mirror of
https://github.com/bjoernellens1/cps_microros_imu.git
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281 lines
12 KiB
C
281 lines
12 KiB
C
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// I2Cdev library collection - Main I2C device class header file
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// Abstracts bit and byte I2C R/W functions into a convenient class
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// 2013-06-05 by Jeff Rowberg <jeff@rowberg.net>
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//
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// Changelog:
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// 2015-10-30 - simondlevy : support i2c_t3 for Teensy3.1
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// 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications
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// 2013-05-05 - fix issue with writing bit values to words (Sasquatch/Farzanegan)
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// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
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// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
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// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
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// 2011-10-03 - added automatic Arduino version detection for ease of use
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// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
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// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
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// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
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// 2011-08-02 - added support for 16-bit registers
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// - fixed incorrect Doxygen comments on some methods
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// - added timeout value for read operations (thanks mem @ Arduino forums)
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// 2011-07-30 - changed read/write function structures to return success or byte counts
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// - made all methods static for multi-device memory savings
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// 2011-07-28 - initial release
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/* ============================================
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I2Cdev device library code is placed under the MIT license
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Copyright (c) 2013 Jeff Rowberg
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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===============================================
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*/
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#ifndef _I2CDEV_H_
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#define _I2CDEV_H_
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// -----------------------------------------------------------------------------
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// I2C interface implementation setting
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// -----------------------------------------------------------------------------
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#ifndef I2CDEV_IMPLEMENTATION
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#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
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//#define I2CDEV_IMPLEMENTATION I2CDEV_BUILTIN_FASTWIRE
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#endif // I2CDEV_IMPLEMENTATION
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// comment this out if you are using a non-optimal IDE/implementation setting
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// but want the compiler to shut up about it
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#define I2CDEV_IMPLEMENTATION_WARNINGS
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// -----------------------------------------------------------------------------
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// I2C interface implementation options
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// -----------------------------------------------------------------------------
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#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
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#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
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// ^^^ NBWire implementation is still buggy w/some interrupts!
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#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
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#define I2CDEV_I2CMASTER_LIBRARY 4 // I2C object from DSSCircuits I2C-Master Library at https://github.com/DSSCircuits/I2C-Master-Library
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// -----------------------------------------------------------------------------
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// Arduino-style "Serial.print" debug constant (uncomment to enable)
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// -----------------------------------------------------------------------------
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//#define I2CDEV_SERIAL_DEBUG
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#ifdef ARDUINO
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#if ARDUINO < 100
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#include "WProgram.h"
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#else
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#include "Arduino.h"
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#endif
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#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
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#include <Wire.h>
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#endif
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#if I2CDEV_IMPLEMENTATION == I2CDEV_I2CMASTER_LIBRARY
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#include <I2C.h>
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#endif
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#endif
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#ifdef SPARK
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#include <spark_wiring_i2c.h>
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#define ARDUINO 101
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#endif
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#define BUFFER_LENGTH 32 // added 07.07.2023
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// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
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#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
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class I2Cdev {
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public:
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I2Cdev();
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static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static int8_t readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout=I2Cdev::readTimeout);
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static bool writeBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
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static bool writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data);
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static bool writeBits(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
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static bool writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data);
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static bool writeByte(uint8_t devAddr, uint8_t regAddr, uint8_t data);
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static bool writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data);
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static bool writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
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static uint16_t readTimeout;
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};
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#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
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//////////////////////
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// FastWire 0.24
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// This is a library to help faster programs to read I2C devices.
