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authorStanley Huang <stanleyhuangyc@gmail.com>2017-01-25 23:09:40 +1100
committerStanley Huang <stanleyhuangyc@gmail.com>2017-01-25 23:09:40 +1100
commitad642110571cdb8387060640bb9042a3438536f1 (patch)
tree05a22a2951e7f6b1a69bbe2e037bee564541ec8d /libraries/I2Cdev
parent7e6c599d4149f069c1cadc086ad87bafb75d4cd3 (diff)
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Remove unneeded libraries
Diffstat (limited to 'libraries/I2Cdev')
-rw-r--r--libraries/I2Cdev/I2Cdev.cpp1373
-rw-r--r--libraries/I2Cdev/I2Cdev.h261
-rw-r--r--libraries/I2Cdev/keywords.txt38
3 files changed, 0 insertions, 1672 deletions
diff --git a/libraries/I2Cdev/I2Cdev.cpp b/libraries/I2Cdev/I2Cdev.cpp
deleted file mode 100644
index 92032be..0000000
--- a/libraries/I2Cdev/I2Cdev.cpp
+++ /dev/null
@@ -1,1373 +0,0 @@
-// I2Cdev library collection - Main I2C device class
-// Abstracts bit and byte I2C R/W functions into a convenient class
-// 6/9/2012 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-// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation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
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 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
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#include "I2Cdev.h"
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-
- #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
- #if ARDUINO < 100
- #warning Using outdated Arduino IDE with Wire library is functionally limiting.
- #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
- #warning This I2Cdev implementation does not support:
- #warning - Repeated starts conditions
- #warning - Timeout detection (some Wire requests block forever)
- #elif ARDUINO == 100
- #warning Using outdated Arduino IDE with Wire library is functionally limiting.
- #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended.
- #warning This I2Cdev implementation does not support:
- #warning - Repeated starts conditions
- #warning - Timeout detection (some Wire requests block forever)
- #elif ARDUINO > 100
- /*
- #warning Using current Arduino IDE with Wire library is functionally limiting.
- #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended.
- #warning This I2Cdev implementation does not support:
- #warning - Timeout detection (some Wire requests block forever)
- */
- #endif
- #endif
-
-#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
-
- #error The I2CDEV_BUILTIN_FASTWIRE implementation is known to be broken right now. Patience, Iago!
-
-#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
-
- #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
- #warning Using I2CDEV_BUILTIN_NBWIRE implementation may adversely affect interrupt detection.
- #warning This I2Cdev implementation does not support:
- #warning - Repeated starts conditions
- #endif
-
- // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
- // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
- // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
- TwoWire Wire;
-
-#endif
-
-/** 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) {
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print("I2C (0x");
- Serial.print(devAddr, HEX);
- Serial.print(") reading ");
- Serial.print(length, DEC);
- Serial.print(" bytes from 0x");
- Serial.print(regAddr, HEX);
- Serial.print("...");
- #endif
-
- int8_t count = 0;
- uint32_t t1 = millis();
-
- #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
-
- #if (ARDUINO < 100)
- // Arduino v00xx (before v1.0), Wire library
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.send(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-
- for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
- data[count] = Wire.receive();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- }
-
- Wire.endTransmission();
- }
- #elif (ARDUINO == 100)
- // Arduino v1.0.0, Wire library
- // Adds standardized write() and read() stream methods instead of send() and receive()
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-
- for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
- data[count] = Wire.read();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- }
-
- Wire.endTransmission();
- }
- #elif (ARDUINO > 100)
- // Arduino v1.0.1+, Wire library
- // Adds official support for repeated start condition, yay!
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));
-
- for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
- data[count] = Wire.read();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- }
-
- Wire.endTransmission();
- }
- #endif
-
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
- // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
-
- // no loop required for fastwire
- uint8_t status = Fastwire::readBuf(devAddr, regAddr, data, length);
- if (status == 0) {
- count = length; // success
- } else {
- count = -1; // error
- }
-
- #endif
-
- // check for timeout
- if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout
-
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(". Done (");
- Serial.print(count, DEC);
- Serial.println(" read).");
- #endif
-
- return count;
-}
-
-/** Read multiple words from a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register regAddr to read from
- * @param length Number of words 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 words read (0 indicates failure)
- */
-int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) {
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print("I2C (0x");
- Serial.print(devAddr, HEX);
- Serial.print(") reading ");
- Serial.print(length, DEC);
- Serial.print(" words from 0x");
- Serial.print(regAddr, HEX);
- Serial.print("...");
- #endif
-
- int8_t count = 0;
- uint32_t t1 = millis();
-
- #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
-
- #if (ARDUINO < 100)
- // Arduino v00xx (before v1.0), Wire library
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.send(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-
- bool msb = true; // starts with MSB, then LSB
- for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
- if (msb) {
- // first byte is bits 15-8 (MSb=15)
- data[count] = Wire.receive() << 8;
- } else {
- // second byte is bits 7-0 (LSb=0)
- data[count] |= Wire.receive();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- count++;
- }
- msb = !msb;
- }
-
- Wire.endTransmission();
- }
- #elif (ARDUINO == 100)
- // Arduino v1.0.0, Wire library
- // Adds standardized write() and read() stream methods instead of send() and receive()
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-
- bool msb = true; // starts with MSB, then LSB
- for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
- if (msb) {
- // first byte is bits 15-8 (MSb=15)
- data[count] = Wire.read() << 8;
- } else {
- // second byte is bits 7-0 (LSb=0)
- data[count] |= Wire.read();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- count++;
- }
- msb = !msb;
- }
-
- Wire.endTransmission();
- }
- #elif (ARDUINO > 100)
- // Arduino v1.0.1+, Wire library
- // Adds official support for repeated start condition, yay!
