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ARM support #48

pfeerick opened this issue Sep 20, 2013 · 3 comments


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commented Sep 20, 2013


When using your MPU6050 DMP6 example with a Digistump DigiX (essentially an enhanced Arduino Due) , I came across three problems.

  1. Firstly, the TWBR does not exist on the ARM platform, so to continue to use that register to set the bus speed, perhaps you should use something like the code below (unless the Arduino guys incorporate a legacy patch themselves). I included it in the I2Cdev.h file and it compiles and works ok on Arduino 1.5.4 on my setup.

  2. Arduino Dues have two I2C buses, and the second one is accessible via the dedicated SDA/SCL pins, and is accessed via Wire1, not Wire. Can you add some sort of flag so the I2Cdev knows to use Wire1 instead of Wire?

  3. the attachInterrupts command doesn't work the same way, you specify the pin not the interrupt, so something like the below snippet fixes that.

Sorry to be wordy, hope this of use to you. :)

Interrupts fix:

// Attach to interrupt 0 (pin 2) on AVR, or pin 2 on ARM
#ifdef __arm__
    attachInterrupt(2, dmpDataReady, RISING);
    attachInterrupt(0, dmpDataReady, RISING);

TWBR fix:

// Paul Stoffregen AVR TWBR emulation for ARM
#if defined(__arm__)
class TWBRemulation
    inline TWBRemulation & operator = (int val) __attribute__((always_inline)) {
    if (val == 12 || val == ((F_CPU / 400000) - 16) / 2) {
        #if F_BUS == 48000000
        I2C0_F = 0x1A; // 400 kHz
        #elif F_BUS == 24000000
        I2C0_F = 0x45; // 400 kHz
    return *this;
extern TWBRemulation TWBR;

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commented Sep 24, 2013

Hi @pfeerick,

Thanks for putting all of this together. I will definitely add it to the code when I can.


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commented Nov 28, 2013

Patch works like a charm on the Due, Thanks!


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commented Feb 18, 2017

MAy i ask, where do you put these codes in the sketch?

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