diff --git a/.github/workflows/check-arduino.yml b/.github/workflows/check-arduino.yml index adb330f..97b2bf2 100644 --- a/.github/workflows/check-arduino.yml +++ b/.github/workflows/check-arduino.yml @@ -16,10 +16,10 @@ jobs: steps: - name: Checkout repository - uses: actions/checkout@v4 + uses: actions/checkout@v6 - name: Arduino Lint - uses: arduino/arduino-lint-action@v1 + uses: arduino/arduino-lint-action@v2 with: compliance: specification library-manager: update diff --git a/.github/workflows/compile-examples.yml b/.github/workflows/compile-examples.yml index 39fd50f..af33e87 100644 --- a/.github/workflows/compile-examples.yml +++ b/.github/workflows/compile-examples.yml @@ -34,7 +34,7 @@ jobs: steps: - name: Checkout repository - uses: actions/checkout@v4 + uses: actions/checkout@v6 - name: Compile example sketches uses: arduino/compile-sketches@v1 @@ -54,7 +54,7 @@ jobs: github-token: ${{ secrets.GITHUB_TOKEN }} - name: Save memory usage change report as artifact - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v6 with: if-no-files-found: error path: ${{ env.SKETCHES_REPORTS_PATH }} diff --git a/.github/workflows/spell-check.yml b/.github/workflows/spell-check.yml index ef7d894..8fc4b8c 100644 --- a/.github/workflows/spell-check.yml +++ b/.github/workflows/spell-check.yml @@ -16,7 +16,7 @@ jobs: steps: - name: Checkout repository - uses: actions/checkout@v4 + uses: actions/checkout@v6 - name: Spell check uses: codespell-project/actions-codespell@master diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml index 9cde1ac..6808710 100644 --- a/.github/workflows/sync-labels.yml +++ b/.github/workflows/sync-labels.yml @@ -27,7 +27,7 @@ jobs: steps: - name: Checkout repository - uses: actions/checkout@v4 + uses: actions/checkout@v6 - name: Download JSON schema for labels configuration file id: download-schema @@ -70,7 +70,7 @@ jobs: file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/${{ matrix.filename }} - name: Pass configuration files to next job via workflow artifact - uses: actions/upload-artifact@v3 + uses: actions/upload-artifact@v6 with: path: | *.yaml @@ -105,16 +105,16 @@ jobs: echo "::set-output name=flag::--dry-run" - name: Checkout repository - uses: actions/checkout@v4 + uses: actions/checkout@v6 - name: Download configuration files artifact - uses: actions/download-artifact@v3 + uses: actions/download-artifact@v7 with: name: ${{ env.CONFIGURATIONS_ARTIFACT }} path: ${{ env.CONFIGURATIONS_FOLDER }} - name: Remove unneeded artifact - uses: geekyeggo/delete-artifact@v2 + uses: geekyeggo/delete-artifact@v5 with: name: ${{ env.CONFIGURATIONS_ARTIFACT }} diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..a612ad9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,373 @@ +Mozilla Public License Version 2.0 +================================== + +1. Definitions +-------------- + +1.1. "Contributor" + means each individual or legal entity that creates, contributes to + the creation of, or owns Covered Software. + +1.2. "Contributor Version" + means the combination of the Contributions of others (if any) used + by a Contributor and that particular Contributor's Contribution. + +1.3. "Contribution" + means Covered Software of a particular Contributor. + +1.4. "Covered Software" + means Source Code Form to which the initial Contributor has attached + the notice in Exhibit A, the Executable Form of such Source Code + Form, and Modifications of such Source Code Form, in each case + including portions thereof. + +1.5. "Incompatible With Secondary Licenses" + means + + (a) that the initial Contributor has attached the notice described + in Exhibit B to the Covered Software; or + + (b) that the Covered Software was made available under the terms of + version 1.1 or earlier of the License, but not also under the + terms of a Secondary License. + +1.6. "Executable Form" + means any form of the work other than Source Code Form. + +1.7. "Larger Work" + means a work that combines Covered Software with other material, in + a separate file or files, that is not Covered Software. + +1.8. "License" + means this document. + +1.9. "Licensable" + means having the right to grant, to the maximum extent possible, + whether at the time of the initial grant or subsequently, any and + all of the rights conveyed by this License. + +1.10. "Modifications" + means any of the following: + + (a) any file in Source Code Form that results from an addition to, + deletion from, or modification of the contents of Covered + Software; or + + (b) any new file in Source Code Form that contains any Covered + Software. + +1.11. "Patent Claims" of a Contributor + means any patent claim(s), including without limitation, method, + process, and apparatus claims, in any patent Licensable by such + Contributor that would be infringed, but for the grant of the + License, by the making, using, selling, offering for sale, having + made, import, or transfer of either its Contributions or its + Contributor Version. + +1.12. "Secondary License" + means either the GNU General Public License, Version 2.0, the GNU + Lesser General Public License, Version 2.1, the GNU Affero General + Public License, Version 3.0, or any later versions of those + licenses. + +1.13. "Source Code Form" + means the form of the work preferred for making modifications. + +1.14. "You" (or "Your") + means an individual or a legal entity exercising rights under this + License. For legal entities, "You" includes any entity that + controls, is controlled by, or is under common control with You. For + purposes of this definition, "control" means (a) the power, direct + or indirect, to cause the direction or management of such entity, + whether by contract or otherwise, or (b) ownership of more than + fifty percent (50%) of the outstanding shares or beneficial + ownership of such entity. + +2. License Grants and Conditions +-------------------------------- + +2.1. Grants + +Each Contributor hereby grants You a world-wide, royalty-free, +non-exclusive license: + +(a) under intellectual property rights (other than patent or trademark) + Licensable by such Contributor to use, reproduce, make available, + modify, display, perform, distribute, and otherwise exploit its + Contributions, either on an unmodified basis, with Modifications, or + as part of a Larger Work; and + +(b) under Patent Claims of such Contributor to make, use, sell, offer + for sale, have made, import, and otherwise transfer either its + Contributions or its Contributor Version. + +2.2. Effective Date + +The licenses granted in Section 2.1 with respect to any Contribution +become effective for each Contribution on the date the Contributor first +distributes such Contribution. + +2.3. Limitations on Grant Scope + +The licenses granted in this Section 2 are the only rights granted under +this License. No additional rights or licenses will be implied from the +distribution or licensing of Covered Software under this License. +Notwithstanding Section 2.1(b) above, no patent license is granted by a +Contributor: + +(a) for any code that a Contributor has removed from Covered Software; + or + +(b) for infringements caused by: (i) Your and any other third party's + modifications of Covered Software, or (ii) the combination of its + Contributions with other software (except as part of its Contributor + Version); or + +(c) under Patent Claims infringed by Covered Software in the absence of + its Contributions. + +This License does not grant any rights in the trademarks, service marks, +or logos of any Contributor (except as may be necessary to comply with +the notice requirements in Section 