8000 Merge pull request #324 from chegewara/master · ArduinoWorks/i2cdevlib@70b0689 · GitHub
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jrowbergjrowberg
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Merge pull request jrowberg#324 from chegewara/master
Added ESP32 esp-idf platform
2 parents 9aa4762 + 712efe1 commit 70b0689

16 files changed

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lines changed

‎ESP32_ESP-IDF/Makefile

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#
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# This is a project Makefile. It is assumed the directory this Makefile resides in is a
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# project subdirectory.
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#
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PROJECT_NAME := app-template
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include $(IDF_PATH)/make/project.mk
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‎ESP32_ESP-IDF/README.md

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I2CDev library rewritted to match esp-idf. DMP should work, only need is to setup
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mpu.setXGyroOffset(220);
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mpu.setYGyroOffset(76);
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mpu.setZGyroOffset(-85);
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mpu.setZAccelOffset(1788);
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and eventually change last value in components/MPU6050/MPU6050_6Axis_MotionApps20.h.

‎ESP32_ESP-IDF/components/I2Cdev/I2Cdev.cpp

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// I2Cdev library collection - Main I2C device class
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// Abstracts bit and byte I2C R/W functions into a convenient class
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// EFM32 stub port by Nicolas Baldeck <nicolas@pioupiou.fr>
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// Based on Arduino's I2Cdev by Jeff Rowberg <jeff@rowberg.net>
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//
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// Changelog:
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// 2015-01-02 - Initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2015 Jeff Rowberg, Nicolas Baldeck
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#include <esp_log.h>
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#include <esp_err.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include "sdkconfig.h"
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#include "I2Cdev.h"
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#define I2C_NUM I2C_NUM_0
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#undef ESP_ERROR_CHECK
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#define ESP_ERROR_CHECK(x) do { esp_err_t rc = (x); if (rc != ESP_OK) { ESP_LOGE("err", "esp_err_t = %d", rc); /*assert(0 && #x);*/} } while(0);
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/** Default constructor.
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*/
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I2Cdev::I2Cdev() {
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}
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/** Initialize I2C0
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*/
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void I2Cdev::initialize() {
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}
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/** Enable or disable I2C
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* @param isEnabled true = enable, false = disable
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*/
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void I2Cdev::enable(bool isEnabled) {
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}
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/** Default timeout value for read operations.
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*/
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uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
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/** Read a single bit from an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr Register regAddr to read from
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* @param bitNum Bit position to read (0-7)
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* @param data Container for single bit value
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* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
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* @return Status of read operation (true = success)
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*/
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int8_t I2Cdev::readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout) {
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uint8_t b;
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uint8_t count = readByte(devAddr, regAddr, &b, timeout);
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*data = b & (1 << bitNum);
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return count;
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}
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/** Read multiple bits from an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr Register regAddr to read from
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* @param bitStart First bit position to read (0-7)
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* @param length Number of bits to read (not more than 8)
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* @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
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* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
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* @return Status of read operation (true = success)
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*/
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int8_t I2Cdev::readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout) {
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// 01101001 read byte
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// 76543210 bit numbers
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// xxx args: bitStart=4, length=3
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// 010 masked
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// -> 010 shifted
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uint8_t count, b;
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if ((count = readByte(devAddr, regAddr, &b, timeout)) != 0) {
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uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
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b &= mask;
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b >>= (bitStart - length + 1);
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*data = b;
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}
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return count;
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}
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/** Read single byte from an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr Register regAddr to read from
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* @param data Container for byte value read from device
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* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
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* @return Status of read operation (true = success)
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*/
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int8_t I2Cdev::readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout) {
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return readBytes(devAddr, regAddr, 1, data, timeout);
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}
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/** Read multiple bytes from an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr First register regAddr to read from
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* @param length Number of bytes to read
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* @param data Buffer to store read data in
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* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
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* @return I2C_TransferReturn_TypeDef http://downloads.energymicro.com/documentation/doxygen/group__I2C.html
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*/
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int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) {
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i2c_cmd_handle_t cmd;
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SelectRegister(devAddr, regAddr);
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_READ, 1));
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if(length>1)
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ESP_ERROR_CHECK(i2c_master_read(cmd, data, length-1, 0));
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ESP_ERROR_CHECK(i2c_master_read_byte(cmd, data+length-1, 1));
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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return length;
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}
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bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data){
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uint8_t data1[] = {(uint8_t)(data>>8), (uint8_t)(data & 0xff)};
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uint8_t data2[] = {(uint8_t)(data & 0xff), (uint8_t)(data>>8)};
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writeBytes(devAddr, regAddr, 2, data1);
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return true;
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}
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void I2Cdev::SelectRegister(uint8_t dev, uint8_t reg){
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i2c_cmd_handle_t cmd;
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (dev << 1) | I2C_MASTER_WRITE, 1));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, reg, 1));
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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}
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/** write a single bit in an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr Register regAddr to write to
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* @param bitNum Bit position to write (0-7)
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* @param value New bit value to write
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* @return Status of operation (true = success)
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*/
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bool I2Cdev::writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data) {
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uint8_t b;
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readByte(devAddr, regAddr, &b);
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b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
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return writeByte(devAddr, regAddr, b);
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}
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/** Write multiple bits in an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr Register regAddr to write to
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* @param bitStart First bit position to write (0-7)
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* @param length Number of bits to write (not more than 8)
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* @param data Right-aligned value to write
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* @return Status of operation (true = success)
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*/
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bool I2Cdev::writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data) {
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// 010 value to write
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// 76543210 bit numbers
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// xxx args: bitStart=4, length=3
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// 00011100 mask byte
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// 10101111 original value (sample)
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// 10100011 original & ~mask
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// 10101011 masked | value
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uint8_t b = 0;
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if (readByte(devAddr, regAddr, &b) != 0) {
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uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
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data <<= (bitStart - length + 1); // shift data into correct position
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data &= mask; // zero all non-important bits in data
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b &= ~(mask); // zero all important bits in existing byte
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b |= data; // combine data with existing byte
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return writeByte(devAddr, regAddr, b);
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} else {
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return false;
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}
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}
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/** Write single byte to an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr Register address to write to
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* @param data New byte value to write
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* @return Status of operation (true = success)
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*/
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bool I2Cdev::writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data) {
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i2c_cmd_handle_t cmd;
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_WRITE, 1));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, regAddr, 1));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, data, 1));
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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return true;
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}
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/** Write single byte to an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr Register address to write to
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* @param length Number of bytes to write
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* @param data Array of bytes to write
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* @return Status of operation (true = success)
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*/
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bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data){
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i2c_cmd_handle_t cmd;
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_WRITE, 1));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, regAddr, 1));
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ESP_ERROR_CHECK(i2c_master_write(cmd, data, length-1, 0));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, data[length-1], 1));
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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return true;
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}
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‎ESP32_ESP-IDF/components/I2Cdev/I2Cdev.h

