mirror of https://github.com/ArduPilot/ardupilot
124 lines
3.5 KiB
C++
124 lines
3.5 KiB
C++
/*
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I2C.h - I2C library
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Copyright (c) 2011 Wayne Truchsess. All right reserved.
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Rev 2.0 - September 19th, 2011
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- Added support for timeout function to prevent
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and recover from bus lockup (thanks to PaulS
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and CrossRoads on the Arduino forum)
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- Changed return type for stop() from void to
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uint8_t to handle timeOut function
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Rev 1.0 - August 8th, 2011
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This is a modified version of the Arduino Wire/TWI
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library. Functions were rewritten to provide more functionality
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and also the use of Repeated Start. Some I2C devices will not
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function correctly without the use of a Repeated Start. The
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initial version of this library only supports the Master.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include <inttypes.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#ifndef I2C_h
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#define I2C_h
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#define START 0x08
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#define REPEATED_START 0x10
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#define MT_SLA_ACK 0x18
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#define MT_DATA_ACK 0x28
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#define MR_SLA_ACK 0x40
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#define MR_DATA_ACK 0x50
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#define MR_DATA_NACK 0x58
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#define TWI_STATUS (TWSR & 0xF8)
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#define SLA_W(address) (address << 1)
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#define SLA_R(address) ((address << 1) + 0x01)
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#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
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#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
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#define MAX_BUFFER_SIZE 32
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#ifndef CPU_FREQ
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#define CPU_FREQ 16000000L
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#endif
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class I2C
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{
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public:
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I2C();
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void begin();
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void end();
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void timeOut(uint16_t);
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void setSpeed(boolean);
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void pullup(boolean);
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///////carry over from Wire library////////
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uint8_t returnStatusWire;
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uint8_t beginTransmission(uint8_t);
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uint8_t beginTransmission(int);
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uint8_t send(uint8_t);
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uint8_t send(int);
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uint8_t endTransmission();
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uint8_t requestFrom(uint8_t, uint8_t);
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uint8_t requestFrom(int, int);
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uint8_t available();
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///////////////////////////////////////////
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uint8_t write(uint8_t, uint8_t);
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uint8_t write(int, int);
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uint8_t write(uint8_t, uint8_t, uint8_t);
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uint8_t write(int, int, int);
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uint8_t write(uint8_t, uint8_t, char*);
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uint8_t write(uint8_t, uint8_t, uint8_t*, uint8_t);
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uint8_t read(uint8_t, uint8_t);
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uint8_t read(int, int);
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uint8_t read(uint8_t, uint8_t, uint8_t);
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uint8_t read(int, int, int);
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uint8_t read(uint8_t, uint8_t, uint8_t*);
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uint8_t read(uint8_t, uint8_t, uint8_t, uint8_t*);
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uint8_t receive();
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uint8_t lockup_count();
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private:
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uint8_t start();
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uint8_t sendAddress(uint8_t);
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uint8_t sendByte(uint8_t);
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uint8_t receiveByte(boolean);
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uint8_t stop();
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void lockUp();
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uint8_t returnStatus;
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uint8_t nack;
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uint8_t data[MAX_BUFFER_SIZE];
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uint8_t _lockup_count;
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static uint8_t bytesAvailable;
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static uint8_t bufferIndex;
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static uint8_t totalBytes;
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static uint16_t timeOutDelay;
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};
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extern I2C I2c;
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#endif
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