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Added ESP32 esp-idf platform
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| # | ||
| # This is a project Makefile. It is assumed the directory this Makefile resides in is a | ||
| # project subdirectory. | ||
| # | ||
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| PROJECT_NAME := app-template | ||
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| include $(IDF_PATH)/make/project.mk | ||
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| I2CDev library rewritted to match esp-idf. DMP should work, only need is to setup | ||
| mpu.setXGyroOffset(220); | ||
| mpu.setYGyroOffset(76); | ||
| mpu.setZGyroOffset(-85); | ||
| mpu.setZAccelOffset(1788); | ||
| and eventually change last value in components/MPU6050/MPU6050_6Axis_MotionApps20.h. |
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| // I2Cdev library collection - Main I2C device class | ||
| // Abstracts bit and byte I2C R/W functions into a convenient class | ||
| // EFM32 stub port by Nicolas Baldeck <nicolas@pioupiou.fr> | ||
| // Based on Arduino's I2Cdev by Jeff Rowberg <jeff@rowberg.net> | ||
| // | ||
| // Changelog: | ||
| // 2015-01-02 - Initial release | ||
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| /* ============================================ | ||
| I2Cdev device library code is placed under the MIT license | ||
| Copyright (c) 2015 Jeff Rowberg, Nicolas Baldeck | ||
| 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. | ||
| =============================================== | ||
| */ | ||
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| #include <esp_log.h> | ||
| #include <esp_err.h> | ||
| #include <freertos/FreeRTOS.h> | ||
| #include <freertos/task.h> | ||
| #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 | ||
| #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. | ||
| */ | ||
| I2Cdev::I2Cdev() { | ||
| } | ||
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| /** Initialize I2C0 | ||
| */ | ||
| void I2Cdev::initialize() { | ||
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| } | ||
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| /** Enable or disable I2C | ||
| * @param isEnabled true = enable, false = disable | ||
| */ | ||
| void I2Cdev::enable(bool isEnabled) { | ||
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| } | ||
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| /** Default timeout value for read operations. | ||
| */ | ||
| uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; | ||
| /** 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) { | ||
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| uint8_t b; | ||
| uint8_t count = readByte(devAddr, regAddr, &b, timeout); | ||
| *data = b & (1 << bitNum); | ||
| return count; | ||
| } | ||
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| /** 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; | ||
| } | ||
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| /** 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); | ||
| } | ||
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| /** 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 I2C_TransferReturn_TypeDef http://downloads.energymicro.com/documentation/doxygen/group__I2C.html | ||
| */ | ||
| int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) { | ||
| i2c_cmd_handle_t cmd; | ||
| SelectRegister(devAddr, regAddr); | ||
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| cmd = i2c_cmd_link_create(); | ||
| ESP_ERROR_CHECK(i2c_master_start(cmd)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_READ, 1)); | ||
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| if(length>1) | ||
| 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)); | ||
| ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS)); | ||
| i2c_cmd_link_delete(cmd); | ||
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| return length; | ||
| } | ||
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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)}; | ||
| uint8_t data2[] = {(uint8_t)(data & 0xff), (uint8_t)(data>>8)}; | ||
| writeBytes(devAddr, regAddr, 2, data1); | ||
| return true; | ||
| } | ||
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| void I2Cdev::SelectRegister(uint8_t dev, uint8_t reg){ | ||
| i2c_cmd_handle_t cmd; | ||
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| cmd = i2c_cmd_link_create(); | ||
| ESP_ERROR_CHECK(i2c_master_start(cmd)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (dev << 1) | I2C_MASTER_WRITE, 1)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, reg, 1)); | ||
| ESP_ERROR_CHECK(i2c_master_stop(cmd)); | ||
| ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS)); | ||
| i2c_cmd_link_delete(cmd); | ||
| } | ||
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| /** 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); | ||
| } | ||
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| /** 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 = 0; | ||