3.4). + +2.4. Subsequent Licenses + +No Contributor makes additional grants as a result of Your choice to +distribute the Covered Software under a subsequent version of this +License (see Section 10.2) or under the terms of a Secondary License (if +permitted under the terms of Section 3.3). + +2.5. Representation + +Each Contributor represents that the Contributor believes its +Contributions are its original creation(s) or it has sufficient rights +to grant the rights to its Contributions conveyed by this License. + +2.6. Fair Use + +This License is not intended to limit any rights You have under +applicable copyright doctrines of fair use, fair dealing, or other +equivalents. + +2.7. Conditions + +Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted +in Section 2.1. + +3. Responsibilities +------------------- + +3.1. Distribution of Source Form + +All distribution of Covered Software in Source Code Form, including any +Modifications that You create or to which You contribute, must be under +the terms of this License. You must inform recipients that the Source +Code Form of the Covered Software is governed by the terms of this +License, and how they can obtain a copy of this License. You may not +attempt to alter or restrict the recipients' rights in the Source Code +Form. + +3.2. Distribution of Executable Form + +If You distribute Covered Software in Executable Form then: + +(a) such Covered Software must also be made available in Source Code + Form, as described in Section 3.1, and You must inform recipients of + the Executable Form how they can obtain a copy of such Source Code + Form by reasonable means in a timely manner, at a charge no more + than the cost of distribution to the recipient; and + +(b) You may distribute such Executable Form under the terms of this + License, or sublicense it under different terms, provided that the + license for the Executable Form does not attempt to limit or alter + the recipients' rights in the Source Code Form under this License. + +3.3. Distribution of a Larger Work + +You may create and distribute a Larger Work under terms of Your choice, +provided that You also comply with the requirements of this License for +the Covered Software. If the Larger Work is a combination of Covered +Software with a work governed by one or more Secondary Licenses, and the +Covered Software is not Incompatible With Secondary Licenses, this +License permits You to additionally distribute such Covered Software +under the terms of such Secondary License(s), so that the recipient of +the Larger Work may, at their option, further distribute the Covered +Software under the terms of either this License or such Secondary +License(s). + +3.4. Notices + +You may not remove or alter the substance of any license notices +(including copyright notices, patent notices, disclaimers of warranty, +or limitations of liability) contained within the Source Code Form of +the Covered Software, except that You may alter any license notices to +the extent required to remedy known factual inaccuracies. + +3.5. Application of Additional Terms + +You may choose to offer, and to charge a fee for, warranty, support, +indemnity or liability obligations to one or more recipients of Covered +Software. However, You may do so only on Your own behalf, and not on +behalf of any Contributor. You must make it absolutely clear that any +such warranty, support, indemnity, or liability obligation is offered by +You alone, and You hereby agree to indemnify every Contributor for any +liability incurred by such Contributor as a result of warranty, support, +indemnity or liability terms You offer. You may include additional +disclaimers of warranty and limitations of liability specific to any +jurisdiction. + +4. Inability to Comply Due to Statute or Regulation +--------------------------------------------------- + +If it is impossible for You to comply with any of the terms of this +License with respect to some or all of the Covered Software due to +statute, judicial order, or regulation then You must: (a) comply with +the terms of this License to the maximum extent possible; and (b) +describe the limitations and the code they affect. Such description must +be placed in a text file included with all distributions of the Covered +Software under this License. Except to the extent prohibited by statute +or regulation, such description must be sufficiently detailed for a +recipient of ordinary skill to be able to understand it. + +5. Termination +-------------- + +5.1. The rights granted under this License will terminate automatically +if You fail to comply with any of its terms. However, if You become +compliant, then the rights granted under this License from a particular +Contributor are reinstated (a) provisionally, unless and until such +Contributor explicitly and finally terminates Your grants, and (b) on an +ongoing basis, if such Contributor fails to notify You of the +non-compliance by some reasonable means prior to 60 days after You have +come back into compliance. Moreover, Your grants from a particular +Contributor are reinstated on an ongoing basis if such Contributor +notifies You of the non-compliance by some reasonable means, this is the +first time You have received notice of non-compliance with this License +from such Contributor, and You become compliant prior to 30 days after +Your receipt of the notice. + +5.2. If You initiate litigation against any entity by asserting a patent +infringement claim (excluding declaratory judgment actions, +counter-claims, and cross-claims) alleging that a Contributor Version +directly or indirectly infringes any patent, then the rights granted to +You by any and all Contributors for the Covered Software under Section +2.1 of this License shall terminate. + +5.3. In the event of termination under Sections 5.1 or 5.2 above, all +end user license agreements (excluding distributors and resellers) which +have been validly granted by You or Your distributors under this License +prior to termination shall survive termination. + +************************************************************************ +* * +* 6. Disclaimer of Warranty * +* ------------------------- * +* * +* Covered Software is provided under this License on an "as is" * +* basis, without warranty of any kind, either expressed, implied, or * +* statutory, including, without limitation, warranties that the * +* Covered Software is free of defects, merchantable, fit for a * +* particular purpose or non-infringing. The entire risk as to the * +* quality and performance of the Covered Software is with You. * +* Should any Covered Software prove defective in any respect, You * +* (not any Contributor) assume the cost of any necessary servicing, * +* repair, or correction. This disclaimer of warranty constitutes an * +* essential part of this License. No use of any Covered Software is * +* authorized under this License except under this disclaimer. * +* * +************************************************************************ + +************************************************************************ +* * +* 7. Limitation of Liability * +* -------------------------- * +* * +* Under no circumstances and under no legal theory, whether tort * +* (including negligence), contract, or otherwise, shall any * +* Contributor, or anyone who distributes Covered Software as * +* permitted above, be liable to You for any direct, indirect, * +* special, incidental, or consequential damages of any character * +* including, without limitation, damages for lost profits, loss of * +* goodwill, work stoppage, computer