updated I2Cdev library version + fix for ESP32

Arduino/simplefoc_balancer/imu_helpers.cpp

@@ -1,6 +1,6 @@
 #include "imu_helpers.h"
 #include "./src/I2Cdev/I2Cdev.h"
-#include "./src/MPU6050/MPU6050_6Axis_MotionApps_V6_12.h"
+#include "./src/MPU6050/MPU6050_6Axis_MotionApps612.h"
 #include "Wire.h"
 
 // IMU instance

Arduino/simplefoc_balancer/src/I2Cdev/I2Cdev.h

@@ -3,6 +3,7 @@
 // 2013-06-05 by Jeff Rowberg <[email protected]>
 //
 // 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
 // -----------------------------------------------------------------------------
@@ -73,13 +79,6 @@ THE SOFTWARE.
 #define I2CDEV_BUILTIN_SBWIRE	    5 // I2C object from Shuning (Steve) Bian's SBWire Library at https://github.com/freespace/SBWire 
 #define I2CDEV_TEENSY_3X_WIRE       6 // Teensy 3.x support using i2c_t3 library
 
-
-
-#ifndef BUFFER_LENGTH
-// band-aid fix for platforms without Wire-defined BUFFER_LENGTH (removed from some official implementations)
-#define BUFFER_LENGTH 32
-#endif
-
 // -----------------------------------------------------------------------------
 // Arduino-style "Serial.print" debug constant (uncomment to enable)
 // -----------------------------------------------------------------------------
@@ -106,10 +105,26 @@ THE SOFTWARE.
 #endif
 
 #ifdef SPARK
-    #include <spark_wiring_i2c.h>
+    #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
@@ -118,23 +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;
 };
@@ -247,7 +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
@@ -282,11 +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;

Arduino/simplefoc_balancer/src/I2Cdev/library.json

@@ -1,5 +1,6 @@
 {
   "name": "I2Cdevlib-Core",
+  "version": "1.0.0",
   "keywords": "i2cdevlib, i2c",
   "description": "The I2C Device Library (I2Cdevlib) is a collection of uniform and well-documented classes to provide simple and intuitive interfaces to I2C devices.",
   "include": "Arduino/I2Cdev",
@@ -10,9 +11,7 @@
   },
   "frameworks": "arduino",
   "platforms": "*",
-   "dependencies": [
-     {
-        "name": "Wire"
-     }
-  ]
+  "dependencies": {
+    "Wire": "*"
+  }
 }

Arduino/simplefoc_balancer/src/MPU6050/Examples/IMU_Zero/IMU_Zero.ino

@@ -78,7 +78,7 @@ and so on.
 
 // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
 // for both classes must be in the include path of your project
-#include "../I2Cdev/I2Cdev.h"
+#include "I2Cdev.h"
 #include "MPU6050.h"
 
 // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation

Arduino/simplefoc_balancer/src/MPU6050/Examples/MPU6050_DMP6/MPU6050_DMP6.ino

@@ -46,7 +46,7 @@ THE SOFTWARE.
 
 // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
 // for both classes must be in the include path of your project
-#include "../I2Cdev/I2Cdev.h"
+#include "I2Cdev.h"
 
 #include "MPU6050_6Axis_MotionApps20.h"
 //#include "MPU6050.h" // not necessary if using MotionApps include file

Arduino/simplefoc_balancer/src/MPU6050/Examples/MPU6050_DMP6_ESPWiFi/MPU6050_DMP6_ESPWiFi.ino

@@ -53,7 +53,7 @@ THE SOFTWARE.
 
 // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
 // for both classes must be in the include path of your project
-#include "../I2Cdev/I2Cdev.h"
+#include "I2Cdev.h"
 
 #include "MPU6050_6Axis_MotionApps20.h"
 //#include "MPU6050.h" // not necessary if using MotionApps include file
@@ -149,7 +149,7 @@ const unsigned int outPort = 9999;          // remote port to receive OSC
 // ================================================================
 
 volatile bool mpuInterrupt = false;     // indicates whether MPU interrupt pin has gone high
-void dmpDataReady() {
+void ICACHE_RAM_ATTR dmpDataReady() {
     mpuInterrupt = true;
 }
 

Arduino/simplefoc_balancer/src/MPU6050/Examples/MPU6050_DMP6_Ethernet/MPU6050_DMP6_Ethernet.ino

@@ -37,7 +37,7 @@ THE SOFTWARE.
 #include <Ethernet.h>
 // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
 // for both classes must be in the include path of your project
-#include "../I2Cdev/I2Cdev.h"
+#include "I2Cdev.h"
 
 #include "MPU6050_6Axis_MotionApps20.h"
 //#include "MPU6050.h" // not necessary if using MotionApps include file
@@ -281,14 +281,14 @@ void loop() {
     fifoCount = mpu.getFIFOCount();
 
     // check for overflow (this should never happen unless our code is too inefficient)
-    if ((mpuIntStatus & _BV(MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
+    if ((mpuIntStatus & (1 << MPU6050_INTERRUPT_FIFO_OFLOW_BIT)) || fifoCount >= 1024) {
         // reset so we can continue cleanly
         mpu.resetFIFO();
         fifoCount = mpu.getFIFOCount();
         Serial.println(F("FIFO overflow!"));
 
     // otherwise, check for DMP data ready interrupt (this should happen frequently)
-    } else if (mpuIntStatus & _BV(MPU6050_INTERRUPT_DMP_INT_BIT)) {
+    } else if (mpuIntStatus & (1 << MPU6050_INTERRUPT_DMP_INT_BIT)) {
         // wait for correct available data length, should be a VERY short wait
         while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
 

Arduino/simplefoc_balancer/src/MPU6050/Examples/MPU6050_DMP6_using_DMP_V6.12/MPU6050_DMP6_using_DMP_V6.12.ino

@@ -47,9 +47,9 @@
 
 // I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
 // for both classes must be in the include path of your project
-#include "../I2Cdev/I2Cdev.h"
+#include "I2Cdev.h"
 
-#include "MPU6050_6Axis_MotionApps_V6_12.h"
+#include "MPU6050_6Axis_MotionApps612.h"
 //#include "MPU6050.h" // not necessary if using MotionApps include file
 
 // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation