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Merge pull request #103 from rtlopez/develop
prepare version v0.2.0-RC3
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,96 @@ | ||
| #pragma once | ||
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| #define MPU6050_I2C_SLV0_ADDR 0x25 | ||
| #define MPU6050_I2C_SLV0_REG 0x26 | ||
| #define MPU6050_I2C_SLV0_DO 0x63 | ||
| #define MPU6050_I2C_SLV0_CTRL 0x27 | ||
| #define MPU6050_I2C_SLV0_EN 0x80 | ||
| #define MPU6050_EXT_SENS_DATA_00 0x49 | ||
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| namespace Espfc { | ||
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| namespace Device { | ||
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| class BusSlave: public BusDevice, public BusAwareDevice | ||
| { | ||
| public: | ||
| BusSlave() {} | ||
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| int begin(BusDevice * dev, int addr) | ||
| { | ||
| setBus(dev, addr); | ||
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| return 1; | ||
| } | ||
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| BusType getType() const override { return BUS_SLV; } | ||
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| virtual int8_t read(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) override | ||
| { | ||
| // set slave 0 to the AK8963 and set for read | ||
| if(!writeMaster(MPU6050_I2C_SLV0_ADDR, devAddr | 0x80)) { | ||
| return 0; | ||
| } | ||
| // set the register to the desired AK8963 sub address | ||
| if(!writeMaster(MPU6050_I2C_SLV0_REG, regAddr)) { | ||
| return 0; | ||
| } | ||
| // enable I2C and request the bytes | ||
| if(!writeMaster(MPU6050_I2C_SLV0_CTRL, MPU6050_I2C_SLV0_EN | length)) { | ||
| return 0; | ||
| } | ||
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| // takes some time for these registers to fill | ||
| delay(1); | ||
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| // read the bytes off the EXT_SENS_DATA registers | ||
| int8_t res = readMaster(MPU6050_EXT_SENS_DATA_00, length, data); | ||
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| return res; | ||
| } | ||
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| // readFast() ignores devAddr and regAddr args and read ext sensor data reg from master | ||
| virtual int8_t readFast(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data) override | ||
| { | ||
| return _bus->readFast(_addr, MPU6050_EXT_SENS_DATA_00, length, data); | ||
| } | ||
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| // writes only one byte, length is ignored | ||
| virtual bool write(uint8_t devAddr, uint8_t regAddr, uint8_t length, const uint8_t* data) override | ||
| { | ||
| // set slave 0 to the AK8963 and set for write | ||
| if(!writeMaster(MPU6050_I2C_SLV0_ADDR, devAddr)) { | ||
| return false; | ||
| } | ||
| // set the register to the desired AK8963 sub address | ||
| if(!writeMaster(MPU6050_I2C_SLV0_REG, regAddr)) { | ||
| return false; | ||
| } | ||
| // store the data for write | ||
| if(!writeMaster(MPU6050_I2C_SLV0_DO, *data)) { | ||
| return false; | ||
| } | ||
| // enable I2C and send 1 byte | ||
| if(!writeMaster(MPU6050_I2C_SLV0_CTRL, MPU6050_I2C_SLV0_EN | 0x01)) { | ||
| return false; | ||
| } | ||
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| return true; | ||
| } | ||
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| int8_t writeMaster(uint8_t regAddr, uint8_t data) | ||
| { | ||
| int8_t res = _bus->write(_addr, regAddr, 1, &data); | ||
| delay(10); | ||
| return res; | ||
| } | ||
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| int8_t readMaster(uint8_t regAddr, uint8_t length, uint8_t *data) | ||
| { | ||
| return _bus->read(_addr, regAddr, length, data); | ||
| } | ||
| }; | ||
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| } | ||
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| } |
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