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Update i2cdev lib (#157)

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* Update I2Cdev library
This commit is contained in:
Yury
2022-06-28 19:08:00 +02:00
committed by GitHub
parent d6137c2816
commit aac00d813d
5 changed files with 467 additions and 344 deletions
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613
lib/i2cdev/I2Cdev.cpp
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167
lib/i2cdev/I2Cdev.h
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@@ -1,25 +1,30 @@
// I2Cdev library collection - Main I2C device class header file
// Abstracts bit and byte I2C R/W functions into a convenient class
// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
// 2013-06-05 by Jeff Rowberg <jeff@rowberg.net>
//
// Changelog:
// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
// 2011-10-03 - added automatic Arduino version detection for ease of use
// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
// 2011-08-02 - added support for 16-bit registers
// - fixed incorrect Doxygen comments on some methods
// - added timeout value for read operations (thanks mem @ Arduino forums)
// 2011-07-30 - changed read/write function structures to return success or byte counts
// - made all methods static for multi-device memory savings
// 2011-07-28 - initial release
// 2021-09-28 - allow custom Wire object as transaction function argument
// 2020-01-20 - hardija : complete support for Teensy 3.x
// 2015-10-30 - simondlevy : support i2c_t3 for Teensy3.1
// 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications
// 2013-05-05 - fix issue with writing bit values to words (Sasquatch/Farzanegan)
// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
// 2011-10-03 - added automatic Arduino version detection for ease of use
// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
// 2011-08-02 - added support for 16-bit registers
// - fixed incorrect Doxygen comments on some methods
// - added timeout value for read operations (thanks mem @ Arduino forums)
// 2011-07-30 - changed read/write function structures to return success or byte counts
// - made all methods static for multi-device memory savings
// 2011-07-28 - initial release
/* ============================================
I2Cdev device library code is placed under the MIT license
Copyright (c) 2012 Jeff Rowberg
Copyright (c) 2013 Jeff Rowberg
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
@@ -44,10 +49,20 @@ THE SOFTWARE.
#ifndef _I2CDEV_H_
#define _I2CDEV_H_
// -----------------------------------------------------------------------------
// Enable deprecated pgmspace typedefs in avr-libc
// -----------------------------------------------------------------------------
#define __PROG_TYPES_COMPAT__
// -----------------------------------------------------------------------------
// I2C interface implementation setting
// -----------------------------------------------------------------------------
#ifndef I2CDEV_IMPLEMENTATION
#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
//#define I2CDEV_IMPLEMENTATION I2CDEV_TEENSY_3X_WIRE
//#define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_SBWIRE
//#define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_FASTWIRE
#endif // I2CDEV_IMPLEMENTATION
// comment this out if you are using a non-optimal IDE/implementation setting
// but want the compiler to shut up about it
@@ -60,7 +75,9 @@ THE SOFTWARE.
#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
// ^^^ NBWire implementation is still buggy w/some interrupts!
#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
// ^^^ FastWire implementation in I2Cdev is INCOMPLETE!
#define I2CDEV_I2CMASTER_LIBRARY 4 // I2C object from DSSCircuits I2C-Master Library at https://github.com/DSSCircuits/I2C-Master-Library
#define I2CDEV_BUILTIN_SBWIRE 5 // I2C object from Shuning (Steve) Bian's SBWire Library at https://github.com/freespace/SBWire
#define I2CDEV_TEENSY_3X_WIRE 6 // Teensy 3.x support using i2c_t3 library
// -----------------------------------------------------------------------------
// Arduino-style "Serial.print" debug constant (uncomment to enable)
@@ -75,12 +92,38 @@ THE SOFTWARE.
#endif
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include <Wire.h>
#ifndef BUFFER_LENGTH
#define BUFFER_LENGTH I2C_BUFFER_LENGTH
#endif
#endif
#else
#include "ArduinoWrapper.h"
#if I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE
#include <i2c_t3.h>
#endif
#if I2CDEV_IMPLEMENTATION == I2CDEV_I2CMASTER_LIBRARY
#include <I2C.h>
#endif
#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE
#include "SBWire.h"
#endif
#endif
#ifdef SPARK
#include "application.h"
#define ARDUINO 101
#define BUFFER_LENGTH 32
#endif
#ifndef I2CDEVLIB_WIRE_BUFFER_LENGTH
#if defined(I2C_BUFFER_LENGTH)
// Arduino ESP32 core Wire uses this
#define I2CDEVLIB_WIRE_BUFFER_LENGTH I2C_BUFFER_LENGTH
#elif defined(BUFFER_LENGTH)
// Arduino AVR core Wire and many others use this
#define I2CDEVLIB_WIRE_BUFFER_LENGTH BUFFER_LENGTH
#elif defined(SERIAL_BUFFER_SIZE)
// Arduino SAMD core Wire uses this
#define I2CDEVLIB_WIRE_BUFFER_LENGTH SERIAL_BUFFER_SIZE
#else
// should be a safe fallback, though possibly inefficient
#define I2CDEVLIB_WIRE_BUFFER_LENGTH 32
#endif
#endif
// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
@@ -89,36 +132,36 @@ THE SOFTWARE.
class I2Cdev {
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 int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0);
static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0);
static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0);
static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0);
static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0);
static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0);
static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0);
static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0);
static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data, void *wireObj=0);
static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data, void *wireObj=0);
static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data, void *wireObj=0);
static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data, void *wireObj=0);
static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data, void *wireObj=0);
static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data, void *wireObj=0);
static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, void *wireObj=0);
static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, void *wireObj=0);
static uint16_t readTimeout;
};
#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
//////////////////////
// FastWire 0.2
// FastWire 0.24
// This is a library to help faster programs to read I2C devices.
// Copyright(C) 2011
// Copyright(C) 2012
// Francesco Ferrara
//////////////////////
/* Master */
#define TW_START 0x08
#define TW_REP_START 0x10
@@ -146,8 +189,12 @@ class I2Cdev {
public:
static void setup(int khz, boolean pullup);
static byte write(byte device, byte address, byte value);
static byte beginTransmission(byte device);
static byte write(byte value);
static byte writeBuf(byte device, byte address, byte *data, byte num);
static byte readBuf(byte device, byte address, byte *data, byte num);
static void reset();
static byte stop();
};
#endif
@@ -157,24 +204,24 @@ class I2Cdev {
// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
#define NBWIRE_BUFFER_LENGTH 32
class TwoWire {
private:
static uint8_t rxBuffer[];
static uint8_t rxBufferIndex;
static uint8_t rxBufferLength;
static uint8_t txAddress;
static uint8_t txBuffer[];
static uint8_t txBufferIndex;
static uint8_t txBufferLength;
// static uint8_t transmitting;
static void (*user_onRequest)(void);
static void (*user_onReceive)(int);
static void onRequestService(void);
static void onReceiveService(uint8_t*, int);
public:
TwoWire();
void begin();
@@ -196,26 +243,26 @@ class I2Cdev {
void onReceive(void (*)(int));
void onRequest(void (*)(void));
};
#define TWI_READY 0
#define TWI_MRX 1
#define TWI_MTX 2
#define TWI_SRX 3
#define TWI_STX 4
#define TW_WRITE 0
#define TW_READ 1
#define TW_MT_SLA_NACK 0x20
#define TW_MT_DATA_NACK 0x30
#define CPU_FREQ 16000000L
#define TWI_FREQ 100000L
#define TWI_BUFFER_LENGTH 32
/* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
#define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
#define TW_STATUS_MASK ((1 << TWS7)|(1 << TWS6)|(1 << TWS5)|(1 << TWS4)|(1 << TWS3))
#define TW_STATUS (TWSR & TW_STATUS_MASK)
#define TW_START 0x08
#define TW_REP_START 0x10
@@ -245,20 +292,20 @@ class I2Cdev {
#define TW_SR_STOP 0xA0
#define TW_NO_INFO 0xF8
#define TW_BUS_ERROR 0x00
//#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
//#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
#ifndef sbi // set bit
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= (1 << bit))
#endif // sbi
#ifndef cbi // clear bit
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~(1 << bit))
#endif // cbi
extern TwoWire Wire;
#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
#endif /* _I2CDEV_H_ */
#endif /* _I2CDEV_H_ */