failure or malfunction, or any * +* and all other commercial damages or losses, even if such party * +* shall have been informed of the possibility of such damages. This * +* limitation of liability shall not apply to liability for death or * +* personal injury resulting from such party's negligence to the * +* extent applicable law prohibits such limitation. Some * +* jurisdictions do not allow the exclusion or limitation of * +* incidental or consequential damages, so this exclusion and * +* limitation may not apply to You. * +* * +************************************************************************ + +8. Litigation +------------- + +Any litigation relating to this License may be brought only in the +courts of a jurisdiction where the defendant maintains its principal +place of business and such litigation shall be governed by laws of that +jurisdiction, without reference to its conflict-of-law provisions. +Nothing in this Section shall prevent a party's ability to bring +cross-claims or counter-claims. + +9. Miscellaneous +---------------- + +This License represents the complete agreement concerning the subject +matter hereof. If any provision of this License is held to be +unenforceable, such provision shall be reformed only to the extent +necessary to make it enforceable. Any law or regulation which provides +that the language of a contract shall be construed against the drafter +shall not be used to construe this License against a Contributor. + +10. Versions of the License +--------------------------- + +10.1. New Versions + +Mozilla Foundation is the license steward. Except as provided in Section +10.3, no one other than the license steward has the right to modify or +publish new versions of this License. Each version will be given a +distinguishing version number. + +10.2. Effect of New Versions + +You may distribute the Covered Software under the terms of the version +of the License under which You originally received the Covered Software, +or under the terms of any subsequent version published by the license +steward. + +10.3. Modified Versions + +If you create software not governed by this License, and you want to +create a new license for such software, you may create and use a +modified version of this License if you rename the license and remove +any references to the name of the license steward (except to note that +such modified license differs from this License). + +10.4. Distributing Source Code Form that is Incompatible With Secondary +Licenses + +If You choose to distribute Source Code Form that is Incompatible With +Secondary Licenses under the terms of this version of the License, the +notice described in Exhibit B of this License must be attached. + +Exhibit A - Source Code Form License Notice +------------------------------------------- + + This Source Code Form is subject to the terms of the Mozilla Public + License, v. 2.0. If a copy of the MPL was not distributed with this + file, You can obtain one at http://mozilla.org/MPL/2.0/. + +If it is not possible or desirable to put the notice in a particular +file, then You may include the notice in a location (such as a LICENSE +file in a relevant directory) where a recipient would be likely to look +for such a notice. + +You may add additional accurate notices of copyright ownership. + +Exhibit B - "Incompatible With Secondary Licenses" Notice +--------------------------------------------------------- + + This Source Code Form is "Incompatible With Secondary Licenses", as + defined by the Mozilla Public License, v. 2.0. diff --git a/LICENSE.txt b/LICENSE.txt deleted file mode 100644 index 8000a6f..0000000 --- a/LICENSE.txt +++ /dev/null @@ -1,504 +0,0 @@ - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, Inc. - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - -[This is the first released version of the Lesser GPL. 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See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 - USA - -Also add information on how to contact you by electronic and paper mail. - -You should also get your employer (if you work as a programmer) or your -school, if any, to sign a "copyright disclaimer" for the library, if -necessary. Here is a sample; alter the names: - - Yoyodyne, Inc., hereby disclaims all copyright interest in the - library `Frob' (a library for tweaking knobs) written by James Random - Hacker. - - , 1 April 1990 - Ty Coon, President of Vice - -That's all there is to it! diff --git a/README.md b/README.md index 8c74f0b..2336228 100644 --- a/README.md +++ b/README.md @@ -1,30 +1,15 @@ # 🏭 Library for Portenta Machine Control -The Arduino Portenta Machine Control is a versatile industrial unit for driving machinery. It offers soft-PLC control, diverse I/O options, and flexible network connectivity. - -The Machine Control library enables efficient management of the features of the Portenta Machine Control board. - -📦 For more information about this product: -https://www.arduino.cc/pro/hardware/product/portenta-machine-control - -📖 For more information about this library please read the documentation [here](./docs/). - -## License +> [!IMPORTANT] +> +> This library is an upgraded and improved version designed to replace the deprecated [Arduino_MachineControl](https://github.com/arduino-libraries/Arduino_MachineControl). If you need assistance with migration, refer to the [migration guide](https://docs.arduino.cc/tutorials/portenta-machine-control/pmc-arduino-library). +> +> Please note that all the [examples](./examples/) provided in this repository are not compatible with the deprecated library. -``` -Copyright (c) 2021 Arduino SA. All rights reserved. +The Portenta Machine Control library enables efficient management of the features of the Portenta Machine Control board. -This library is free software; you can redistribute it and/or -modify it under the terms of the GNU Lesser General Public -License as published by the Free Software Foundation; either -version 2.1 of the License, or (at your option) any later version. +The Arduino Portenta Machine Control is a versatile industrial unit for driving machinery. It offers soft-PLC control, diverse I/O options, and flexible network connectivity. -This library is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -Lesser General Public License for more details. +📦 For more information about this product, please visit the [product page](https://www.arduino.cc/pro/hardware/product/portenta-machine-control) and refer to the [user manual](https://docs.arduino.cc/tutorials/portenta-machine-control/user-manual/). -You should have received a copy of the GNU Lesser General Public -License along with this library; if not, write to the Free Software -Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -``` \ No newline at end of file +📖 For more information about this library please read the documentation [here](./docs/). diff --git a/docs/README.md b/docs/README.md index 56c50af..c0752f1 100644 --- a/docs/README.md +++ b/docs/README.md @@ -1,17 +1,17 @@ # Portenta Machine Control Library -[![Check Arduino status](https://github.com/arduino-libraries/Arduino_MachineControl/actions/workflows/check-arduino.yml/badge.svg)](https://github.com/arduino-libraries/Arduino_MachineControl/actions/workflows/check-arduino.yml) -[![Compile Examples status](https://github.com/arduino-libraries/Arduino_MachineControl/actions/workflows/compile-examples.yml/badge.svg)](https://github.com/arduino-libraries/Arduino_MachineControl/actions/workflows/compile-examples.yml) -[![Spell Check