-
- // I2C/TWI subsystem uses internal buffer that breaks with large data requests
- // so if user requests more than BUFFER_LENGTH bytes, we have to do it in
- // smaller chunks instead of all at once
- for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) {
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr);
- Wire.endTransmission();
- Wire.beginTransmission(devAddr);
- Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes
-
- bool msb = true; // starts with MSB, then LSB
- for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
- if (msb) {
- // first byte is bits 15-8 (MSb=15)
- data[count] = Wire.read() << 8;
- } else {
- // second byte is bits 7-0 (LSb=0)
- data[count] |= Wire.read();
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[count], HEX);
- if (count + 1 < length) Serial.print(" ");
- #endif
- count++;
- }
- msb = !msb;
- }
-
- Wire.endTransmission();
- }
- #endif
-
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
- // Fastwire library (STILL UNDER DEVELOPMENT, NON-FUNCTIONAL!)
-
- // no loop required for fastwire
- uint16_t intermediate[(uint8_t)length];
- uint8_t status = Fastwire::readBuf(devAddr, regAddr, (uint8_t *)intermediate, (uint8_t)(length * 2));
- if (status == 0) {
- count = length; // success
- for (uint8_t i = 0; i < length; i++) {
- data[i] = (intermediate[2*i] << 8) | intermediate[2*i + 1];
- }
- } else {
- count = -1; // error
- }
-
- #endif
-
- if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout
-
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(". Done (");
- Serial.print(count, DEC);
- Serial.println(" read).");
- #endif
-
- return count;
-}
-
-/** 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);
-}
-
-/** Write multiple bytes to an 8-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register address to write to
- * @param length Number of bytes to write
- * @param data Buffer to copy new data from
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) {
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print("I2C (0x");
- Serial.print(devAddr, HEX);
- Serial.print(") writing ");
- Serial.print(length, DEC);
- Serial.print(" bytes to 0x");
- Serial.print(regAddr, HEX);
- Serial.print("...");
- #endif
- uint8_t status = 0;
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.beginTransmission(devAddr);
- Wire.send((uint8_t) regAddr); // send address
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- Wire.beginTransmission(devAddr);
- Wire.write((uint8_t) regAddr); // send address
- #endif
- for (uint8_t i = 0; i < length; i++) {
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.send((uint8_t) data[i]);
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- Wire.write((uint8_t) data[i]);
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
- status = Fastwire::write(devAddr, regAddr, data[i]);
- Serial.println(status);
- #endif
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[i], HEX);
- if (i + 1 < length) Serial.print(" ");
- #endif
- }
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.endTransmission();
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- status = Wire.endTransmission();
- #endif
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.println(". Done.");
- #endif
- return status == 0;
-}
-
-/** Write multiple words to a 16-bit device register.
- * @param devAddr I2C slave device address
- * @param regAddr First register address to write to
- * @param length Number of words to write
- * @param data Buffer to copy new data from
- * @return Status of operation (true = success)
- */
-bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) {
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print("I2C (0x");
- Serial.print(devAddr, HEX);
- Serial.print(") writing ");
- Serial.print(length, DEC);
- Serial.print(" words to 0x");
- Serial.print(regAddr, HEX);
- Serial.print("...");
- #endif
- uint8_t status = 0;
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.beginTransmission(devAddr);
- Wire.send(regAddr); // send address
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- Wire.beginTransmission(devAddr);
- Wire.write(regAddr); // send address
- #endif
- for (uint8_t i = 0; i < length * 2; i++) {
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.send((uint8_t)(data[i++] >> 8)); // send MSB
- Wire.send((uint8_t)data[i]); // send LSB
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- Wire.write((uint8_t)(data[i++] >> 8)); // send MSB
- Wire.write((uint8_t)data[i]); // send LSB
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
- status = Fastwire::write(devAddr, regAddr, (uint8_t)(data[i++] >> 8));
- status = Fastwire::write(devAddr, regAddr + 1, (uint8_t)data[i]);
- #endif
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.print(data[i], HEX);
- if (i + 1 < length) Serial.print(" ");
- #endif
- }
- #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE)
- Wire.endTransmission();
- #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100)
- status = Wire.endTransmission();
- #endif
- #ifdef I2CDEV_SERIAL_DEBUG
- Serial.println(". Done.");
- #endif
- return status == 0;
-}
-
-/** Default timeout value for read operations.