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// Copyright(C) 2012
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// Francesco Ferrara
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//////////////////////
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/* Master */
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#define TW_START 0x08
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#define TW_REP_START 0x10
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/* Master Transmitter */
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#define TW_MT_SLA_ACK 0x18
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#define TW_MT_SLA_NACK 0x20
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#define TW_MT_DATA_ACK 0x28
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#define TW_MT_DATA_NACK 0x30
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#define TW_MT_ARB_LOST 0x38
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/* Master Receiver */
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#define TW_MR_ARB_LOST 0x38
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#define TW_MR_SLA_ACK 0x40
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#define TW_MR_SLA_NACK 0x48
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#define TW_MR_DATA_ACK 0x50
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#define TW_MR_DATA_NACK 0x58
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#define TW_OK 0
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#define TW_ERROR 1
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class Fastwire {
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private:
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static boolean waitInt();
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public:
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static void setup(int khz, boolean pullup);
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static byte beginTransmission(byte device);
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static byte write(byte value);
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static byte writeBuf(byte device, byte address, byte *data, byte num);
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static byte readBuf(byte device, byte address, byte *data, byte num);
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static void reset();
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static byte stop();
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};
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#endif
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#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
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// NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
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// Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
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// Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
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#define NBWIRE_BUFFER_LENGTH 32
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class TwoWire {
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private:
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static uint8_t rxBuffer[];
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static uint8_t rxBufferIndex;
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static uint8_t rxBufferLength;
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static uint8_t txAddress;
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static uint8_t txBuffer[];
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static uint8_t txBufferIndex;
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static uint8_t txBufferLength;
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// static uint8_t transmitting;
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static void (*user_onRequest)(void);
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static void (*user_onReceive)(int);
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static void onRequestService(void);
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static void onReceiveService(uint8_t*, int);
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public:
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TwoWire();
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void begin();
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void begin(uint8_t);
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void begin(int);
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void beginTransmission(uint8_t);
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//void beginTransmission(int);
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uint8_t endTransmission(uint16_t timeout=0);
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void nbendTransmission(void (*function)(int)) ;
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uint8_t requestFrom(uint8_t, int, uint16_t timeout=0);
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//uint8_t requestFrom(int, int);
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void nbrequestFrom(uint8_t, int, void (*function)(int));
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void send(uint8_t);
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void send(uint8_t*, uint8_t);
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//void send(int);
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void send(char*);
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uint8_t available(void);
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uint8_t receive(void);
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void onReceive(void (*)(int));
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void onRequest(void (*)(void));
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};
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#define TWI_READY 0
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#define TWI_MRX 1
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#define TWI_MTX 2
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#define TWI_SRX 3
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#define TWI_STX 4
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#define TW_WRITE 0
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#define TW_READ 1
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#define TW_MT_SLA_NACK 0x20
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#define TW_MT_DATA_NACK 0x30
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#define CPU_FREQ 16000000L
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#define TWI_FREQ 100000L
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#define TWI_BUFFER_LENGTH 32
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/* TWI Status is in TWSR, in the top 5 bits: TWS7 - TWS3 */
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#define TW_STATUS_MASK (_BV(TWS7)|_BV(TWS6)|_BV(TWS5)|_BV(TWS4)|_BV(TWS3))
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#define TW_STATUS (TWSR & TW_STATUS_MASK)
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#define TW_START 0x08
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#define TW_REP_START 0x10
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#define TW_MT_SLA_ACK 0x18
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#define TW_MT_SLA_NACK 0x20
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#define TW_MT_DATA_ACK 0x28
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#define TW_MT_DATA_NACK 0x30
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#define TW_MT_ARB_LOST 0x38
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#define TW_MR_ARB_LOST 0x38
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#define TW_MR_SLA_ACK 0x40
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#define TW_MR_SLA_NACK 0x48
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#define TW_MR_DATA_ACK 0x50
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#define TW_MR_DATA_NACK 0x58
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#define TW_ST_SLA_ACK 0xA8
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#define TW_ST_ARB_LOST_SLA_ACK 0xB0
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#define TW_ST_DATA_ACK 0xB8
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#define TW_ST_DATA_NACK 0xC0
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#define TW_ST_LAST_DATA 0xC8
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#define TW_SR_SLA_ACK 0x60
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#define TW_SR_ARB_LOST_SLA_ACK 0x68
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#define TW_SR_GCALL_ACK 0x70
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#define TW_SR_ARB_LOST_GCALL_ACK 0x78
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#define TW_SR_DATA_ACK 0x80
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#define TW_SR_DATA_NACK 0x88
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#define TW_SR_GCALL_DATA_ACK 0x90
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#define TW_SR_GCALL_DATA_NACK 0x98
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#define TW_SR_STOP 0xA0
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#define TW_NO_INFO 0xF8
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#define TW_BUS_ERROR 0x00
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//#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
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//#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
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#ifndef sbi // set bit
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#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
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#endif // sbi
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#ifndef cbi // clear bit
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#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
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#endif // cbi
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extern TwoWire Wire;
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#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
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#endif /* _I2CDEV_H_ */
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