| 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; | ||
| } | ||
| } | ||
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| /** 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) { | ||
| i2c_cmd_handle_t cmd; | ||
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| cmd = i2c_cmd_link_create(); | ||
| ESP_ERROR_CHECK(i2c_master_start(cmd)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_WRITE, 1)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, regAddr, 1)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, data, 1)); | ||
| ESP_ERROR_CHECK(i2c_master_stop(cmd)); | ||
| ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS)); | ||
| i2c_cmd_link_delete(cmd); | ||
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| return true; | ||
| } | ||
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| /** Write single byte to an 8-bit device register. | ||
| * @param devAddr I2C slave device address | ||
| * @param regAddr Register address to write to | ||
| * @param length Number of bytes to write | ||
| * @param data Array of bytes to write | ||
| * @return Status of operation (true = success) | ||
| */ | ||
| bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data){ | ||
| i2c_cmd_handle_t cmd; | ||
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| cmd = i2c_cmd_link_create(); | ||
| ESP_ERROR_CHECK(i2c_master_start(cmd)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_WRITE, 1)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, regAddr, 1)); | ||
| ESP_ERROR_CHECK(i2c_master_write(cmd, data, length-1, 0)); | ||
| ESP_ERROR_CHECK(i2c_master_write_byte(cmd, data[length-1], 1)); | ||
| ESP_ERROR_CHECK(i2c_master_stop(cmd)); | ||
| ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS)); | ||
| i2c_cmd_link_delete(cmd); | ||
| return true; | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| // I2Cdev library collection - Main I2C device class | ||
| // Abstracts bit and byte I2C R/W functions into a convenient class | ||
| // EFM32 stub port by Nicolas Baldeck <nicolas@pioupiou.fr> | ||
| // Based on Arduino's I2Cdev by Jeff Rowberg <jeff@rowberg.net> | ||
| // | ||
| // Changelog: | ||
| // 2015-01-02 - Initial release | ||
|
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|
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| /* ============================================ | ||
| I2Cdev device library code is placed under the MIT license | ||
| Copyright (c) 2015 Jeff Rowberg, Nicolas Baldeck | ||
| 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. | ||
| =============================================== | ||
| */ | ||
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| #ifndef _I2CDEV_H_ | ||
| #define _I2CDEV_H_ | ||
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| #include <driver/i2c.h> | ||
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| #define I2C_SDA_PORT gpioPortA | ||
| #define I2C_SDA_PIN 0 | ||
| #define I2C_SDA_MODE gpioModeWiredAnd | ||
| #define I2C_SDA_DOUT 1 | ||
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| #define I2C_SCL_PORT gpioPortA | ||
| #define I2C_SCL_PIN 1 | ||
| #define I2C_SCL_MODE gpioModeWiredAnd | ||
| #define I2C_SCL_DOUT 1 | ||
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| #define I2CDEV_DEFAULT_READ_TIMEOUT 1000 | ||
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| class I2Cdev { | ||
| public: | ||
| I2Cdev(); | ||
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| static void initialize(); | ||
| 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); | ||
| //TODO 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); | ||
| //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); | ||
| static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); | ||
| //TODO 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); | ||
| //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); | ||
| //TODO 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); | ||
| //TODO 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); | ||
| //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: | ||
| static void SelectRegister(uint8_t dev, uint8_t reg); | ||
| //static I2C_TransferReturn_TypeDef transfer(I2C_TransferSeq_TypeDef *seq, uint16_t timeout=I2Cdev::readTimeout); | ||
| }; | ||
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| #endif /* _I2CDEV_H_ */ |
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| @@ -0,0 +1,10 @@ | ||
| # | ||
| # Main component makefile. | ||
| # | ||
| # This Makefile can be left empty. By default, it will take the sources in the | ||
| # src/ directory, compile them and link them into lib(subdirectory_name).a | ||
| # in the build directory. This behaviour is entirely configurable, | ||
| # please read the ESP-IDF documents if you need to do this. | ||
| # | ||
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| COMPONENT_ADD_INCLUDEDIRS=. |
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