C &i2c, const uint8_t address) : mBus(&i2c), mAddress(address)
pvaibhav 7:604a8369b801 7 {
pvaibhav 1:c279bc3af90c 8 LOG("Initialised with ADDR=0x%02X", mAddress);
pvaibhav 0:943820483318 9 }
pvaibhav 0:943820483318 10
pvaibhav 0:943820483318 11 void I2CPeripheral::write_reg(const uint8_t reg, const uint8_t val)
pvaibhav 0:943820483318 12 {
pvaibhav 0:943820483318 13 char data[2];
pvaibhav 0:943820483318 14 data[0] = reg;
pvaibhav 0:943820483318 15 data[1] = val;
pvaibhav 0:943820483318 16 if (mBus->write(mAddress, data, 2)) {
pvaibhav 1:c279bc3af90c 17 ERR("Write failed, addr=0x%02x, reg=%02Xh, data=%02Xh", mAddress, reg, val);
pvaibhav 0:943820483318 18 }
pvaibhav 0:943820483318 19 }
pvaibhav 0:943820483318 20
pvaibhav 7:604a8369b801 21 uint8_t I2CPeripheral::read_reg(const uint8_t reg)
pvaibhav 7:604a8369b801 22 {
pvaibhav 5:b9f2f62a8f90 23 uint8_t byte;
pvaibhav 5:b9f2f62a8f90 24 read_reg(reg, &byte, 1);
pvaibhav 5:b9f2f62a8f90 25 return byte;
pvaibhav 5:b9f2f62a8f90 26 }
pvaibhav 5:b9f2f62a8f90 27
pvaibhav 7:604a8369b801 28 void I2CPeripheral::read_reg(const uint8_t reg, uint8_t* destination, const size_t nBytes)
pvaibhav 7:604a8369b801 29 {
pvaibhav 7:604a8369b801 30 // Note about error checking - this function runs in a tight inner loop at 200 Hz or higher.
pvaibhav 7:604a8369b801 31 // Therefore, checking for success and showing error message was removed.
pvaibhav 7:604a8369b801 32 mBus->write(mAddress, (const char*)&reg, 1, true);
pvaibhav 7:604a8369b801 33 // For reasons not known to me, the read() function also seems to require repeated start 'true'
pvaibhav 7:604a8369b801 34 mBus->read(mAddress, (char*)destination, nBytes, true);
pvaibhav 5:b9f2f62a8f90 35 mBus->stop();
pvaibhav 0:943820483318 36 }