1 // I2Cdev library collection - Main I2C device class header file
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2 // Abstracts bit and byte I2C R/W functions into a convenient class
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3 // 11/1/2011 by Jeff Rowberg <jeff@rowberg.net>
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6 // 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
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7 // 2011-10-03 - added automatic Arduino version detection for ease of use
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8 // 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
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9 // 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
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10 // 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
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11 // 2011-08-02 - added support for 16-bit registers
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12 // - fixed incorrect Doxygen comments on some methods
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13 // - added timeout value for read operations (thanks mem @ Arduino forums)
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14 // 2011-07-30 - changed read/write function structures to return success or byte counts
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15 // - made all methods static for multi-device memory savings
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16 // 2011-07-28 - initial release
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18 /* ============================================
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19 I2Cdev device library code is placed under the MIT license
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20 Copyright (c) 2011 Jeff Rowberg
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22 Permission is hereby granted, free of charge, to any person obtaining a copy
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23 of this software and associated documentation files (the "Software"), to deal
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24 in the Software without restriction, including without limitation the rights
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25 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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26 copies of the Software, and to permit persons to whom the Software is
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27 furnished to do so, subject to the following conditions:
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29 The above copyright notice and this permission notice shall be included in
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30 all copies or substantial portions of the Software.
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32 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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33 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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34 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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35 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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36 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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37 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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39 ===============================================
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45 // -----------------------------------------------------------------------------
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46 // I2C interface implementation setting
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47 // -----------------------------------------------------------------------------
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48 #define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
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50 // -----------------------------------------------------------------------------
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51 // I2C interface implementation options
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52 // -----------------------------------------------------------------------------
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53 #define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
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54 #define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
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55 // ^^^ NBWire implementation is still buggy w/some interrupts!
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56 #define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
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58 // -----------------------------------------------------------------------------
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59 // Arduino-style "Serial.print" debug constant (uncomment to enable)
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60 // -----------------------------------------------------------------------------
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61 //#define I2CDEV_SERIAL_DEBUG
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65 #include "WProgram.h"
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67 #include "Arduino.h"
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69 #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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73 #include "ArduinoWrapper.h"
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76 // 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
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77 #define I2CDEV_DEFAULT_READ_TIMEOUT 1000
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83 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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84 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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85 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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86 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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87 static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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88 static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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89 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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90 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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92 static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
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93 static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
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94 static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
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95 static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
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96 static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
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97 static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
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98 static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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99 static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
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101 static uint16_t readTimeout;
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104 #if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
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106 //////////////////////
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107 // Copyright(C) 2011
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108 // Francesco Ferrara
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109 //////////////////////
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112 #define TW_START 0x08
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113 #define TW_REP_START 0x10
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115 /* Master Transmitter */
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116 #define TW_MT_SLA_ACK 0x18
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117 #define TW_MT_SLA_NACK 0x20
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118 #define TW_MT_DATA_ACK 0x28
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119 #define TW_MT_DATA_NACK 0x30
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120 #define TW_MT_ARB_LOST 0x38
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122 /* Master Receiver */
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123 #define TW_MR_ARB_LOST 0x38
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124 #define TW_MR_SLA_ACK 0x40
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125 #define TW_MR_SLA_NACK 0x48
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126 #define TW_MR_DATA_ACK 0x50
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127 #define TW_MR_DATA_NACK 0x58
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134 static boolean waitInt();
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137 static void setup(int khz, boolean pullup);
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138 static byte write(byte device, byte address, byte value);
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139 static byte readBuf(byte device, byte address, byte *data, byte num);
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143 #if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
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144 // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
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145 // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
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146 // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
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148 #define NBWIRE_BUFFER_LENGTH 32
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152 static uint8_t rxBuffer[];
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153 static uint8_t rxBufferIndex;
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154 static uint8_t rxBufferLength;
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156 static uint8_t txAddress;
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157 static uint8_t txBuffer[];
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158 static uint8_t txBufferIndex;
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159 static uint8_t txBufferLength;
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161 // static uint8_t transmitting;
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162 static void (*user_onRequest)(void);
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163 static void (*user_onReceive)(int);
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164 static void onRequestService(void);
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165 static void onReceiveService(uint8_t*, int);
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170 void begin(uint8_t);
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172 void beginTransmission(uint8_t);
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173 //void beginTransmission(int);
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174 uint8_t endTransmission(uint16_t timeout=0);
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175 void nbendTransmission(void (*function)(int)) ;
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176 uint8_t requestFrom(uint8_t, int, uint16_t timeout=0);
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177 //uint8_t requestFrom(int, int);
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178 void nbrequestFrom(uint8_t, int, void (*function)(int));
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179 void send(uint8_t);
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180 void send(uint8_t*, uint8_t);
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183 uint8_t available(void);
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184 uint8_t receive(void);
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185 void onReceive(void (*)(int));
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186 void onRequest(void (*)(void));
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189 #define TWI_READY 0
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198 #define TW_MT_SLA_NACK 0x20
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199 #define TW_MT_DATA_NACK 0x30
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201 #define CPU_FREQ 16000000L
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202 #define TWI_FREQ 100000L
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203 #define TWI_BUFFER_LENGTH 32
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205 /* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
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207 #define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
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208 #define TW_STATUS (TWSR & TW_STATUS_MASK)
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209 #define TW_START 0x08
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210 #define TW_REP_START 0x10
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211 #define TW_MT_SLA_ACK 0x18
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212 #define TW_MT_SLA_NACK 0x20
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213 #define TW_MT_DATA_ACK 0x28
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214 #define TW_MT_DATA_NACK 0x30
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215 #define TW_MT_ARB_LOST 0x38
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216 #define TW_MR_ARB_LOST 0x38
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217 #define TW_MR_SLA_ACK 0x40
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218 #define TW_MR_SLA_NACK 0x48
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219 #define TW_MR_DATA_ACK 0x50
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220 #define TW_MR_DATA_NACK 0x58
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221 #define TW_ST_SLA_ACK 0xA8
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222 #define TW_ST_ARB_LOST_SLA_ACK 0xB0
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223 #define TW_ST_DATA_ACK 0xB8
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224 #define TW_ST_DATA_NACK 0xC0
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225 #define TW_ST_LAST_DATA 0xC8
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226 #define TW_SR_SLA_ACK 0x60
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227 #define TW_SR_ARB_LOST_SLA_ACK 0x68
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228 #define TW_SR_GCALL_ACK 0x70
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229 #define TW_SR_ARB_LOST_GCALL_ACK 0x78
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230 #define TW_SR_DATA_ACK 0x80
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231 #define TW_SR_DATA_NACK 0x88
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232 #define TW_SR_GCALL_DATA_ACK 0x90
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233 #define TW_SR_GCALL_DATA_NACK 0x98
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234 #define TW_SR_STOP 0xA0
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235 #define TW_NO_INFO 0xF8
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236 #define TW_BUS_ERROR 0x00
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238 //#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
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239 //#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
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241 #ifndef sbi // set bit
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242 #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
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245 #ifndef cbi // clear bit
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246 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
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249 extern TwoWire Wire;
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251 #endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
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253 #endif /* _I2CDEV_H_ */