status](https://github.com/arduino-libraries/Arduino_MachineControl/actions/workflows/spell-check.yml/badge.svg)](https://github.com/arduino-libraries/Arduino_MachineControl/actions/workflows/spell-check.yml) +[![Check Arduino status](https://github.com/arduino-libraries/Arduino_PortentaMachineControl/actions/workflows/check-arduino.yml/badge.svg)](https://github.com/arduino-libraries/Arduino_PortentaMachineControl/actions/workflows/check-arduino.yml) +[![Compile Examples status](https://github.com/arduino-libraries/Arduino_PortentaMachineControl/actions/workflows/compile-examples.yml/badge.svg)](https://github.com/arduino-libraries/Arduino_PortentaMachineControl/actions/workflows/compile-examples.yml) +[![Spell Check status](https://github.com/arduino-libraries/Arduino_PortentaMachineControl/actions/workflows/spell-check.yml/badge.svg)](https://github.com/arduino-libraries/Arduino_PortentaMachineControl/actions/workflows/spell-check.yml) -[![License](https://img.shields.io/badge/License-LGPLv2.1-blue.svg)](https://github.com/arduino-libraries/Arduino_MachineControl/blob/master/LICENSE.txt) +[![License](https://img.shields.io/badge/License-MPLv2.0-blue.svg)](https://github.com/arduino-libraries/Arduino_PortentaMachineControl/blob/main/LICENSE) The Portenta Machine Control Library is a C++ library designed to efficiently manage the functionalities of the Portenta Machine Control board. It provides extensive support for inputs such as digital, analog, and encoder signals, while offering outputs including digital and analog signals. This library also menages communication through protocols like CAN-BUS and serial ports, and allows connectivity via Ethernet, USB, Wi-Fi, and Bluetooth Low Energy. The library empowers users to easily initialize, control, and access the diverse functionalities of the Portenta Machine Control, enhancing its capability and adaptability for industrial applications. 📚 For more information about this library please visit us at: -https://www.arduino.cc/reference/en/libraries/arduino_machinecontrol +https://www.arduino.cc/reference/en/libraries/arduino_portentamachinecontrol/ ## Features @@ -42,8 +42,8 @@ To use this library, you must have a properly powered Portenta Machine Control b Here is a minimal example to control a digital output: ```cpp -// Include the Arduino MachineControl library -#include +// Include the Arduino PortentaMachineControl library +#include void setup() { // Initialize the digital outputs module of the MachineControl library @@ -65,6 +65,7 @@ void loop() { - **[Analog_input_0_10V](../examples/Analog_input/Analog_input_0_10V):** This example demonstrates how to read analog input signals in the 0-10V range. - **[Analog_input_4_20mA](../examples/Analog_input/Analog_input_4_20mA):** This example demonstrates how to read analog input signals in the 4-20mA range. - **[Analog_input_NTC](../examples/Analog_input/Analog_input_NTC):** This example shows reading analog input signals from NTC temperature probes. +- **[Fast_Analog_input_0_10V](../examples/Analog_input/Fast_Analog_input_0_10V):** This example demonstrates how to read analog input signals in the 0-10V range using the [Arduino_AdvancedAnalog](https://github.com/arduino-libraries/Arduino_AdvancedAnalog) library. - **[Analog_Out](../examples/Analog_Out):** This example shows how to control analog output signals. - **[ReadCan](../examples/CAN/ReadCan):** This example demonstrates how to read data using the CAN-BUS communication protocol. - **[WriteCan](../examples/CAN/WriteCan):** This example demonstrates how to send data using the CAN-BUS communication protocol. @@ -88,4 +89,4 @@ The API documentation can be found [here](./api.md). ## License -This library is released under the [LGPLv2.1 license](https://github.com/arduino-libraries/Arduino_MachineControl/blob/master/LICENSE.txt). +This library is released under the [MPL-2.0 license](https://github.com/arduino-libraries/Arduino_PortentaMachineControl/blob/main/LICENSE). diff --git a/examples/Analog_Out/Analog_Out.ino b/examples/Analog_Out/Analog_Out.ino index dbe9896..0a168b5 100644 --- a/examples/Analog_Out/Analog_Out.ino +++ b/examples/Analog_Out/Analog_Out.ino @@ -9,10 +9,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include #define PERIOD_MS 4 /* 4ms - 250Hz */ diff --git a/examples/Analog_input/Analog_input_0_10V/Analog_input_0_10V.ino b/examples/Analog_input/Analog_input_0_10V/Analog_input_0_10V.ino index 73a4be0..698a6e4 100644 --- a/examples/Analog_input/Analog_input_0_10V/Analog_input_0_10V.ino +++ b/examples/Analog_input/Analog_input_0_10V/Analog_input_0_10V.ino @@ -11,10 +11,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include const float RES_DIVIDER = 0.28057; const float REFERENCE = 3.0; diff --git a/examples/Analog_input/Analog_input_4_20mA/Analog_input_4_20mA.ino b/examples/Analog_input/Analog_input_4_20mA/Analog_input_4_20mA.ino index 2daedb5..7d67c6a 100644 --- a/examples/Analog_input/Analog_input_4_20mA/Analog_input_4_20mA.ino +++ b/examples/Analog_input/Analog_input_4_20mA/Analog_input_4_20mA.ino @@ -11,10 +11,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include #define SENSE_RES 120 diff --git a/examples/Analog_input/Analog_input_NTC/Analog_input_NTC.ino b/examples/Analog_input/Analog_input_NTC/Analog_input_NTC.ino index 61bb491..010e401 100644 --- a/examples/Analog_input/Analog_input_NTC/Analog_input_NTC.ino +++ b/examples/Analog_input/Analog_input_NTC/Analog_input_NTC.ino @@ -13,10 +13,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include #define REFERENCE_RES 100000 diff --git a/examples/Analog_input/Fast_Analog_input_0_10V/Fast_Analog_input_0_10V.ino b/examples/Analog_input/Fast_Analog_input_0_10V/Fast_Analog_input_0_10V.ino index 734c370..a4d986e 100644 --- a/examples/Analog_input/Fast_Analog_input_0_10V/Fast_Analog_input_0_10V.ino +++ b/examples/Analog_input/Fast_Analog_input_0_10V/Fast_Analog_input_0_10V.ino @@ -11,10 +11,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Leonardo Cavagnis @leonardocavagnis + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include #include const float RES_DIVIDER = 0.28057; diff --git a/examples/CAN/ReadCan/ReadCan.ino b/examples/CAN/ReadCan/ReadCan.ino index 04db30b..75c6474 100644 --- a/examples/CAN/ReadCan/ReadCan.ino +++ b/examples/CAN/ReadCan/ReadCan.ino @@ -8,10 +8,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include void setup() { Serial.begin(9600); diff --git a/examples/CAN/WriteCan/WriteCan.ino b/examples/CAN/WriteCan/WriteCan.ino index 0b957e0..4ea4c3d 100644 --- a/examples/CAN/WriteCan/WriteCan.ino +++ b/examples/CAN/WriteCan/WriteCan.ino @@ -8,10 +8,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include static uint32_t const CAN_ID = 13ul; static uint32_t msg_cnt = 0; diff --git a/examples/Digital_output/Digital_output.ino b/examples/Digital_output/Digital_output.ino index 98d76cd..908bde2 100644 --- a/examples/Digital_output/Digital_output.ino +++ b/examples/Digital_output/Digital_output.ino @@ -15,10 +15,12 @@ * * NOTE: connect pin "24V IN" of the DIGITAL_OUTPUTS connector to 24V * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include void setup() { Serial.begin(9600); diff --git a/examples/Digital_programmable/Digital_input/Digital_input.ino b/examples/Digital_programmable/Digital_input/Digital_input.ino index 13024e2..0cbe06b 100644 --- a/examples/Digital_programmable/Digital_input/Digital_input.ino +++ b/examples/Digital_programmable/Digital_input/Digital_input.ino @@ -7,10 +7,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include uint16_t readings = 0; diff --git a/examples/Digital_programmable/GPIO_programmable/GPIO_programmable.ino