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Code Issues Releases Activity

[Cleanup] Fix missing paths on #include statements + update I2Cdev lib

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This commit is contained in:
TD-er
2022-01-24 01:01:28 +01:00
parent 20c7c665e8
commit 2215f4dec5
19 changed files with 316 additions and 260 deletions
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lib/I2Cdevlib/I2Cdev.cpp
+229 -201
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@@ -3,6 +3,9 @@
// 2013-06-05 by Jeff Rowberg <jeff@rowberg.net>
//
// Changelog:
// 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
@@ -44,11 +47,8 @@ THE SOFTWARE.
*/
#include "I2Cdev.h"
#if defined(ESP32)
#define BUFFER_LENGTH 32
#endif
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE
#ifdef I2CDEV_IMPLEMENTATION_WARNINGS
#if ARDUINO < 100
@@ -103,9 +103,9 @@ I2Cdev::I2Cdev() {
* @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) {
int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout, void *wireObj) {
uint8_t b;
uint8_t count = readByte(devAddr, regAddr, &b, timeout);
uint8_t count = readByte(devAddr, regAddr, &b, timeout, wireObj);
*data = b & (1 << bitNum);
return count;
}
@@ -118,9 +118,9 @@ int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t
* @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) {
int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout, void *wireObj) {
uint16_t b;
uint8_t count = readWord(devAddr, regAddr, &b, timeout);
uint8_t count = readWord(devAddr, regAddr, &b, timeout, wireObj);
*data = b & (1 << bitNum);
return count;
}
@@ -134,14 +134,14 @@ int8_t I2Cdev::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16
* @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) {
int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout, void *wireObj) {
// 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) {
if ((count = readByte(devAddr, regAddr, &b, timeout, wireObj)) != 0) {
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
b &= mask;
b >>= (bitStart - length + 1);
@@ -159,7 +159,7 @@ int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint
* @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) {
int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout, void *wireObj) {
// 1101011001101001 read byte
// fedcba9876543210 bit numbers
// xxx args: bitStart=12, length=3
@@ -167,7 +167,7 @@ int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uin
// -> 010 shifted
uint8_t count;
uint16_t w;
if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) {
if ((count = readWord(devAddr, regAddr, &w, timeout, wireObj)) != 0) {
uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1);
w &= mask;
w >>= (bitStart - length + 1);
@@ -183,8 +183,8 @@ int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uin
* @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);
int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout, void *wireObj) {
return readBytes(devAddr, regAddr, 1, data, timeout, wireObj);
}
/** Read single word from a 16-bit device register.
@@ -194,8 +194,8 @@ int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_
* @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);
int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout, void *wireObj) {
return readWords(devAddr, regAddr, 1, data, timeout, wireObj);
}
/** Read multiple bytes from an 8-bit device register.
@@ -206,7 +206,7 @@ int8_t I2Cdev::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16
* @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) {
int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout, void *wireObj) {
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print("I2C (0x");
Serial.print(devAddr, HEX);
@@ -220,71 +220,73 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
int8_t count = 0;
uint32_t t1 = millis();
#if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
#if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE)
TwoWire *useWire = &Wire;
if (wireObj) useWire = (TwoWire *)wireObj;
#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
// so if user requests more than I2CDEVLIB_WIRE_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 (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) {
useWire->beginTransmission(devAddr);
useWire->send(regAddr);
useWire->endTransmission();
useWire->beginTransmission(devAddr);
useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH));
for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) {
data[count] = Wire.receive();
for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) {
data[count] = useWire->receive();
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print(data[count], HEX);
if (count + 1 < length) Serial.print(" ");
#endif
}
Wire.endTransmission();
useWire->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
// so if user requests more than I2CDEVLIB_WIRE_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();
for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) {
useWire->beginTransmission(devAddr);
useWire->write(regAddr);
useWire->endTransmission();
useWire->beginTransmission(devAddr);
useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH));
for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) {
data[count] = useWire->read();
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print(data[count], HEX);
if (count + 1 < length) Serial.print(" ");
#endif
}
Wire.endTransmission();
useWire->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
// so if user requests more than I2CDEVLIB_WIRE_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();
for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) {
