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0 parents commit 07c2fe087dc6dbaf4bb0e2828a603f2f761eee95 aaron committed Jan 4, 2013
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+These are the most up to date hardware and firmware files for the [MPU-9150 Breakout](https://www.sparkfun.com/products/11486) at SparkFun Electronics.
+
+The MPU-9150 is an accelerometer, gyro, and magnetometer all in a single package with an I2C interface.
+
+The hardware directory contains the Eagle design files and the firmware directory contains an Arduino library with an example that send raw sensor data out of the serial port.
+
+Hardware License
+[Creative Commons Attribution-ShareAlike](http://creativecommons.org/licenses/by-sa/3.0/)
+
+Author: Aaron Weiss @ SparkFun Electonics
+
+Firmware License
+From the original author [Jeff Rowberg](https://github.com/jrowberg/i2cdevlib) jeff@rowberg.net
+
+The Arduino library code is placed under the MIT license:
+
+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.

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+// I2Cdev library collection - Main I2C device class header file
+// Abstracts bit and byte I2C R/W functions into a convenient class
+// 6/9/2012 by Jeff Rowberg <jeff@rowberg.net>
+//
+// Changelog:
+// 2012-06-09 - fix major issue with reading > 32 bytes at a time with Arduino Wire
+// - add compiler warnings when using outdated or IDE or limited I2Cdev implementation
+// 2011-11-01 - fix write*Bits mask calculation (thanks sasquatch @ Arduino forums)
+// 2011-10-03 - added automatic Arduino version detection for ease of use
+// 2011-10-02 - added Gene Knight's NBWire TwoWire class implementation with small modifications
+// 2011-08-31 - added support for Arduino 1.0 Wire library (methods are different from 0.x)
+// 2011-08-03 - added optional timeout parameter to read* methods to easily change from default
+// 2011-08-02 - added support for 16-bit registers
+// - fixed incorrect Doxygen comments on some methods
+// - added timeout value for read operations (thanks mem @ Arduino forums)
+// 2011-07-30 - changed read/write function structures to return success or byte counts
+// - made all methods static for multi-device memory savings
+// 2011-07-28 - initial release
+
+/* ============================================
+I2Cdev device library code is placed under the MIT license
+Copyright (c) 2012 Jeff Rowberg
+
+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_
+
+// -----------------------------------------------------------------------------
+// I2C interface implementation setting
+// -----------------------------------------------------------------------------
+#define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE
+
+// comment this out if you are using a non-optimal IDE/implementation setting
+// but want the compiler to shut up about it
+#define I2CDEV_IMPLEMENTATION_WARNINGS
+
+// -----------------------------------------------------------------------------
+// I2C interface implementation options
+// -----------------------------------------------------------------------------
+#define I2CDEV_ARDUINO_WIRE 1 // Wire object from Arduino
+#define I2CDEV_BUILTIN_NBWIRE 2 // Tweaked Wire object from Gene Knight's NBWire project
+ // ^^^ NBWire implementation is still buggy w/some interrupts!
+#define I2CDEV_BUILTIN_FASTWIRE 3 // FastWire object from Francesco Ferrara's project
+ // ^^^ FastWire implementation in I2Cdev is INCOMPLETE!
+
+// -----------------------------------------------------------------------------
+// Arduino-style "Serial.print" debug constant (uncomment to enable)
+// -----------------------------------------------------------------------------
+//#define I2CDEV_SERIAL_DEBUG
+
+#ifdef ARDUINO
+ #if ARDUINO < 100
+ #include "WProgram.h"
+ #else
+ #include "Arduino.h"
+ #endif
+ #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+ #include <Wire.h>
+ #endif
+#else
+ #include "ArduinoWrapper.h"
+#endif
+
+// 1000ms default read timeout (modify with "I2Cdev::readTimeout = [ms];")
+#define I2CDEV_DEFAULT_READ_TIMEOUT 1000
+
+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 uint16_t readTimeout;
+};
+
+#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
+ //////////////////////
+ // FastWire 0.2
+ // This is a library to help faster programs to read I2C devices.
