Merge pull request #324 from chegewara/master

Added ESP32 esp-idf platform

ESP32_ESP-IDF/Makefile

@@ -0,0 +1,9 @@
+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := app-template
+
+include $(IDF_PATH)/make/project.mk
+

ESP32_ESP-IDF/README.md

@@ -0,0 +1,6 @@
+I2CDev library rewritted to match esp-idf. DMP should work, only need is to setup 
+    mpu.setXGyroOffset(220);
+    mpu.setYGyroOffset(76);
+    mpu.setZGyroOffset(-85);
+    mpu.setZAccelOffset(1788);
+and eventually change last value in components/MPU6050/MPU6050_6Axis_MotionApps20.h.

ESP32_ESP-IDF/components/I2Cdev/I2Cdev.cpp

@@ -0,0 +1,255 @@
+// I2Cdev library collection - Main I2C device class
+// Abstracts bit and byte I2C R/W functions into a convenient class
+// EFM32 stub port by Nicolas Baldeck <[email protected]>
+// Based on Arduino's I2Cdev by Jeff Rowberg <[email protected]>
+//
+// Changelog:
+//      2015-01-02 - Initial release
+
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2015 Jeff Rowberg, Nicolas Baldeck
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+#include <esp_log.h>
+#include <esp_err.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include "sdkconfig.h"
+
+#include "I2Cdev.h"
+
+#define I2C_NUM I2C_NUM_0
+
+#undef ESP_ERROR_CHECK
+#define ESP_ERROR_CHECK(x)   do { esp_err_t rc = (x); if (rc != ESP_OK) { ESP_LOGE("err", "esp_err_t = %d", rc); /*assert(0 && #x);*/} } while(0);
+
+/** Default constructor.
+ */
+I2Cdev::I2Cdev() {
+}
+
+/** Initialize I2C0
+ */
+void I2Cdev::initialize() {
+
+}
+
+/** Enable or disable I2C
+ * @param isEnabled true = enable, false = disable
+ */
+void I2Cdev::enable(bool isEnabled) {
+
+}
+
+/** Default timeout value for read operations.
+ */
+uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;
+/** Read a single bit from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitNum Bit position to read (0-7)
+ * @param data Container for single bit value
+ * @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) {
+
+
+	uint8_t b;
+    uint8_t count = readByte(devAddr, regAddr, &b, timeout);
+    *data = b & (1 << bitNum);
+    return count;
+}
+
+/** Read multiple bits from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param bitStart First bit position to read (0-7)
+ * @param length Number of bits to read (not more than 8)
+ * @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
+ * @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) {
+    // 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) {
+        uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
+        b &= mask;
+        b >>= (bitStart - length + 1);
+        *data = b;
+    }
+    return count;
+}
+
+/** Read single byte from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to read from
+ * @param data Container for byte value read from device
+ * @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);
+}
+
+/** Read multiple bytes from an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr First register regAddr to read from
+ * @param length Number of bytes to read
+ * @param data Buffer to store read data in
+ * @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in I2Cdev::readTimeout)
+ * @return I2C_TransferReturn_TypeDef http://downloads.energymicro.com/documentation/doxygen/group__I2C.html
+ */
+int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) {
+	i2c_cmd_handle_t cmd;
+	SelectRegister(devAddr, regAddr);
+
+	cmd = i2c_cmd_link_create();
+	ESP_ERROR_CHECK(i2c_master_start(cmd));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_READ, 1));
+
+	if(length>1)
+		ESP_ERROR_CHECK(i2c_master_read(cmd, data, length-1, 0));
+
+	ESP_ERROR_CHECK(i2c_master_read_byte(cmd, data+length-1, 1));
+
+	ESP_ERROR_CHECK(i2c_master_stop(cmd));
+	ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS));
+	i2c_cmd_link_delete(cmd);
+
+	return length;
+}
+
+bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data){
+
+	uint8_t data1[] = {(uint8_t)(data>>8), (uint8_t)(data & 0xff)};
+	uint8_t data2[] = {(uint8_t)(data & 0xff), (uint8_t)(data>>8)};
+	writeBytes(devAddr, regAddr, 2, data1);
+	return true;
+}
+
+void I2Cdev::SelectRegister(uint8_t dev, uint8_t reg){
+	i2c_cmd_handle_t cmd;
+
+	cmd = i2c_cmd_link_create();
+	ESP_ERROR_CHECK(i2c_master_start(cmd));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (dev << 1) | I2C_MASTER_WRITE, 1));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, reg, 1));
+	ESP_ERROR_CHECK(i2c_master_stop(cmd));
+	ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS));
+	i2c_cmd_link_delete(cmd);
+}
+
+/** write a single bit in an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitNum Bit position to write (0-7)
+ * @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) {
+    uint8_t b;
+    readByte(devAddr, regAddr, &b);
+    b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
+    return writeByte(devAddr, regAddr, b);
+}
+
+/** Write multiple bits in an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register regAddr to write to
+ * @param bitStart First bit position to write (0-7)
+ * @param length Number of bits to write (not more than 8)
+ * @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) {
+    //      010 value to write
+    // 76543210 bit numbers
+    //    xxx   args: bitStart=4, length=3
+    // 00011100 mask byte
+    // 10101111 original value (sample)
+    // 10100011 original & ~mask
+    // 10101011 masked | value
+    uint8_t b = 0;
+    if (readByte(devAddr, regAddr, &b) != 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);
+    } else {
+        return false;
+    }
+}
+
+/** Write single byte to an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register address to write to
+ * @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) {
+	i2c_cmd_handle_t cmd;
+
+	cmd = i2c_cmd_link_create();
+	ESP_ERROR_CHECK(i2c_master_start(cmd));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_WRITE, 1));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, regAddr, 1));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, data, 1));
+	ESP_ERROR_CHECK(i2c_master_stop(cmd));
+	ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS));
+	i2c_cmd_link_delete(cmd);
+
+	return true;
+}
+
+/** Write single byte to an 8-bit device register.
+ * @param devAddr I2C slave device address
+ * @param regAddr Register address to write to
+ * @param length Number of bytes to write
+ * @param data Array of bytes to write
+ * @return Status of operation (true = success)
+ */
+bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data){
+	i2c_cmd_handle_t cmd;
+
+	cmd = i2c_cmd_link_create();
+	ESP_ERROR_CHECK(i2c_master_start(cmd));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (devAddr << 1) | I2C_MASTER_WRITE, 1));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, regAddr, 1));
+	ESP_ERROR_CHECK(i2c_master_write(cmd, data, length-1, 0));
+	ESP_ERROR_CHECK(i2c_master_write_byte(cmd, data[length-1], 1));
+	ESP_ERROR_CHECK(i2c_master_stop(cmd));
+	ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM, cmd, 1000/portTICK_PERIOD_MS));
+	i2c_cmd_link_delete(cmd);
+	return true;
+}
+
+