b/examples/Digital_programmable/GPIO_programmable/GPIO_programmable.ino index ae99c90..94ac303 100644 --- a/examples/Digital_programmable/GPIO_programmable/GPIO_programmable.ino +++ b/examples/Digital_programmable/GPIO_programmable/GPIO_programmable.ino @@ -9,10 +9,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include void setup() { Serial.begin(9600); diff --git a/examples/Encoders/Encoders.ino b/examples/Encoders/Encoders.ino index 3c3d50b..c7a640e 100644 --- a/examples/Encoders/Encoders.ino +++ b/examples/Encoders/Encoders.ino @@ -8,10 +8,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include void setup() { Serial.begin(9600); diff --git a/examples/Ethernet/Ethernet.ino b/examples/Ethernet/Ethernet.ino index 3857491..e8adf61 100644 --- a/examples/Ethernet/Ethernet.ino +++ b/examples/Ethernet/Ethernet.ino @@ -9,7 +9,9 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ #include diff --git a/examples/RS232/RS232.ino b/examples/RS232/RS232.ino index 1a12bf5..1373afa 100644 --- a/examples/RS232/RS232.ino +++ b/examples/RS232/RS232.ino @@ -13,10 +13,12 @@ * - Connect PMC RXP to RS232 Device TXD * - Connect PMC GND to RS232 Device GND * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include constexpr unsigned long sendInterval { 1000 }; unsigned long sendNow { 0 }; diff --git a/examples/RS485_fullduplex/RS485_fullduplex.ino b/examples/RS485_fullduplex/RS485_fullduplex.ino index b3c0389..ff4dbe6 100644 --- a/examples/RS485_fullduplex/RS485_fullduplex.ino +++ b/examples/RS485_fullduplex/RS485_fullduplex.ino @@ -12,10 +12,12 @@ * - Connect TXP to A(+) and TXN to B(-) * - Connect RXP to Y(+) and RXN to Z(-) * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include "Arduino_MachineControl.h" +#include "Arduino_PortentaMachineControl.h" constexpr unsigned long sendInterval { 1000 }; unsigned long sendNow { 0 }; @@ -36,7 +38,7 @@ void setup() { // - Half Duplex // - No A/B and Y/Z 120 Ohm termination enabled // Enable the RS485/RS232 system - MachineControl_RS485Comm.begin(115200, 0, 500); // Specify baudrate, and preamble and postamble times for RS485 communication + MachineControl_RS485Comm.begin(115200, SERIAL_8N1, 0, 500); // Specify baudrate, serial_config and preamble and postamble times for RS485 communication // Enable Full Duplex mode // This will also enable A/B and Y/Z 120 Ohm termination resistors @@ -68,4 +70,4 @@ void loop() { sendNow = millis() + sendInterval; } -} \ No newline at end of file +} diff --git a/examples/RS485_halfduplex/RS485_halfduplex.ino b/examples/RS485_halfduplex/RS485_halfduplex.ino index 414bb89..9da354a 100644 --- a/examples/RS485_halfduplex/RS485_halfduplex.ino +++ b/examples/RS485_halfduplex/RS485_halfduplex.ino @@ -11,10 +11,12 @@ * - A Slave device with RS485 interface * - Connect TXP to A(+) and TXN to B(-) * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include "Arduino_MachineControl.h" +#include "Arduino_PortentaMachineControl.h" constexpr unsigned long sendInterval { 1000 }; unsigned long sendNow { 0 }; @@ -35,7 +37,7 @@ void setup() { // - Half Duplex // - No A/B and Y/Z 120 Ohm termination enabled // Enable the RS485/RS232 system - MachineControl_RS485Comm.begin(115200, 0, 500); // Specify baudrate, and preamble and postamble times for RS485 communication + MachineControl_RS485Comm.begin(115200, SERIAL_8N1, 0, 500); // Specify baudrate, serial config and preamble and postamble times for RS485 communication // Start in receive mode MachineControl_RS485Comm.receive(); @@ -63,4 +65,4 @@ void loop() { sendNow = millis() + sendInterval; } -} \ No newline at end of file +} diff --git a/examples/RTC/RTC.ino b/examples/RTC/RTC.ino index a12b800..ba94ef4 100644 --- a/examples/RTC/RTC.ino +++ b/examples/RTC/RTC.ino @@ -8,10 +8,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include int year = 20; int month = 9; @@ -60,7 +62,7 @@ void loop() { Serial.print(":"); Serial.println(MachineControl_RTCController.getSeconds()); - time_t utc_time = time(NULL); + time_t utc_time = MachineControl_RTCController.getEpoch(); Serial.print("Date as UTC time: "); Serial.println(utc_time); Serial.println(); diff --git a/examples/RTC_Alarm/RTC_Alarm.ino b/examples/RTC_Alarm/RTC_Alarm.ino index 41277c9..a2aa7d5 100644 --- a/examples/RTC_Alarm/RTC_Alarm.ino +++ b/examples/RTC_Alarm/RTC_Alarm.ino @@ -8,10 +8,12 @@ * - Portenta H7 * - Portenta Machine Control * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include int hours = 12; int minutes = 45; diff --git a/examples/Temp_probes_RTD/Temp_probes_RTD.ino b/examples/Temp_probes_RTD/Temp_probes_RTD.ino index 9967b30..b732bec 100644 --- a/examples/Temp_probes_RTD/Temp_probes_RTD.ino +++ b/examples/Temp_probes_RTD/Temp_probes_RTD.ino @@ -12,10 +12,12 @@ * - Portenta Machine Control * - 3-wire RTD or 2-wire RTD * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include // The value of the Rref resistor. Use 430.0 for PT100 #define RREF 400.0 diff --git a/examples/Temp_probes_Thermocouples/Temp_probes_Thermocouples.ino b/examples/Temp_probes_Thermocouples/Temp_probes_Thermocouples.ino index 33689a1..db62fd7 100644 --- a/examples/Temp_probes_Thermocouples/Temp_probes_Thermocouples.ino +++ b/examples/Temp_probes_Thermocouples/Temp_probes_Thermocouples.ino @@ -11,10 +11,12 @@ * - Two K Type thermocouple temperature sensors connected to TEMP PROBES CH0 and CH1 * - A J Type thermocouple temperature sensor connected to TEMP PROBES CH3 * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include void setup() { Serial.begin(9600); diff --git a/examples/USB_host/USB_host.ino b/examples/USB_host/USB_host.ino index 61e74da..2f07c04 100644 --- a/examples/USB_host/USB_host.ino +++ b/examples/USB_host/USB_host.ino @@ -8,10 +8,12 @@ * - Portenta Machine Control * - USB device (e.g., keyboard, mouse, etc.) * - * Initial author: Riccardo Rizzo @Rocketct + * This example code is in the public domain. + * Copyright (c) 2024 Arduino + * SPDX-License-Identifier: MPL-2.0 */ -#include +#include #include #include "TUSB_helpers.h" diff --git a/library.properties b/library.properties index b083d68..850305f 100644 --- a/library.properties +++ b/library.properties @@ -1,11 +1,11 @@ -name=Arduino_MachineControl -version=1.1.1 +name=Arduino_PortentaMachineControl +version=1.0.4 author=Arduino maintainer=Arduino sentence=Arduino Library for Portenta Machine Control (PMC) paragraph=The Portenta Machine Control Library is a C++ library designed to efficiently manage the functionalities of the Portenta Machine Control board. category=Communication -url=https://github.com/arduino-libraries/Arduino_MachineControl +url=https://github.com/arduino-libraries/Arduino_PortentaMachineControl architectures=mbed, mbed_portenta -includes=Arduino_MachineControl.h -depends=ArduinoRS485, Arduino_CAN +includes=Arduino_PortentaMachineControl.h +depends=ArduinoRS485 diff --git a/src/Arduino_MachineControl.h b/src/Arduino_PortentaMachineControl.h similarity index 71% rename from src/Arduino_MachineControl.h rename to src/Arduino_PortentaMachineControl.h index d13bd17..885830b 100644 --- a/src/Arduino_MachineControl.h +++ b/src/Arduino_PortentaMachineControl.h @@ -1,5 +1,5 @@ -#ifndef __ARDUINO_MACHINE_CONTROL_H -#define __ARDUINO_MACHINE_CONTROL_H +#ifndef __ARDUINO_PORTENTA_MACHINE_CONTROL_H +#define __ARDUINO_PORTENTA_MACHINE_CONTROL_H #include "AnalogInClass.h" #include "AnalogOutClass.h" @@ -14,4 +14,4 @@ #include "CANCommClass.h" #include "RS485CommClass.h" -#endif /* __ARDUINO_MACHINE_CONTROL_H */ +#endif /* __ARDUINO_PORTENTA_MACHINE_CONTROL_H */ diff --git a/src/DigitalOutputsClass.cpp b/src/DigitalOutputsClass.cpp index 97eb7a4..cf492f4 100644 --- a/src/DigitalOutputsClass.cpp +++ b/src/DigitalOutputsClass.cpp @@ -77,7 +77,7 @@ void DigitalOutputsClass::write(uint8_t channel, PinStatus val) { void DigitalOutputsClass::writeAll(uint8_t val_mask) { for (uint8_t ch = 0; ch < 8; ch++) { - if (val_mask && (1 << ch)) { + if (val_mask & (1 << ch)) { write(ch, HIGH); } else { write(ch, LOW); @@ -94,4 +94,4 @@ void DigitalOutputsClass::_setAutoRetryMode() { } DigitalOutputsClass MachineControl_DigitalOutputs; -/**** END OF FILE ****/ \ No newline at end of file +/**** END OF FILE ****/ diff --git a/src/EncoderClass.cpp b/src/EncoderClass.cpp index 3fe546f..7308f07 100644 --- a/src/EncoderClass.cpp +++ b/src/EncoderClass.cpp @@ -63,5 +63,14 @@ int EncoderClass::getRevolutions(int channel) { } } +void EncoderClass::setEncoding(int channel, QEI::Encoding encoding) { + switch (channel) { + case 0: + return _enc0.setEncoding(encoding); + case 1: + return _enc1.setEncoding(encoding); + } +} + EncoderClass MachineControl_Encoders; /**** END OF FILE ****/ \ No newline at end of file diff --git a/src/EncoderClass.h b/src/EncoderClass.h index ecb18d1..3f76085 100644 --- a/src/EncoderClass.h +++ b/src/EncoderClass.h @@ -94,6 +94,16 @@ class EncoderClass { */ int getRevolutions(int channel); + /** + * @brief Set the encoding type for the specified encoder channel. + * + * This method changes the encoding type from the default X2_ENCODING. + * + * @param channel The encoder channel (0 or 1) to be changed. + * @param encoding The encoding type. + */ + void setEncoding(int channel, QEI::Encoding encoding); + private: QEI _enc0; // QEI object for encoder 0 QEI _enc1; // QEI object for encoder 1 diff --git a/src/RS485CommClass.cpp b/src/RS485CommClass.cpp index 4cd4b75..c7afa6d 100644 --- a/src/RS485CommClass.cpp +++ b/src/RS485CommClass.cpp @@ -17,7 +17,7 @@ RS485CommClass::RS485CommClass(arduino::UART& uart_itf, PinName rs_tx_pin, PinNa RS485CommClass::~RS485CommClass() { } -void RS485CommClass::begin(unsigned long baudrate, int predelay, int postdelay) { +void RS485CommClass::begin(unsigned long baudrate, uint16_t config, int predelay, int postdelay) { /* Pinout configuration */ pinMode(PinNameToIndex(MC_RS485_TX_PIN), OUTPUT); pinMode(PinNameToIndex(MC_RS485_RX_PIN), OUTPUT); @@ -45,7 +45,7 @@ void RS485CommClass::begin(unsigned long baudrate, int predelay, int postdelay) _enable(); /* Call begin() base class to initialize RS485 communication */ - RS485Class::begin(baudrate, predelay, postdelay); + RS485Class::begin(baudrate, config, predelay, postdelay); return; } @@ -92,4 +92,4 @@ void RS485CommClass::_disable() { arduino::UART _UART4_ {MC_RS485_TX_PIN, MC_RS485_RX_PIN, NC, NC}; RS485CommClass MachineControl_RS485Comm(_UART4_); -/**** END OF FILE ****/ \ No newline at end of file +/**** END OF FILE ****/ diff --git a/src/RS485CommClass.h b/src/RS485CommClass.h index b518533..a87d91e 100644 --- a/src/RS485CommClass.h +++ b/src/RS485CommClass.h @@ -54,10 +54,11 @@ class RS485CommClass : public RS485Class { * This method initializes the RS485 communication protocol with the specified baud rate and pre/post delays. * * @param baudrate The desired baud rate for the RS485 communication. + * @param config The desired Serial config (bits, parity and stopbits), see HardwareSerial.h * @param predelay The delay before sending data in the RS485 communication (default: RS485_DEFAULT_PRE_DELAY). * @param postdelay The delay after sending data in the RS485 communication (default: RS485_DEFAULT_POST_DELAY). */ - void begin(unsigned long baudrate = 115200, int predelay = RS485_DEFAULT_PRE_DELAY, int postdelay = RS485_DEFAULT_POST_DELAY); + void begin(unsigned long baudrate = 115200, uint16_t config = SERIAL_8N1, int predelay = RS485_DEFAULT_PRE_DELAY, int postdelay = RS485_DEFAULT_POST_DELAY); /** * @brief Close the RS485 communication protocol. diff --git a/src/RTDTempProbeClass.cpp b/src/RTDTempProbeClass.cpp index a64a910..382c21a 100644 --- a/src/RTDTempProbeClass.cpp +++ b/src/RTDTempProbeClass.cpp @@ -20,7 +20,7 @@ RTDTempProbeClass::RTDTempProbeClass(PinName rtd_cs_pin, PinName ch_sel1_pin, PinName ch_sel2_pin, PinName rtd_th_pin) -: MAX31865Class(rtd_cs_pin), _rtd_cs{rtd_cs_pin}, _ch_sel0{ch_sel0_pin}, _ch_sel1{ch_sel0_pin}, _ch_sel2{ch_sel2_pin}, _rtd_th{rtd_th_pin} +: MAX31865Class(rtd_cs_pin), _rtd_cs{rtd_cs_pin}, _ch_sel0{ch_sel0_pin}, _ch_sel1{ch_sel1_pin}, _ch_sel2{ch_sel2_pin}, _rtd_th{rtd_th_pin} { } RTDTempProbeClass::~RTDTempProbeClass() diff --git a/src/TCTempProbeClass.cpp b/src/TCTempProbeClass.cpp index 9bf5138..7d40699 100644 --- a/src/TCTempProbeClass.cpp +++ b/src/TCTempProbeClass.cpp @@ -18,8 +18,9 @@ uint8_t* boardInfo(); TCTempProbeClass::TCTempProbeClass(PinName tc_cs_pin, PinName ch_sel0_pin, PinName ch_sel1_pin, - PinName ch_sel2_pin) -: MAX31855Class(tc_cs_pin), _tc_cs{tc_cs_pin}, _ch_sel0{ch_sel0_pin}, _ch_sel1{ch_sel0_pin}, _ch_sel2{ch_sel2_pin} + PinName ch_sel2_pin, + PinName tc_th_pin) +: MAX31855Class(tc_cs_pin), _tc_cs{tc_cs_pin}, _ch_sel0{ch_sel0_pin}, _ch_sel1{ch_sel1_pin}, _ch_sel2{ch_sel2_pin}, _tc_th{tc_th_pin} { } TCTempProbeClass::~TCTempProbeClass() @@ -31,6 +32,7 @@ bool TCTempProbeClass::begin() { pinMode(_ch_sel0, OUTPUT); pinMode(_ch_sel1, OUTPUT); pinMode(_ch_sel2, OUTPUT); + pinMode(_tc_th, OUTPUT); pinMode(_tc_cs, OUTPUT); @@ -92,11 +94,13 @@ void TCTempProbeClass::end() { void TCTempProbeClass::_enable() { digitalWrite(_tc_cs, LOW); + digitalWrite(_tc_th, LOW); } void TCTempProbeClass::_disable() { digitalWrite(_tc_cs, HIGH); + digitalWrite(_tc_th, HIGH); } TCTempProbeClass MachineControl_TCTempProbe; -/**** END OF FILE ****/ \ No newline at end of file +/**** END OF FILE ****/ diff --git a/src/TCTempProbeClass.h b/src/TCTempProbeClass.h index 7001042..f0e74a0 100644 --- a/src/TCTempProbeClass.h +++ b/src/TCTempProbeClass.h @@ -41,7 +41,8 @@ class TCTempProbeClass: public MAX31855Class { TCTempProbeClass(PinName tc_cs_pin = MC_TC_CS_PIN, PinName ch_sel0_pin = MC_TC_SEL0_PIN, PinName ch_sel1_pin = MC_TC_SEL1_PIN, - PinName ch_sel2_pin = MC_TC_SEL2_PIN); + PinName ch_sel2_pin = MC_TC_SEL2_PIN, + PinName tc_th_pin = MC_TC_TH_PIN); /** * @brief Destruct the TCTempProbeClass object. @@ -74,6 +75,7 @@ class TCTempProbeClass: public MAX31855Class { PinName _ch_sel0; // Pin for the first channel selection bit PinName _ch_sel1; // Pin for the second channel selection bit PinName _ch_sel2; // Pin for the third channel selection bit + PinName _tc_th; // Pin for the TC/RTD connection /** * @brief Enable the chip select (CS) of the MAX31855 digital converter. diff --git a/src/pins_mc.h b/src/pins_mc.h index d89a75c..089466c 100644 --- a/src/pins_mc.h +++ b/src/pins_mc.h @@ -84,6 +84,7 @@ #define MC_TC_SEL0_PIN MC_RTD_SEL0_PIN #define MC_TC_SEL1_PIN MC_RTD_SEL1_PIN #define MC_TC_SEL2_PIN MC_RTD_SEL2_PIN +#define MC_TC_TH_PIN MC_RTD_TH_PIN /* USB */ #define MC_USB_PWR_PIN PB_14 diff --git a/src/utility/MAX31865/MAX31865.cpp b/src/utility/MAX31865/MAX31865.cpp index 985812e..cdcd1e4 100644 --- a/src/utility/MAX31865/MAX31865.cpp +++ b/src/utility/MAX31865/MAX31865.cpp @@ -1,22 +1,3 @@ -/* - This file is part of the MachineControl library. - Copyright (c) 2021 Arduino SA. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA -*/ - #include "MAX31865.h" diff --git a/src/utility/MAX31865/MAX31865.h b/src/utility/MAX31865/MAX31865.h index f95969b..eb689af 100644 --- a/src/utility/MAX31865/MAX31865.h +++ b/src/utility/MAX31865/MAX31865.h @@ -1,22 +1,3 @@ -/* - This file is part of the MachineControl library. - Copyright (c) 2021 Arduino SA. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA -*/ - #ifndef MAX31865_H #define MAX31865_H diff --git a/src/utility/QEI/QEI.cpp b/src/utility/QEI/QEI.cpp index db767db..7ef3f57 100644 --- a/src/utility/QEI/QEI.cpp +++ b/src/utility/QEI/QEI.cpp @@ -148,19 +148,7 @@ QEI::QEI(PinName channelA, currState_ = (chanA << 1) | (chanB); prevState_ = currState_; - //X2 encoding uses interrupts on only channel A. - //X4 encoding uses interrupts on channel A, - //and on channel B. - channelA_.rise(mbed::callback(this, &QEI::encode)); - if(encoding != X1_ENCODING){ - channelA_.fall(mbed::callback(this, &QEI::encode)); - } - - //If we're using X4 encoding, then attach interrupts to channel B too. - if (encoding == X4_ENCODING) { - channelB_.rise(mbed::callback(this, &QEI::encode)); - channelB_.fall(mbed::callback(this, &QEI::encode)); - } + setEncoding(encoding); //Index is optional. if (index != NC) { index_.rise(mbed::callback(this, &QEI::index)); @@ -193,6 +181,24 @@ int QEI::getRevolutions(void) { } +void QEI::setEncoding(Encoding encoding) { + //X2 encoding uses interrupts on only channel A. + //X4 encoding uses interrupts on channel A, + //and on channel B. + channelA_.rise(mbed::callback(this, &QEI::encode)); + if(encoding != X1_ENCODING){ + channelA_.fall(mbed::callback(this, &QEI::encode)); + } else { + channelA_.fall(0); + } + + //If we're using X4 encoding, then attach interrupts to channel B too. + if (encoding == X4_ENCODING) { + channelB_.rise(mbed::callback(this, &QEI::encode)); + channelB_.fall(mbed::callback(this, &QEI::encode)); + } +} + // +-------------+ // | X1 Encoding | // +-------------+ diff --git a/src/utility/QEI/QEI.h b/src/utility/QEI/QEI.h index 8e6fba0..caa449d 100644 --- a/src/utility/QEI/QEI.h +++ b/src/utility/QEI/QEI.h @@ -208,6 +208,13 @@ class QEI { */ int getRevolutions(void); + /** + * Set the ecoding type of the encoder. + * + * Changes the type of encoding used by the encoder from the default X2_ENCODING. + */ + void setEncoding(Encoding encoding); + private: /** diff --git a/src/utility/RTC/PCF8563T.cpp b/src/utility/RTC/PCF8563T.cpp index 57d5a21..307eb96 100644 --- a/src/utility/RTC/PCF8563T.cpp +++ b/src/utility/RTC/PCF8563T.cpp @@ -1,22 +1,3 @@ -/* - This file is part of the MachineControl library. - Copyright (c) 2020 Arduino SA. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA -*/ - #include "PCF8563T.h" #define PCF8563T_ADDRESS 0x51 diff --git a/src/utility/RTC/PCF8563T.h b/src/utility/RTC/PCF8563T.h index 12786cb..5ac6be5 100644 --- a/src/utility/RTC/PCF8563T.h +++ b/src/utility/RTC/PCF8563T.h @@ -1,22 +1,3 @@ -/* - This file is part of the MachineControl library. - Copyright (c) 2020 Arduino SA. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA -*/ - #ifndef _PCF8563T_H_INCLUDED #define _PCF8563T_H_INCLUDED diff --git a/src/utility/THERMOCOUPLE/MAX31855.cpp b/src/utility/THERMOCOUPLE/MAX31855.cpp index 80f580e..03f5b23 100644 --- a/src/utility/THERMOCOUPLE/MAX31855.cpp +++ b/src/utility/THERMOCOUPLE/MAX31855.cpp @@ -1,22 +1,3 @@ -/* - This file is part of the MachineControl library. - Copyright (c) 2020 Arduino SA. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA -*/ - #include "MAX31855.h" const double MAX31855Class::Jm210_760[] ; @@ -227,7 +208,7 @@ float MAX31855Class::readReferenceTemperature(int type) // The cold junction reference temperature is stored in the first 11 word's bits // sent by the Thermocouple-to-Digital Converter - rawword = rawword & 0x7FF; + rawword = rawword & 0xFFF; // check sign bit and convert to negative value. if (rawword & 0x800) { ref = (0xF800 | (rawword & 0x7FF))*0.0625; @@ -235,7 +216,7 @@ float MAX31855Class::readReferenceTemperature(int type) // multiply for the LSB value ref = rawword * 0.0625f; } - Serial.println(ref); + return ref; } diff --git a/src/utility/THERMOCOUPLE/MAX31855.h b/src/utility/THERMOCOUPLE/MAX31855.h index 4334c3c..f2924b7 100644 --- a/src/utility/THERMOCOUPLE/MAX31855.h +++ b/src/utility/THERMOCOUPLE/MAX31855.h @@ -1,22 +1,3 @@ -/* - This file is part of the MachineControl library. - Copyright (c) 2020 Arduino SA. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA -*/ - #ifndef _MAX31855_H_ #define _MAX31855_H_ diff --git a/src/utility/ioexpander/ArduinoIOExpander.cpp b/src/utility/ioexpander/ArduinoIOExpander.cpp index 461e72e..b2c1738 100644 --- a/src/utility/ioexpander/ArduinoIOExpander.cpp +++ b/src/utility/ioexpander/ArduinoIOExpander.cpp @@ -1,19 +1,3 @@ -/* - This file is part of the MachineControl library. - Copyright (C) 2020 Arduino AG (http://www.arduino.cc/) - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA -*/ - #include "ArduinoIOExpander.h" bool ArduinoIOExpanderClass::begin() diff --git a/src/utility/ioexpander/ArduinoIOExpander.h b/src/utility/ioexpander/ArduinoIOExpander.h index e7cd402..66e4de1 100644 --- a/src/utility/ioexpander/ArduinoIOExpander.h +++ b/src/utility/ioexpander/ArduinoIOExpander.h @@ -1,19 +1,3 @@ -/* - This file is part of the MachineControl library. - Copyright (C) 2020 Arduino AG (http://www.arduino.cc/) - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA -*/ - #pragma once #include diff --git a/src/utility/ioexpander/I2Cdev.cpp b/src/utility/ioexpander/I2Cdev.cpp index 5525624..40b5dfc 100644 --- a/src/utility/ioexpander/I2Cdev.cpp +++ b/src/utility/ioexpander/I2Cdev.cpp @@ -3,6 +3,9 @@ // 2013-06-05 by Jeff Rowberg // // 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 @@ -87,11 +90,6 @@ THE SOFTWARE. #endif -#ifndef BUFFER_LENGTH -// band-aid fix for platforms without Wire-defined BUFFER_LENGTH (removed from some official implementations) -#define BUFFER_LENGTH 32 -#endif - /** Default constructor. */ I2Cdev::I2Cdev() { @@ -105,9 +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; } @@ -120,9 +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; } @@ -136,14 +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); @@ -161,7 +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 @@ -169,7 +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); @@ -185,8 +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. @@ -196,8 +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. @@ -208,7 +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); @@ -219,74 +217,66 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8 Serial.print("..."); #endif - int8_t count = 0; + uint8_t count = 0; uint32_t t1 = millis(); #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((int)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 (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { - data[count] = Wire.receive(); + for (int k = 0; k < length; k += min((int)length, I2CDEVLIB_WIRE_BUFFER_LENGTH)) { + useWire->beginTransmission(devAddr); + useWire->send(regAddr); + useWire->endTransmission(); + 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->receive(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif } - - Wire.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((int)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->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(); } #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((int)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->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(" "); @@ -328,7 +318,7 @@ 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); @@ -339,32 +329,33 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 Serial.print("..."); #endif - int8_t count = 0; + uint8_t count = 0; uint32_t t1 = millis(); #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->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(" "); @@ -373,31 +364,28 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 } msb = !msb; } - - Wire.