- * Set this to 0 to disable timeout detection.
- */
-uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
- /*
- FastWire 0.2
- This is a library to help faster programs to read I2C devices.
- Copyright(C) 2011 Francesco Ferrara
- occhiobello at gmail dot com
- */
-
- boolean Fastwire::waitInt() {
- int l = 250;
- while (!(TWCR & (1 << TWINT)) && l-- > 0);
- return l > 0;
- }
-
- void Fastwire::setup(int khz, boolean pullup) {
- TWCR = 0;
- #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
- // activate internal pull-ups for twi (PORTC bits 4 & 5)
- // as per note from atmega8 manual pg167
- if (pullup) PORTC |= ((1 << 4) | (1 << 5));
- else PORTC &= ~((1 << 4) | (1 << 5));
- #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
- // activate internal pull-ups for twi (PORTC bits 0 & 1)
- if (pullup) PORTC |= ((1 << 0) | (1 << 1));
- else PORTC &= ~((1 << 0) | (1 << 1));
- #else
- // activate internal pull-ups for twi (PORTD bits 0 & 1)
- // as per note from atmega128 manual pg204
- if (pullup) PORTD |= ((1 << 0) | (1 << 1));
- else PORTD &= ~((1 << 0) | (1 << 1));
- #endif
-
- TWSR = 0; // no prescaler => prescaler = 1
- TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate
- TWCR = 1 << TWEN; // enable twi module, no interrupt
- }
-
- byte Fastwire::write(byte device, byte address, byte value) {
- byte twst, retry;
-
- retry = 2;
- do {
- TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
- if (!waitInt()) return 1;
- twst = TWSR & 0xF8;
- if (twst != TW_START && twst != TW_REP_START) return 2;
-
- TWDR = device & 0xFE; // send device address without read bit (1)
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 3;
- twst = TWSR & 0xF8;
- } while (twst == TW_MT_SLA_NACK && retry-- > 0);
- if (twst != TW_MT_SLA_ACK) return 4;
-
- TWDR = address; // send data to the previously addressed device
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 5;
- twst = TWSR & 0xF8;
- if (twst != TW_MT_DATA_ACK) return 6;
-
- TWDR = value; // send data to the previously addressed device
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 7;
- twst = TWSR & 0xF8;
- if (twst != TW_MT_DATA_ACK) return 8;
-
- return 0;
- }
-
- byte Fastwire::readBuf(byte device, byte address, byte *data, byte num) {
- byte twst, retry;
-
- retry = 2;
- do {
- TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
- if (!waitInt()) return 16;
- twst = TWSR & 0xF8;
- if (twst != TW_START && twst != TW_REP_START) return 17;
-
- TWDR = device & 0xfe; // send device address to write
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 18;
- twst = TWSR & 0xF8;
- } while (twst == TW_MT_SLA_NACK && retry-- > 0);
- if (twst != TW_MT_SLA_ACK) return 19;
-
- TWDR = address; // send data to the previously addressed device
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 20;
- twst = TWSR & 0xF8;
- if (twst != TW_MT_DATA_ACK) return 21;
-
- /***/
-
- retry = 2;
- do {
- TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
- if (!waitInt()) return 22;
- twst = TWSR & 0xF8;
- if (twst != TW_START && twst != TW_REP_START) return 23;
-
- TWDR = device | 0x01; // send device address with the read bit (1)
- TWCR = (1 << TWINT) | (1 << TWEN);
- if (!waitInt()) return 24;
- twst = TWSR & 0xF8;
- } while (twst == TW_MR_SLA_NACK && retry-- > 0);
- if (twst != TW_MR_SLA_ACK) return 25;
-
- for(uint8_t i = 0; i < num; i++) {
- if (i == num - 1)
- TWCR = (1 << TWINT) | (1 << TWEN);
- else
- TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA);
- if (!waitInt()) return 26;
- twst = TWSR & 0xF8;
- if (twst != TW_MR_DATA_ACK && twst != TW_MR_DATA_NACK) return twst;
- data[i] = TWDR;
- }
-
- return 0;
- }
-#endif
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
- // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
- // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
- // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
-
- /*
- call this version 1.0
-
- Offhand, the only funky part that I can think of is in nbrequestFrom, where the buffer
- length and index are set *before* the data is actually read. The problem is that these
- are variables local to the TwoWire object, and by the time we actually have read the
- data, and know what the length actually is, we have no simple access to the object's
- variables. The actual bytes read *is* given to the callback function, though.