+ // Copyright(C) 2011
+ // Francesco Ferrara
+ //////////////////////
+
+ /* Master */
+ #define TW_START 0x08
+ #define TW_REP_START 0x10
+
+ /* Master Transmitter */
+ #define TW_MT_SLA_ACK 0x18
+ #define TW_MT_SLA_NACK 0x20
+ #define TW_MT_DATA_ACK 0x28
+ #define TW_MT_DATA_NACK 0x30
+ #define TW_MT_ARB_LOST 0x38
+
+ /* Master Receiver */
+ #define TW_MR_ARB_LOST 0x38
+ #define TW_MR_SLA_ACK 0x40
+ #define TW_MR_SLA_NACK 0x48
+ #define TW_MR_DATA_ACK 0x50
+ #define TW_MR_DATA_NACK 0x58
+
+ #define TW_OK 0
+ #define TW_ERROR 1
+
+ class Fastwire {
+ private:
+ static boolean waitInt();
+
+ public:
+ static void setup(int khz, boolean pullup);
+ static byte write(byte device, byte address, byte value);
+ static byte readBuf(byte device, byte address, byte *data, byte num);
+ };
+#endif
+
+#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
+ // NBWire implementation based heavily on code by Gene Knight <Gene@Telobot.com>
+ // Originally posted on the Arduino forum at http://arduino.cc/forum/index.php/topic,70705.0.html
+ // Originally offered to the i2cdevlib project at http://arduino.cc/forum/index.php/topic,68210.30.html
+
+ #define NBWIRE_BUFFER_LENGTH 32
+
+ class TwoWire {
+ private:
+ static uint8_t rxBuffer[];
+ static uint8_t rxBufferIndex;
+ static uint8_t rxBufferLength;
+
+ static uint8_t txAddress;
+ static uint8_t txBuffer[];
+ static uint8_t txBufferIndex;
+ static uint8_t txBufferLength;
+
+ // static uint8_t transmitting;
+ static void (*user_onRequest)(void);
+ static void (*user_onReceive)(int);
+ static void onRequestService(void);
+ static void onReceiveService(uint8_t*, int);
+
+ public:
+ TwoWire();
+ void begin();
+ void begin(uint8_t);
+ void begin(int);
+ void beginTransmission(uint8_t);
+ //void beginTransmission(int);
+ uint8_t endTransmission(uint16_t timeout=0);
+ void nbendTransmission(void (*function)(int)) ;
+ uint8_t requestFrom(uint8_t, int, uint16_t timeout=0);
+ //uint8_t requestFrom(int, int);
+ void nbrequestFrom(uint8_t, int, void (*function)(int));
+ void send(uint8_t);
+ void send(uint8_t*, uint8_t);
+ //void send(int);
+ void send(char*);
+ uint8_t available(void);
+ uint8_t receive(void);
+ void onReceive(void (*)(int));
+ void onRequest(void (*)(void));
+ };
+
+ #define TWI_READY 0
+ #define TWI_MRX 1
+ #define TWI_MTX 2
+ #define TWI_SRX 3
+ #define TWI_STX 4
+
+ #define TW_WRITE 0
+ #define TW_READ 1
+
+ #define TW_MT_SLA_NACK 0x20
+ #define TW_MT_DATA_NACK 0x30
+
+ #define CPU_FREQ 16000000L
+ #define TWI_FREQ 100000L
+ #define TWI_BUFFER_LENGTH 32
+
+ /* 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 (TWSR & TW_STATUS_MASK)
+ #define TW_START 0x08
+ #define TW_REP_START 0x10
+ #define TW_MT_SLA_ACK 0x18
+ #define TW_MT_SLA_NACK 0x20
+ #define TW_MT_DATA_ACK 0x28
+ #define TW_MT_DATA_NACK 0x30
+ #define TW_MT_ARB_LOST 0x38
+ #define TW_MR_ARB_LOST 0x38
+ #define TW_MR_SLA_ACK 0x40
+ #define TW_MR_SLA_NACK 0x48
+ #define TW_MR_DATA_ACK 0x50
+ #define TW_MR_DATA_NACK 0x58
+ #define TW_ST_SLA_ACK 0xA8
+ #define TW_ST_ARB_LOST_SLA_ACK 0xB0
+ #define TW_ST_DATA_ACK 0xB8
+ #define TW_ST_DATA_NACK 0xC0
+ #define TW_ST_LAST_DATA 0xC8
+ #define TW_SR_SLA_ACK 0x60
+ #define TW_SR_ARB_LOST_SLA_ACK 0x68
+ #define TW_SR_GCALL_ACK 0x70
+ #define TW_SR_ARB_LOST_GCALL_ACK 0x78
+ #define TW_SR_DATA_ACK 0x80
+ #define TW_SR_DATA_NACK 0x88
+ #define TW_SR_GCALL_DATA_ACK 0x90
+ #define TW_SR_GCALL_DATA_NACK 0x98
+ #define TW_SR_STOP 0xA0
+ #define TW_NO_INFO 0xF8
+ #define TW_BUS_ERROR 0x00
+
+ //#define _MMIO_BYTE(mem_addr) (*(volatile uint8_t *)(mem_addr))
+ //#define _SFR_BYTE(sfr) _MMIO_BYTE(_SFR_ADDR(sfr))
+
+ #ifndef sbi // set bit
+ #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+ #endif // sbi
+
+ #ifndef cbi // clear bit
+ #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+ #endif // cbi
+
+ extern TwoWire Wire;
+
+#endif // I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE
+
+#endif /* _I2CDEV_H_ */
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+#######################################
+# Syntax Coloring Map For I2Cdev
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+I2Cdev KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+readBit KEYWORD2
+readBitW KEYWORD2
+readBits KEYWORD2
+readBitsW KEYWORD2
+readByte KEYWORD2
+readBytes KEYWORD2
+readWord KEYWORD2
+readWords KEYWORD2
+writeBit KEYWORD2
+writeBitW KEYWORD2
+writeBits KEYWORD2
+writeBitsW KEYWORD2
+writeByte KEYWORD2
+writeBytes KEYWORD2
+writeWord KEYWORD2
+writeWords KEYWORD2
+
+#######################################
+# Instances (KEYWORD2)
+#######################################
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
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