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->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(" "); @@ -406,31 +394,28 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 } msb = !msb; } - - Wire.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->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(" "); @@ -439,8 +424,6 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1 } msb = !msb; } - - Wire.endTransmission(); } #endif @@ -479,11 +462,11 @@ 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. @@ -493,11 +476,11 @@ 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. @@ -508,7 +491,7 @@ 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 @@ -517,13 +500,13 @@ 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; } @@ -537,7 +520,7 @@ 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 @@ -546,13 +529,13 @@ 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; } @@ -564,8 +547,8 @@ 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. @@ -574,8 +557,8 @@ 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. @@ -585,7 +568,7 @@ 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); @@ -596,14 +579,20 @@ 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 + 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) - Wire.beginTransmission(devAddr); - Wire.write((uint8_t) regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->write((uint8_t) regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::beginTransmission(devAddr); Fastwire::write(regAddr); @@ -614,21 +603,21 @@ 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]); + 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) - Wire.write((uint8_t) data[i]); + 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(); + useWire->endTransmission(); #elif ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) \ || (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100) \ || I2CDEV_IMPLEMENTATION == I2CDEV_TEENSY_3X_WIRE) - status = Wire.endTransmission(); + status = useWire->endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::stop(); //status = Fastwire::endTransmission(); @@ -646,7 +635,7 @@ 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); @@ -657,14 +646,20 @@ 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 + 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) - Wire.beginTransmission(devAddr); - Wire.write(regAddr); // send address + useWire->beginTransmission(devAddr); + useWire->write(regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::beginTransmission(devAddr); Fastwire::write(regAddr); @@ -675,13 +670,13 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16 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 + 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) - Wire.write((uint8_t)(data[i] >> 8)); // send MSB - Wire.write((uint8_t)data[i]); // send LSB + 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 @@ -689,11 +684,11 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16 #endif } #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) - 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 = Wire.endTransmission(); + status = useWire->endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::stop(); //status = Fastwire::endTransmission(); @@ -753,7 +748,7 @@ 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 } @@ -993,7 +988,7 @@ 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 @@ -1062,7 +1057,7 @@ 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() { @@ -1145,19 +1140,19 @@ 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; } @@ -1167,7 +1162,7 @@ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT; 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; diff --git a/src/utility/ioexpander/I2Cdev.h b/src/utility/ioexpander/I2Cdev.h index 60c3195..5b59c56 100644 --- a/src/utility/ioexpander/I2Cdev.h +++ b/src/utility/ioexpander/I2Cdev.h @@ -3,6 +3,7 @@ // 2013-06-05 by Jeff Rowberg // // 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 @@ -48,6 +49,11 @@ THE SOFTWARE. #ifndef _I2CDEV_H_ #define _I2CDEV_H_ +// ----------------------------------------------------------------------------- +// Enable deprecated pgmspace typedefs in avr-libc +// ----------------------------------------------------------------------------- +#define __PROG_TYPES_COMPAT__ + // ----------------------------------------------------------------------------- // I2C interface implementation setting // ----------------------------------------------------------------------------- @@ -99,10 +105,26 @@ THE SOFTWARE. #endif #ifdef SPARK - #include + #include "application.h" #define ARDUINO 101 + #define BUFFER_LENGTH 32 #endif +#ifndef I2CDEVLIB_WIRE_BUFFER_LENGTH + #if defined(I2C_BUFFER_LENGTH) + // Arduino ESP32 core Wire uses this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH I2C_BUFFER_LENGTH + #elif defined(BUFFER_LENGTH) + // Arduino AVR core Wire and many others use this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH BUFFER_LENGTH + #elif defined(SERIAL_BUFFER_SIZE) + // Arduino SAMD core Wire uses this + #define I2CDEVLIB_WIRE_BUFFER_LENGTH SERIAL_BUFFER_SIZE + #else + // should be a safe fallback, though possibly inefficient + #define I2CDEVLIB_WIRE_BUFFER_LENGTH 32 + #endif +#endif // 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];") #define I2CDEV_DEFAULT_READ_TIMEOUT 1000 @@ -111,23 +133,23 @@ class I2Cdev { public: I2Cdev(); - static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout); - static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout); - - static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data); - static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data); - static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data); - static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data); - static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data); - static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data); - static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data); - static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data); + static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout, void *wireObj=0); + + static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data, void *wireObj=0); + static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data, void *wireObj=0); + static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data, void *wireObj=0); + static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data, void *wireObj=0); + static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data, void *wireObj=0); + static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data, void *wireObj=0); + static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, void *wireObj=0); + static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, void *wireObj=0); static uint16_t readTimeout; }; @@ -240,7 +262,7 @@ class I2Cdev { /* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */ - #define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3)) + #define TW_STATUS_MASK ((1 << TWS7)|(1 << TWS6)|(1 << TWS5)|(1 << TWS4)|(1 << TWS3)) #define TW_STATUS (TWSR & TW_STATUS_MASK) #define TW_START 0x08 #define TW_REP_START 0x10 @@ -275,11 +297,11 @@ class I2Cdev { //#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr)) #ifndef sbi // set bit - #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) + #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= (1 << bit)) #endif // sbi #ifndef cbi // clear bit - #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) + #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~(1 << bit)) #endif // cbi extern TwoWire Wire;