14
lib/mpu6050/MPU6050.cpp
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@@ -2760,21 +2760,11 @@ int8_t MPU6050::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // overflo
return 2;
} else if (fifoCounter > length) { // If FIFO counter exceeds a size of one packet - read full packets and get the latest packet
uint8_t fifoBuf[192] = {0};
uint8_t bytesCounter = 0;
// Count only full packets and read them into buffer
fifoCounter = length * (fifoCounter / length);
do {
uint8_t i2cBuf[BUFFER_LENGTH] = {0};
uint8_t readBytes = min(fifoCounter, (uint16_t)BUFFER_LENGTH);
getFIFOBytes(i2cBuf, readBytes);
for (uint8_t i = 0; i < readBytes; i++) {
fifoBuf[i + bytesCounter] = i2cBuf[i];
}
fifoCounter -= readBytes;
bytesCounter += readBytes;
} while (fifoCounter);
getFIFOBytes(fifoBuf, fifoCounter);
// Read the last packet
for (uint8_t i = 0, start = bytesCounter - length; i < length; i++) {
for (uint8_t i = 0, start = fifoCounter - length; i < length; i++) {
data[i] = fifoBuf[start + i];
}
return 1;

3
lib/mpu6050/MPU6050.h
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@@ -46,9 +46,6 @@ THE SOFTWARE.
#include <avr/pgmspace.h>
#elif defined(ESP32)
#include <pgmspace.h>
#ifndef BUFFER_LENGTH
#define BUFFER_LENGTH 32
#endif
#else
//#define PROGMEM /* empty */
//#define pgm_read_byte(x) (*(x))

14
lib/mpu9250/MPU9250.cpp
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@@ -3306,21 +3306,11 @@ int8_t MPU9250_Base::GetCurrentFIFOPacket(uint8_t *data, uint8_t length) { // ov
return 2;
} else if (fifoCounter > length) { // If FIFO counter exceeds a size of one packet - read full packets and get the latest packet
uint8_t fifoBuf[192] = {0};
uint8_t bytesCounter = 0;
// Count only full packets and read them into buffer
fifoCounter = length * (fifoCounter / length);
do {
uint8_t i2cBuf[BUFFER_LENGTH] = {0};
uint8_t readBytes = min(fifoCounter, (uint16_t)BUFFER_LENGTH);
getFIFOBytes(i2cBuf, readBytes);
for (uint8_t i = 0; i < readBytes; i++) {
fifoBuf[i + bytesCounter] = i2cBuf[i];
}
fifoCounter -= readBytes;
bytesCounter += readBytes;
} while (fifoCounter);
getFIFOBytes(fifoBuf, fifoCounter);
// Read the last packet
for (uint8_t i = 0, start = bytesCounter - length; i < length; i++) {
for (uint8_t i = 0, start = fifoCounter - length; i < length; i++) {
data[i] = fifoBuf[start + i];
}
return 1;