-
- The ISR code for a slave receiver is commented out. I don't have that setup, and can't
- verify it at this time. Save it for 2.0!
-
- The handling of the read and write processes here is much like in the demo sketch code:
- the process is broken down into sequential functions, where each registers the next as a
- callback, essentially.
-
- For example, for the Read process, twi_read00 just returns if TWI is not yet in a
- ready state. When there's another interrupt, and the interface *is* ready, then it
- sets up the read, starts it, and registers twi_read01 as the function to call after
- the *next* interrupt. twi_read01, then, just returns if the interface is still in a
- "reading" state. When the reading is done, it copies the information to the buffer,
- cleans up, and calls the user-requested callback function with the actual number of
- bytes read.
-
- The writing is similar.
-
- Questions, comments and problems can go to Gene@Telobot.com.
-
- Thumbs Up!
- Gene Knight
-
- */
-
- uint8_t TwoWire::rxBuffer[NBWIRE_BUFFER_LENGTH];
- uint8_t TwoWire::rxBufferIndex = 0;
- uint8_t TwoWire::rxBufferLength = 0;
-
- uint8_t TwoWire::txAddress = 0;
- uint8_t TwoWire::txBuffer[NBWIRE_BUFFER_LENGTH];
- uint8_t TwoWire::txBufferIndex = 0;
- uint8_t TwoWire::txBufferLength = 0;
-
- //uint8_t TwoWire::transmitting = 0;
- void (*TwoWire::user_onRequest)(void);
- void (*TwoWire::user_onReceive)(int);
-
- static volatile uint8_t twi_transmitting;
- static volatile uint8_t twi_state;
- static uint8_t twi_slarw;
- static volatile uint8_t twi_error;
- static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH];
- static volatile uint8_t twi_masterBufferIndex;
- static uint8_t twi_masterBufferLength;
- static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH];
- static volatile uint8_t twi_rxBufferIndex;
- //static volatile uint8_t twi_Interrupt_Continue_Command;
- static volatile uint8_t twi_Return_Value;
- static volatile uint8_t twi_Done;
- void (*twi_cbendTransmissionDone)(int);
- void (*twi_cbreadFromDone)(int);
-
- void twi_init() {
- // initialize state
- twi_state = TWI_READY;
-
- // activate internal pull-ups for twi
- // as per note from atmega8 manual pg167
- sbi(PORTC, 4);
- sbi(PORTC, 5);
-
- // initialize twi prescaler and bit rate
- cbi(TWSR, TWPS0); // TWI Status Register - Prescaler bits
- cbi(TWSR, TWPS1);
-
- /* twi bit rate formula from atmega128 manual pg 204
- SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))
- note: TWBR should be 10 or higher for master mode
- It is 72 for a 16mhz Wiring board with 100kHz TWI */
-
- TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register
- // enable twi module, acks, and twi interrupt
-
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
-
- /* TWEN - TWI Enable Bit
- TWIE - TWI Interrupt Enable
- TWEA - TWI Enable Acknowledge Bit
- TWINT - TWI Interrupt Flag
- TWSTA - TWI Start Condition
- */
- }
-
- typedef struct {
- uint8_t address;
- uint8_t* data;
- uint8_t length;
- uint8_t wait;
- uint8_t i;
- } twi_Write_Vars;
-
- twi_Write_Vars *ptwv = 0;
- static void (*fNextInterruptFunction)(void) = 0;
-
- void twi_Finish(byte bRetVal) {
- if (ptwv) {
- free(ptwv);
- ptwv = 0;
- }
- twi_Done = 0xFF;
- twi_Return_Value = bRetVal;
- fNextInterruptFunction = 0;
- }
-
- uint8_t twii_WaitForDone(uint16_t timeout) {
- uint32_t endMillis = millis() + timeout;
- while (!twi_Done && (timeout == 0 || millis() < endMillis)) continue;
- return twi_Return_Value;
- }
-
- void twii_SetState(uint8_t ucState) {
- twi_state = ucState;
- }
-
- void twii_SetError(uint8_t ucError) {
- twi_error = ucError ;
- }
-
- void twii_InitBuffer(uint8_t ucPos, uint8_t ucLength) {
- twi_masterBufferIndex = 0;
- twi_masterBufferLength = ucLength;
- }
-
- void twii_CopyToBuf(uint8_t* pData, uint8_t ucLength) {
- uint8_t i;
- for (i = 0; i < ucLength; ++i) {
- twi_masterBuffer[i] = pData[i];
- }
- }
-
- void twii_CopyFromBuf(uint8_t *pData, uint8_t ucLength) {
- uint8_t i;
- for (i = 0; i < ucLength; ++i) {
- pData[i] = twi_masterBuffer[i];
- }
- }
-
- void twii_SetSlaRW(uint8_t ucSlaRW) {
- twi_slarw = ucSlaRW;
- }
-
- void twii_SetStart() {
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
- }
-
- void twi_write01() {
- if (TWI_MTX == twi_state) return; // blocking test
- twi_transmitting = 0 ;
- if (twi_error == 0xFF)
- twi_Finish (0); // success
- else if (twi_error == TW_MT_SLA_NACK)
- twi_Finish (2); // error: address send, nack received
- else if (twi_error == TW_MT_DATA_NACK)
- twi_Finish (3); // error: data send, nack received
- else
- twi_Finish (4); // other twi error
- if (twi_cbendTransmissionDone) return twi_cbendTransmissionDone(twi_Return_Value);
- return;
- }
-
-
- void twi_write00() {
- if (TWI_READY != twi_state) return; // blocking test
- if (TWI_BUFFER_LENGTH < ptwv -> length) {
- twi_Finish(1); // end write with error 1
- return;
- }
- twi_Done = 0x00; // show as working
- twii_SetState(TWI_MTX); // to transmitting
- twii_SetError(0xFF); // to No Error
- twii_InitBuffer(0, ptwv -> length); // pointer and length
- twii_CopyToBuf(ptwv -> data, ptwv -> length); // get the data
- twii_SetSlaRW((ptwv -> address << 1) | TW_WRITE); // write command
- twii_SetStart(); // start the cycle
- fNextInterruptFunction = twi_write01; // next routine
- return twi_write01();
- }
-
- void twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait) {
- uint8_t i;
- ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars));
- ptwv -> address = address;
- ptwv -> data = data;
- ptwv -> length = length;
- ptwv -> wait = wait;
- fNextInterruptFunction = twi_write00;
- return twi_write00();
- }
-
- void twi_read01() {
- if (TWI_MRX == twi_state) return; // blocking test
- if (twi_masterBufferIndex < ptwv -> length) ptwv -> length = twi_masterBufferIndex;
- twii_CopyFromBuf(ptwv -> data, ptwv -> length);
- twi_Finish(ptwv -> length);
- if (twi_cbreadFromDone) return twi_cbreadFromDone(twi_Return_Value);
- return;
- }
-
- void twi_read00() {
- if (TWI_READY != twi_state) return; // blocking test
- if (TWI_BUFFER_LENGTH < ptwv -> length) twi_Finish(0); // error return
- twi_Done = 0x00; // show as working
- twii_SetState(TWI_MRX); // reading
- twii_SetError(0xFF); // reset error
- twii_InitBuffer(0, ptwv -> length - 1); // init to one less than length
- twii_SetSlaRW((ptwv -> address << 1) | TW_READ); // read command
- twii_SetStart(); // start cycle
- fNextInterruptFunction = twi_read01;
- return twi_read01();
- }
-
- void twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) {
- uint8_t i;
-
- ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars));
- ptwv -> address = address;
- ptwv -> data = data;
- ptwv -> length = length;
- fNextInterruptFunction = twi_read00;
- return twi_read00();
- }
-
- void twi_reply(uint8_t ack) {
- // transmit master read ready signal, with or without ack
- if (ack){
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
- } else {
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
- }
- }
-
- void twi_stop(void) {
- // send stop condition
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
-
- // wait for stop condition to be exectued on bus
- // TWINT is not set after a stop condition!
- while (TWCR & _BV(TWSTO)) {
- continue;
- }
-
- // update twi state
- twi_state = TWI_READY;
- }
-
- void twi_releaseBus(void) {
- // release bus
- TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
-
- // update twi state
- twi_state = TWI_READY;
- }
-
- SIGNAL(TWI_vect) {
- switch (TW_STATUS) {
- // All Master
- case TW_START: // sent start condition
- case TW_REP_START: // sent repeated start condition
- // copy device address and r/w bit to output register and ack
- TWDR = twi_slarw;
- twi_reply(1);
- break;
-
- // Master Transmitter
- case TW_MT_SLA_ACK: // slave receiver acked address
- case TW_MT_DATA_ACK: // slave receiver acked data
- // if there is data to send, send it, otherwise stop
- if (twi_masterBufferIndex < twi_masterBufferLength) {
- // copy data to output register and ack
- TWDR = twi_masterBuffer[twi_masterBufferIndex++];
- twi_reply(1);
- } else {
- twi_stop();
- }
- break;
-
- case TW_MT_SLA_NACK: // address sent, nack received
- twi_error = TW_MT_SLA_NACK;
- twi_stop();
- break;
-
- case TW_MT_DATA_NACK: // data sent, nack received
- twi_error = TW_MT_DATA_NACK;
- twi_stop();
- break;
-
- case TW_MT_ARB_LOST: // lost bus arbitration
- twi_error = TW_MT_ARB_LOST;
- twi_releaseBus();
- break;
-
- // Master Receiver
- case TW_MR_DATA_ACK: // data received, ack sent
- // put byte into buffer
- twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-
- case TW_MR_SLA_ACK: // address sent, ack received
- // ack if more bytes are expected, otherwise nack
- if (twi_masterBufferIndex < twi_masterBufferLength) {
- twi_reply(1);
- } else {
- twi_reply(0);
- }
- break;
-
- case TW_MR_DATA_NACK: // data received, nack sent
- // put final byte into buffer
- twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-
- case TW_MR_SLA_NACK: // address sent, nack received
- twi_stop();
- break;
-
- // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case
-
- // Slave Receiver (NOT IMPLEMENTED YET)
- /*
- case TW_SR_SLA_ACK: // addressed, returned ack
- case TW_SR_GCALL_ACK: // addressed generally, returned ack
- case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack
- case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack
- // enter slave receiver mode
- twi_state = TWI_SRX;
-
- // indicate that rx buffer can be overwritten and ack
- twi_rxBufferIndex = 0;
- twi_reply(1);
- break;
-
- case TW_SR_DATA_ACK: // data received, returned ack
- case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack
- // if there is still room in the rx buffer
- if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
- // put byte in buffer and ack
- twi_rxBuffer[twi_rxBufferIndex++] = TWDR;
- twi_reply(1);
- } else {
- // otherwise nack
- twi_reply(0);
- }
- break;
-
- case TW_SR_STOP: // stop or repeated start condition received
- // put a null char after data if there's room
- if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {
- twi_rxBuffer[twi_rxBufferIndex] = 0;
- }
-
- // sends ack and stops interface for clock stretching
- twi_stop();
-
- // callback to user defined callback
- twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);
-
- // since we submit rx buffer to "wire" library, we can reset it
- twi_rxBufferIndex = 0;
-
- // ack future responses and leave slave receiver state
- twi_releaseBus();
- break;
-
- case TW_SR_DATA_NACK: // data received, returned nack
- case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack
- // nack back at master
- twi_reply(0);
- break;
-
- // Slave Transmitter
- case TW_ST_SLA_ACK: // addressed, returned ack
- case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack
- // enter slave transmitter mode
- twi_state = TWI_STX;
-
- // ready the tx buffer index for iteration
- twi_txBufferIndex = 0;
-
- // set tx buffer length to be zero, to verify if user changes it
- twi_txBufferLength = 0;
-
- // request for txBuffer to be filled and length to be set
- // note: user must call twi_transmit(bytes, length) to do this
- twi_onSlaveTransmit();
-
- // if they didn't change buffer & length, initialize it
- if (0 == twi_txBufferLength) {
- twi_txBufferLength = 1;
- twi_txBuffer[0] = 0x00;
- }
-
- // transmit first byte from buffer, fall through
-
- case TW_ST_DATA_ACK: // byte sent, ack returned
- // copy data to output register
- TWDR = twi_txBuffer[twi_txBufferIndex++];
-
- // if there is more to send, ack, otherwise nack
- if (twi_txBufferIndex < twi_txBufferLength) {
- twi_reply(1);
- } else {
- twi_reply(0);
- }
- break;
-
- case TW_ST_DATA_NACK: // received nack, we are done
- case TW_ST_LAST_DATA: // received ack, but we are done already!