useWire->beginTransmission(devAddr);
useWire->write(regAddr);
useWire->endTransmission();
useWire->beginTransmission(devAddr);
useWire->requestFrom((uint8_t)devAddr, (uint8_t)min((int)length - k, I2CDEVLIB_WIRE_BUFFER_LENGTH));
for (; useWire->available() && (timeout == 0 || millis() - t1 < timeout); count++) {
data[count] = useWire->read();
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print(data[count], HEX);
if (count + 1 < length) Serial.print(" ");
@@ -326,7 +328,7 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
* @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 (-1 indicates failure)
*/
int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) {
int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout, void *wireObj) {
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print("I2C (0x");
Serial.print(devAddr, HEX);
@@ -340,29 +342,31 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
int8_t count = 0;
uint32_t t1 = millis();
#if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE
TwoWire *useWire = &Wire;
if (wireObj) useWire = (TwoWire *)wireObj;
#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
// so if user requests more than I2CDEVLIB_WIRE_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
for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) {
useWire->beginTransmission(devAddr);
useWire->send(regAddr);
useWire->endTransmission();
useWire->beginTransmission(devAddr);
useWire->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);) {
for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
if (msb) {
// first byte is bits 15-8 (MSb=15)
data[count] = Wire.receive() << 8;
data[count] = useWire->receive() << 8;
} else {
// second byte is bits 7-0 (LSb=0)
data[count] |= Wire.receive();
data[count] |= useWire->receive();
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print(data[count], HEX);
if (count + 1 < length) Serial.print(" ");
@@ -372,30 +376,30 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
msb = !msb;
}
Wire.endTransmission();
useWire->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
// so if user requests more than I2CDEVLIB_WIRE_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
for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) {
useWire->beginTransmission(devAddr);
useWire->write(regAddr);
useWire->endTransmission();
useWire->beginTransmission(devAddr);
useWire->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);) {
for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
if (msb) {
// first byte is bits 15-8 (MSb=15)
data[count] = Wire.read() << 8;
data[count] = useWire->read() << 8;
} else {
// second byte is bits 7-0 (LSb=0)
data[count] |= Wire.read();
data[count] |= useWire->read();
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print(data[count], HEX);
if (count + 1 < length) Serial.print(" ");
@@ -404,31 +408,31 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
}
msb = !msb;
}
Wire.endTransmission();
useWire->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
// so if user requests more than I2CDEVLIB_WIRE_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
for (uint8_t k = 0; k < length * 2; k += min(length * 2, I2CDEVLIB_WIRE_BUFFER_LENGTH)) {
useWire->beginTransmission(devAddr);
useWire->write(regAddr);
useWire->endTransmission();
useWire->beginTransmission(devAddr);
useWire->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);) {
for (; useWire->available() && count < length && (timeout == 0 || millis() - t1 < timeout);) {
if (msb) {
// first byte is bits 15-8 (MSb=15)
data[count] = Wire.read() << 8;
data[count] = useWire->read() << 8;
} else {
// second byte is bits 7-0 (LSb=0)
data[count] |= Wire.read();
data[count] |= useWire->read();
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print(data[count], HEX);
if (count + 1 < length) Serial.print(" ");
@@ -437,8 +441,8 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
}
msb = !msb;
}
Wire.endTransmission();
useWire->endTransmission();
}
#endif
@@ -446,8 +450,8 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
// Fastwire library
// no loop required for fastwire
uint16_t intermediate[(uint8_t)length];
uint8_t status = Fastwire::readBuf(devAddr << 1, regAddr, (uint8_t *)intermediate, (uint8_t)(length * 2));
uint8_t intermediate[(uint8_t)length*2];
uint8_t status = Fastwire::readBuf(devAddr << 1, regAddr, intermediate, (uint8_t)(length * 2));
if (status == 0) {
count = length; // success
for (uint8_t i = 0; i < length; i++) {
@@ -466,7 +470,7 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
Serial.print(count, DEC);
Serial.println(" read).");
#endif
return count;
}
@@ -477,11 +481,11 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
* @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) {
bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data, void *wireObj) {
uint8_t b;
readByte(devAddr, regAddr, &b);
readByte(devAddr, regAddr, &b, I2Cdev::readTimeout, wireObj);
b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
return writeByte(devAddr, regAddr, b);
return writeByte(devAddr, regAddr, b, wireObj);
}
/** write a single bit in a 16-bit device register.
@@ -491,11 +495,11 @@ bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t
* @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) {
bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data, void *wireObj) {
uint16_t w;
readWord(devAddr, regAddr, &w);
readWord(devAddr, regAddr, &w, I2Cdev::readTimeout, wireObj);
w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum));
return writeWord(devAddr, regAddr, w);
return writeWord(devAddr, regAddr, w, wireObj);
}
/** Write multiple bits in an 8-bit device register.