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// I2Cdev library collection - Main I2C device class
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// Abstracts bit and byte I2C R/W functions into a convenient class
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// EFM32 stub port by Nicolas Baldeck <nicolas@pioupiou.fr>
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// Based on Arduino's I2Cdev by Jeff Rowberg <jeff@rowberg.net>
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//
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// Changelog:
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// 2015-01-02 - Initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2015 Jeff Rowberg, Nicolas Baldeck
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
18+
copies of the Software, and to permit persons to whom the Software is
10000 19+
furnished to do so, subject to the following conditions:
20+
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The above copyright notice and this permission notice shall be included in
22+
all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
26+
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#ifndef _I2CDEV_H_
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#define _I2CDEV_H_
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#include <driver/i2c.h>
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#define I2C_SDA_PORT gpioPortA
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#define I2C_SDA_PIN 0
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#define I2C_SDA_MODE gpioModeWiredAnd
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#define I2C_SDA_DOUT 1
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#define I2C_SCL_PORT gpioPortA
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#define I2C_SCL_PIN 1
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#define I2C_SCL_MODE gpioModeWiredAnd
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#define I2C_SCL_DOUT 1
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#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
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class I2Cdev {
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public:
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I2Cdev();
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static void initialize();
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static void enable(bool isEnabled);
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static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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//TODO static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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//TODO static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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//TODO static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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//TODO static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
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//TODO static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
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static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
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//TODO static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
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static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
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static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
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static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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//TODO static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
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static uint16_t readTimeout;
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//private:
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static void SelectRegister(uint8_t dev, uint8_t reg);
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//static I2C_TransferReturn_TypeDef transfer(I2C_TransferSeq_TypeDef *seq, uint16_t timeout=I2Cdev::readTimeout);
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};
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#endif /* _I2CDEV_H_ */

‎ESP32_ESP-IDF/components/I2Cdev/component.mk

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#
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# Main component makefile.
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#
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# This Makefile can be left empty. By default, it will take the sources in the
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# src/ directory, compile them and link them into lib(subdirectory_name).a
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# in the build directory. This behaviour is entirely configurable,
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# please read the ESP-IDF documents if you need to do this.
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#
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COMPONENT_ADD_INCLUDEDIRS=.

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