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Diffstat (limited to 'libraries/I2Cdev/I2Cdev.h')
| -rw-r--r-- | libraries/I2Cdev/I2Cdev.h | 261 |
1 files changed, 261 insertions, 0 deletions
diff --git a/libraries/I2Cdev/I2Cdev.h b/libraries/I2Cdev/I2Cdev.h new file mode 100644 index 0000000..4c6d41f --- /dev/null +++ b/libraries/I2Cdev/I2Cdev.h @@ -0,0 +1,261 @@ +// 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 32 bytes at a time with Arduino Wire +// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation +// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums) +// 2011-10-03 - added automatic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_ */
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