@@ -506,7 +510,7 @@ bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_
* @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) {
bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data, void *wireObj) {
// 010 value to write
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
@@ -515,13 +519,13 @@ bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8
// 10100011 original & ~mask
// 10101011 masked | value
uint8_t b;
if (readByte(devAddr, regAddr, &b) != 0) {
if (readByte(devAddr, regAddr, &b, I2Cdev::readTimeout, wireObj) != 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);
return writeByte(devAddr, regAddr, b, wireObj);
} else {
return false;
}
@@ -535,7 +539,7 @@ bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8
* @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) {
bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data, void *wireObj) {
// 010 value to write
// fedcba9876543210 bit numbers
// xxx args: bitStart=12, length=3
@@ -544,13 +548,13 @@ bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint
// 1010001110010110 original & ~mask
// 1010101110010110 masked | value
uint16_t w;
if (readWord(devAddr, regAddr, &w) != 0) {
if (readWord(devAddr, regAddr, &w, I2Cdev::readTimeout, wireObj) != 0) {
uint16_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);
return writeWord(devAddr, regAddr, w, wireObj);
} else {
return false;
}
@@ -562,8 +566,8 @@ bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint
* @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);
bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data, void *wireObj) {
return writeBytes(devAddr, regAddr, 1, &data, wireObj);
}
/** Write single word to a 16-bit device register.
@@ -572,8 +576,8 @@ bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
* @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);
bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data, void *wireObj) {
return writeWords(devAddr, regAddr, 1, &data, wireObj);
}
/** Write multiple bytes to an 8-bit device register.
@@ -583,7 +587,7 @@ bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) {
* @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) {
bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data, void *wireObj) {
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print("I2C (0x");
Serial.print(devAddr, HEX);
@@ -594,12 +598,20 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
Serial.print("...");
#endif
uint8_t status = 0;
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE
TwoWire *useWire = &Wire;
if (wireObj) useWire = (TwoWire *)wireObj;
#endif
#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
useWire->beginTransmission(devAddr);
useWire->send((uint8_t) regAddr); // send address
#elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \
|| (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \
|| I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE)
useWire->beginTransmission(devAddr);
useWire->write((uint8_t) regAddr); // send address
#elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
Fastwire::beginTransmission(devAddr);
Fastwire::write(regAddr);
@@ -610,17 +622,21 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
if (i + 1 < length) Serial.print(" ");
#endif
#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]);
useWire->send((uint8_t) data[i]);
#elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \
|| (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \
|| I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE)
useWire->write((uint8_t) data[i]);
#elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
Fastwire::write((uint8_t) data[i]);
#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();
useWire->endTransmission();
#elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \
|| (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \
|| I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE)
status = useWire->endTransmission();
#elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
Fastwire::stop();
//status = Fastwire::endTransmission();
@@ -638,7 +654,7 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
* @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) {
bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data, void *wireObj) {
#ifdef I2CDEV_SERIAL_DEBUG
Serial.print("I2C (0x");
Serial.print(devAddr, HEX);
@@ -649,37 +665,49 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16
Serial.print("...");
#endif
uint8_t status = 0;
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE
TwoWire *useWire = &Wire;
if (wireObj) useWire = (TwoWire *)wireObj;
#endif
#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
useWire->beginTransmission(devAddr);
useWire->send(regAddr); // send address
#elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \
|| (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \
|| I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE)
useWire->beginTransmission(devAddr);
useWire->write(regAddr); // send address
#elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
Fastwire::beginTransmission(devAddr);
Fastwire::write(regAddr);
#endif
for (uint8_t i = 0; i < length * 2; i++) {
for (uint8_t i = 0; i < length; i++) {
#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.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
useWire->send((uint8_t)(data[i] >> 8)); // send MSB
useWire->send((uint8_t)data[i]); // send LSB
#elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \
|| (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \
|| I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE)
useWire->write((uint8_t)(data[i] >> 8)); // send MSB
useWire->write((uint8_t)data[i]); // send LSB
#elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
Fastwire::write((uint8_t)(data[i] >> 8)); // send MSB
status = Fastwire::write((uint8_t)data[i++]); // send LSB
status = Fastwire::write((uint8_t)data[i]); // send LSB
if (status != 0) break;
#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();
useWire->endTransmission();
#elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \
|| (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \
|| I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE)
status = useWire->endTransmission();
#elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
Fastwire::stop();
//status = Fastwire::endTransmission();
@@ -739,15 +767,15 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
#endif
TWSR = 0; // no prescaler => prescaler = 1
TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate
TWBR = F_CPU / 2000 / khz - 8; // change the I2C clock rate
TWCR = 1 << TWEN; // enable twi module, no interrupt
}
// added by Jeff Rowberg 2013-05-07:
// Arduino Wire-style "beginTransmission" function
// (takes 7-bit device address like the Wire method, NOT 8-bit: 0x68, not 0xD0/0xD1)
uint8_t Fastwire::beginTransmission(uint8_t device) {
uint8_t twst, retry;
byte Fastwire::beginTransmission(byte device) {
byte twst, retry;
retry = 2;
do {
TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA);
@@ -766,8 +794,8 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
return 0;
}
uint8_t Fastwire::writeBuf(uint8_t device, uint8_t address, uint8_t *data, uint8_t num) {
uint8_t twst, retry;
byte Fastwire::writeBuf(byte device, byte address, byte *data, byte num) {
byte twst, retry;
retry = 2;
do {
@@ -793,7 +821,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
twst = TWSR & 0xF8;
if (twst != TW_MT_DATA_ACK) return 6;
for (uint8_t i = 0; i < num; i++) {
for (byte i = 0; i < num; i++) {
//Serial.print(data[i], HEX);
//Serial.print(" ");
TWDR = data[i]; // send data to the previously addressed device
@@ -807,8 +835,8 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
return 0;
}
uint8_t Fastwire::write(uint8_t value) {
uint8_t twst;
byte Fastwire::write(byte value) {
byte twst;
//Serial.println(value, HEX);
TWDR = value; // send data
TWCR = (1 << TWINT) | (1 << TWEN);
@@ -818,8 +846,8 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
return 0;
}
uint8_t Fastwire::readBuf(uint8_t device, uint8_t address, uint8_t *data, uint8_t num) {
uint8_t twst, retry;
byte Fastwire::readBuf(byte device, byte address, byte *data, byte num) {
byte twst, retry;
retry = 2;
do {
@@ -885,7 +913,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
TWCR = 0;
}
uint8_t Fastwire::stop() {
byte Fastwire::stop() {
TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO);
if (!waitInt()) return 1;
return 0;
@@ -899,50 +927,50 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
/*
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
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 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
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
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;
@@ -957,7 +985,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
static volatile uint8_t twi_Done;
void (*twi_cbendTransmissionDone)(int);
void (*twi_cbreadFromDone)(int);
void twi_init() {
// initialize state
twi_state = TWI_READY;
@@ -979,7 +1007,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register
// enable twi module, acks, and twi interrupt
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA);
/* TWEN - TWI Enable Bit
TWIE - TWI Interrupt Enable
@@ -988,7 +1016,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
TWSTA - TWI Start Condition
*/
}
typedef struct {
uint8_t address;
uint8_t* data;
@@ -1000,7 +1028,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
twi_Write_Vars *ptwv = 0;
static void (*fNextInterruptFunction)(void) = 0;
void twi_Finish(uint8_t bRetVal) {
void twi_Finish(byte bRetVal) {
if (ptwv) {
free(ptwv);
ptwv = 0;
@@ -1009,13 +1037,13 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
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;
}
@@ -1048,7 +1076,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
}
void twii_SetStart() {
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT) | (1 << TWSTA);
}
void twi_write01() {
@@ -1065,8 +1093,8 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
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) {
@@ -1083,7 +1111,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
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));
@@ -1103,7 +1131,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
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
@@ -1131,34 +1159,34 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
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);
TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWINT) | (1 << TWEA);
} else {
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWINT);
}
}
void twi_stop(void) {
// send stop condition
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);
TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT) | (1 << TWSTO);
// wait for stop condition to be exectued on bus
// TWINT is not set after a stop condition!
while (TWCR & _BV(TWSTO)) {
while (TWCR & (1 << TWSTO)) {
continue;
}
// update twi state
twi_state = TWI_READY;
}
void twi_releaseBus(void) {
// release bus
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);
TWCR = (1 << TWEN) | (1 << TWIE) | (1 << TWEA) | (1 << TWINT);
// update twi state
twi_state = TWI_READY;
}
SIGNAL(TWI_vect) {
switch (TW_STATUS) {
// All Master
@@ -1168,7 +1196,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
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
@@ -1196,7 +1224,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
twi_error = TW_MT_ARB_LOST;
twi_releaseBus();
break;
// Master Receiver
case TW_MR_DATA_ACK: // data received, ack sent
// put byte into buffer
@@ -1294,7 +1322,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
twi_txBufferLength = 1;
twi_txBuffer[0] = 0x00;
}
// transmit first byte from buffer, fall through
case TW_ST_DATA_ACK: // byte sent, ack returned
@@ -1332,26 +1360,26 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
}
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;
@@ -1378,7 +1406,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
twi_writeTo(txAddress, txBuffer, txBufferLength, 1);
return;
}
void TwoWire::send(uint8_t data) {
if (twi_transmitting) {
// in master transmitter mode
@@ -1399,21 +1427,21 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
//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) {
@@ -1428,10 +1456,10 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_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) {