- // ack future responses
- twi_reply(1);
- // leave slave receiver state
- twi_state = TWI_READY;
- break;
- */
-
- // all
- case TW_NO_INFO: // no state information
- break;
-
- case TW_BUS_ERROR: // bus error, illegal stop/start
- twi_error = TW_BUS_ERROR;
- twi_stop();
- break;
- }
-
- if (fNextInterruptFunction) return fNextInterruptFunction();
- }
-
- TwoWire::TwoWire() { }
-
- void TwoWire::begin(void) {
- rxBufferIndex = 0;
- rxBufferLength = 0;
-
- txBufferIndex = 0;
- txBufferLength = 0;
-
- twi_init();
- }
-
- void TwoWire::beginTransmission(uint8_t address) {
- //beginTransmission((uint8_t)address);
-
- // indicate that we are transmitting
- twi_transmitting = 1;
-
- // set address of targeted slave
- txAddress = address;
-
- // reset tx buffer iterator vars
- txBufferIndex = 0;
- txBufferLength = 0;
- }
-
- uint8_t TwoWire::endTransmission(uint16_t timeout) {
- // transmit buffer (blocking)
- //int8_t ret =
- twi_cbendTransmissionDone = NULL;
- twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
- int8_t ret = twii_WaitForDone(timeout);
-
- // reset tx buffer iterator vars
- txBufferIndex = 0;
- txBufferLength = 0;
-
- // indicate that we are done transmitting
- // twi_transmitting = 0;
- return ret;
- }
-
- void TwoWire::nbendTransmission(void (*function)(int)) {
- twi_cbendTransmissionDone = function;
- twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
- return;
- }
-
- void TwoWire::send(uint8_t data) {
- if (twi_transmitting) {
- // in master transmitter mode
- // don't bother if buffer is full
- if (txBufferLength >= NBWIRE_BUFFER_LENGTH) {
- return;
- }
-
- // put byte in tx buffer
- txBuffer[txBufferIndex] = data;
- ++txBufferIndex;
-
- // update amount in buffer
- txBufferLength = txBufferIndex;
- } else {
- // in slave send mode
- // reply to master
- //twi_transmit(&data, 1);
- }
- }
-
- uint8_t TwoWire::receive(void) {
- // default to returning null char
- // for people using with char strings
- uint8_t value = 0;
-
- // get each successive byte on each call
- if (rxBufferIndex < rxBufferLength) {
- value = rxBuffer[rxBufferIndex];
- ++rxBufferIndex;
- }
-
- return value;
- }
-
- uint8_t TwoWire::requestFrom(uint8_t address, int quantity, uint16_t timeout) {
- // clamp to buffer length
- if (quantity > NBWIRE_BUFFER_LENGTH) {
- quantity = NBWIRE_BUFFER_LENGTH;
- }
-
- // perform blocking read into buffer
- twi_cbreadFromDone = NULL;
- twi_readFrom(address, rxBuffer, quantity);
- uint8_t read = twii_WaitForDone(timeout);
-
- // set rx buffer iterator vars
- rxBufferIndex = 0;
- rxBufferLength = read;
-
- return read;
- }
-
- void TwoWire::nbrequestFrom(uint8_t address, int quantity, void (*function)(int)) {
- // clamp to buffer length
- if (quantity > NBWIRE_BUFFER_LENGTH) {
- quantity = NBWIRE_BUFFER_LENGTH;
- }
-
- // perform blocking read into buffer
- twi_cbreadFromDone = function;
- twi_readFrom(address, rxBuffer, quantity);
- //uint8_t read = twii_WaitForDone();
-
- // set rx buffer iterator vars
- //rxBufferIndex = 0;
- //rxBufferLength = read;
-
- rxBufferIndex = 0;
- rxBufferLength = quantity; // this is a hack
-
- return; //read;
- }
-
- uint8_t TwoWire::available(void) {
- return rxBufferLength - rxBufferIndex;
- }
-
-#endif
diff --git a/libraries/I2Cdev/I2Cdev.h b/libraries/I2Cdev/I2Cdev.h
deleted file mode 100644
index 4c6d41f..0000000
--- a/libraries/I2Cdev/I2Cdev.h
+++ /dev/null
@@ -1,261 +0,0 @@
-// 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>
-//
-// 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
-
-/* ============================================
-I2Cdev device library code is placed under the MIT license
-Copyright (c) 2012 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
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-===============================================
-*/
-
-#ifndef _I2CDEV_H_
-#define _I2CDEV_H_
-
-// -----------------------------------------------------------------------------
-// I2C interface implementation setting
-// -----------------------------------------------------------------------------
-#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
-
-// comment this out if you are using a non-optimal IDE/implementation setting
-// but want the compiler to shut up about it
-#define I2CDEV_IMPLEMENTATION_WARNINGS
-
-// -----------------------------------------------------------------------------
-// I2C interface implementation options
-// -----------------------------------------------------------------------------
-#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
-#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!
-
-// -----------------------------------------------------------------------------
-// Arduino-style "Serial.print" debug constant (uncomment to enable)
-// -----------------------------------------------------------------------------
-//#define I2CDEV_SERIAL_DEBUG
-
-#ifdef ARDUINO
- #if ARDUINO < 100
- #include "WProgram.h"
- #else
- #include "Arduino.h"
- #endif
- #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
- #include <Wire.h>
- #endif
-#else
- #include "ArduinoWrapper.h"
-#endif
-
-// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
-#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
-
-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 uint16_t readTimeout;
-};
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
- //////////////////////
- // FastWire 0.2
- // This is a library to help faster programs to read I2C devices.