ESP32_ESP-IDF/components/I2Cdev/I2Cdev.h

@@ -0,0 +1,83 @@
+// I2Cdev library collection - Main I2C device class
+// Abstracts bit and byte I2C R/W functions into a convenient class
+// EFM32 stub port by Nicolas Baldeck <[email protected]>
+// Based on Arduino's I2Cdev by Jeff Rowberg <[email protected]>
+//
+// Changelog:
+//      2015-01-02 - Initial release
+
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2015 Jeff Rowberg, Nicolas Baldeck
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+===============================================
+*/
+
+#ifndef _I2CDEV_H_
+#define _I2CDEV_H_
+
+#include <driver/i2c.h>
+
+#define I2C_SDA_PORT gpioPortA
+#define I2C_SDA_PIN 0
+#define I2C_SDA_MODE gpioModeWiredAnd
+#define I2C_SDA_DOUT 1
+
+#define I2C_SCL_PORT gpioPortA
+#define I2C_SCL_PIN 1
+#define I2C_SCL_MODE gpioModeWiredAnd
+#define I2C_SCL_DOUT 1
+
+#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
+
+class I2Cdev {
+    public:
+        I2Cdev();
+
+        static void initialize();
+        static void enable(bool isEnabled);
+
+        static int8_t readBit(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);
+        //TODO 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);
+        //TODO 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);
+        //TODO 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);
+        //TODO 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);
+        //TODO 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);
+        //TODO 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);
+        //TODO static bool writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data);
+
+        static uint16_t readTimeout;
+
+    //private:
+        static void SelectRegister(uint8_t dev, uint8_t reg);
+        //static I2C_TransferReturn_TypeDef transfer(I2C_TransferSeq_TypeDef *seq, uint16_t timeout=I2Cdev::readTimeout);
+};
+
+#endif /* _I2CDEV_H_ */

ESP32_ESP-IDF/components/I2Cdev/component.mk

@@ -0,0 +1,10 @@
+#
+# Main component makefile.
+#
+# This Makefile can be left empty. By default, it will take the sources in the 
+# src/ directory, compile them and link them into lib(subdirectory_name).a 
+# in the build directory. This behaviour is entirely configurable,
+# please read the ESP-IDF documents if you need to do this.
+#
+
+COMPONENT_ADD_INCLUDEDIRS=.