- // Copyright(C) 2011
- // Francesco Ferrara
- //////////////////////
-
- /* Master */
- #define TW_START 0x08
- #define TW_REP_START 0x10
-
- /* Master Transmitter */
- #define TW_MT_SLA_ACK 0x18
- #define TW_MT_SLA_NACK 0x20
- #define TW_MT_DATA_ACK 0x28
- #define TW_MT_DATA_NACK 0x30
- #define TW_MT_ARB_LOST 0x38
-
- /* Master Receiver */
- #define TW_MR_ARB_LOST 0x38
- #define TW_MR_SLA_ACK 0x40
- #define TW_MR_SLA_NACK 0x48
- #define TW_MR_DATA_ACK 0x50
- #define TW_MR_DATA_NACK 0x58
-
- #define TW_OK 0
- #define TW_ERROR 1
-
- class Fastwire {
- private:
- static boolean waitInt();
-
- public:
- static void setup(int khz, boolean pullup);
- static byte write(byte device, byte address, byte value);
- static byte readBuf(byte device, byte address, byte *data, byte num);
- };
-#endif
-
-#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
- // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
- // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
- // 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();
- void begin(uint8_t);
- void begin(int);
- void beginTransmission(uint8_t);
- //void beginTransmission(int);
- uint8_t endTransmission(uint16_t timeout=0);
- void nbendTransmission(void (*function)(int)) ;
- uint8_t requestFrom(uint8_t, int, uint16_t timeout=0);
- //uint8_t requestFrom(int, int);
- void nbrequestFrom(uint8_t, int, void (*function)(int));
- void send(uint8_t);
- void send(uint8_t*, uint8_t);
- //void send(int);
- void send(char*);
- uint8_t available(void);
- uint8_t receive(void);
- 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 (TWSR & TW_STATUS_MASK)
- #define TW_START 0x08
- #define TW_REP_START 0x10
- #define TW_MT_SLA_ACK 0x18
- #define TW_MT_SLA_NACK 0x20
- #define TW_MT_DATA_ACK 0x28
- #define TW_MT_DATA_NACK 0x30
- #define TW_MT_ARB_LOST 0x38
- #define TW_MR_ARB_LOST 0x38
- #define TW_MR_SLA_ACK 0x40
- #define TW_MR_SLA_NACK 0x48
- #define TW_MR_DATA_ACK 0x50
- #define TW_MR_DATA_NACK 0x58
- #define TW_ST_SLA_ACK 0xA8
- #define TW_ST_ARB_LOST_SLA_ACK 0xB0
- #define TW_ST_DATA_ACK 0xB8
- #define TW_ST_DATA_NACK 0xC0
- #define TW_ST_LAST_DATA 0xC8
- #define TW_SR_SLA_ACK 0x60
- #define TW_SR_ARB_LOST_SLA_ACK 0x68
- #define TW_SR_GCALL_ACK 0x70
- #define TW_SR_ARB_LOST_GCALL_ACK 0x78
- #define TW_SR_DATA_ACK 0x80
- #define TW_SR_DATA_NACK 0x88
- #define TW_SR_GCALL_DATA_ACK 0x90
- #define TW_SR_GCALL_DATA_NACK 0x98
- #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))
- #endif // sbi
-
- #ifndef cbi // clear bit
- #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
- #endif // cbi
-
- extern TwoWire Wire;
-
-#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
-
-#endif /* _I2CDEV_H_ */ \ No newline at end of file
diff --git a/libraries/I2Cdev/keywords.txt b/libraries/I2Cdev/keywords.txt
deleted file mode 100644
index 4132a06..0000000
--- a/libraries/I2Cdev/keywords.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-#######################################
-# Syntax Coloring Map For I2Cdev
-#######################################
-
-#######################################
-# Datatypes (KEYWORD1)
-#######################################
-I2Cdev KEYWORD1
-
-#######################################
-# Methods and Functions (KEYWORD2)
-#######################################
-
-readBit KEYWORD2
-readBitW KEYWORD2
-readBits KEYWORD2
-readBitsW KEYWORD2
-readByte KEYWORD2
-readBytes KEYWORD2
-readWord KEYWORD2
-readWords KEYWORD2
-writeBit KEYWORD2
-writeBitW KEYWORD2
-writeBits KEYWORD2
-writeBitsW KEYWORD2
-writeByte KEYWORD2
-writeBytes KEYWORD2
-writeWord KEYWORD2
-writeWords KEYWORD2
-
-#######################################
-# Instances (KEYWORD2)
-#######################################
-
-#######################################
-# Constants (LITERAL1)
-#######################################
-