Projet Robot self-balancing Elegoo Trumbller arduino nano

Bonjour

Je suis nouveau sur ce forum, je travaille sur un robot self-balancing (auto-équilibré) de la marque Elegoo. Le projet consiste à le faire avancer et quand il rencontre un mur via les capteurs ultrason de faire un virage à droite de 90° , de continuer à avancer pendant 3 secondes et s'arrête tout en restant en équilibre. Puis plus tard dans le projet de communiquer via une carte wifi avec d'autres robots. Le problème est que je n'arrive pas à comprendre comment fonctionne le programme Arduino officiel de Elegoo, je vous demande donc un peu d'aide pour m'expliquer comment fonctionne le programme. Je vous mets la documentation du robot en pdf et le programme en dossier zip.Pièce jointe 635080

Bonsoir,
Il y a très peu de chance que quelqu'un ouvre ton fichier zip, postes plutôt ton programme entre les balises adaptées [CODE][/CODE] ou en cliquant sur le bouton # dans l'éditeur de message ;)

Ok merci beaucoup

Donc voici le programme principale:

Code:

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/*  * @Description: In User Settings Edit  * @Author: your name  * @Date: 2019-09-12 14:51:36  * @LastEditTime: 2019-10-11 16:39:57  * @LastEditors: Please set LastEditors  */ #include <Arduino.h> #include "PinChangeInt.h" #include "Pins.h" #include "mode.h" #include "Command.h" #include "BalanceCar.h" #include "Rgb.h" #include "Ultrasonic.h" #include "voltage.h"   unsigned long start_prev_time = 0; boolean carInitialize_en = true;   void functionMode() { switch (function_mode) { case IDLE: break; case IRREMOTE: break; case OBSTACLE: obstacleAvoidanceMode(); break; case FOLLOW: followMode(); break; case BLUETOOTH: break; case FOLLOW2: followMode2(); break; default: break; } }   void setMotionState() { switch (motion_mode) { case FORWARD: switch (function_mode) { case FOLLOW: setting_car_speed = 20; setting_turn_speed = 0; break; case FOLLOW2: setting_car_speed = 20; setting_turn_speed = 0; break; case BLUETOOTH: setting_car_speed = 80; break; case IRREMOTE: setting_car_speed = 80; setting_turn_speed = 0; break; default: setting_car_speed = 40; setting_turn_speed = 0; break; } break; case BACKWARD: switch (function_mode) { case FOLLOW: setting_car_speed = -20; setting_turn_speed = 0; break; case FOLLOW2: setting_car_speed = -20; setting_turn_speed = 0; break; case BLUETOOTH: setting_car_speed = -80; break; case IRREMOTE: setting_car_speed = -80; setting_turn_speed = 0; break; default: setting_car_speed = -40; setting_turn_speed = 0; break; } break; case TURNLEFT: switch (function_mode) { case FOLLOW: setting_car_speed = 0; setting_turn_speed = 50; break; case FOLLOW2: setting_car_speed = 0; setting_turn_speed = 50; break; case BLUETOOTH: setting_turn_speed = 80; break; case IRREMOTE: setting_car_speed = 0; setting_turn_speed = 80; break; default: setting_car_speed = 0; setting_turn_speed = 50; break; } break; case TURNRIGHT: switch (function_mode) { case FOLLOW: setting_car_speed = 0; setting_turn_speed = -50; break; case FOLLOW2: setting_car_speed = 0; setting_turn_speed = -50; break; case BLUETOOTH: setting_turn_speed = -80; break; case IRREMOTE: setting_car_speed = 0; setting_turn_speed = -80; break; default: setting_car_speed = 0; setting_turn_speed = -50; break; } break; case STANDBY: setting_car_speed = 0; setting_turn_speed = 0; break; case STOP: if (millis() - start_prev_time > 1000) { function_mode = IDLE; if (balance_angle_min <= kalmanfilter_angle && kalmanfilter_angle <= balance_angle_max) { motion_mode = STANDBY; rgb.lightOff(); } } break; case START: if (millis() - start_prev_time > 2000) { if (balance_angle_min <= kalmanfilter_angle && kalmanfilter_angle <= balance_angle_max) { car_speed_integeral = 0; setting_car_speed = 0; motion_mode = STANDBY; rgb.lightOff(); } else { motion_mode = STOP; carStop(); rgb.brightRedColor(); } } break; default: break; } }   void keyEventHandle() { if (key_value != '\0') { key_flag = key_value;   switch (key_value) { case 's': rgb.lightOff(); motion_mode = STANDBY; break; case 'f': rgb.flashBlueColorFront(); motion_mode = FORWARD; break; case 'b': rgb.flashBlueColorback(); motion_mode = BACKWARD; break; case 'l': rgb.flashBlueColorLeft(); motion_mode = TURNLEFT; break; case 'i': rgb.flashBlueColorRight(); motion_mode = TURNRIGHT; break; case '1': function_mode = FOLLOW; follow_flag = 0; follow_prev_time = millis(); break; case '2': function_mode = OBSTACLE; obstacle_avoidance_flag = 0; obstacle_avoidance_prev_time = millis(); break; case '3': rgb_loop: key_value = '\0'; rgb.flag++; if (rgb.flag > 6) { rgb.flag = 1; } switch (rgb.flag) { case 0: break; case 1: if (rgb.theaterChaseRainbow(50) && key_value == '3') goto rgb_loop; break; case 2: if (rgb.rainbowCycle(20) && key_value == '3') goto rgb_loop; break; case 3: if (rgb.theaterChase(127, 127, 127, 50) && key_value == '3') goto rgb_loop; break; case 4: if (rgb.rainbow(20) && key_value == '3') goto rgb_loop; break; case 5: if (rgb.whiteOverRainbow(20, 30, 4) && key_value == '3') goto rgb_loop; break; case 6: if (rgb.rainbowFade2White(3, 50, 50) && key_value == '3') goto rgb_loop; break; break; default: break; } break; case '4': function_mode = IDLE; motion_mode = STOP; carBack(110); delay((kalmanfilter_angle - 30) * (kalmanfilter_angle - 30) / 8); carStop(); start_prev_time = millis(); rgb.brightRedColor(); break; case '5': if (millis() - start_prev_time > 500 && kalmanfilter_angle >= balance_angle_min) { start_prev_time = millis(); motion_mode = START; } motion_mode = START; break; case '6': rgb.brightness = 50; rgb.setBrightness(rgb.brightness); rgb.show(); break; case '7': rgb.brightRedColor(); rgb.brightness -= 25; if (rgb.brightness <= 0) { rgb.brightness = 0; } rgb.setBrightness(rgb.brightness); rgb.show(); break; case '8': rgb.brightRedColor(); rgb.brightness += 25; if (rgb.brightness >= 255) { rgb.brightness = 255; } rgb.setBrightness(rgb.brightness); rgb.show(); break; case '9': rgb.brightness = 0; rgb.setBrightness(rgb.brightness); rgb.show(); break; case '0': function_mode = FOLLOW2; follow_flag = 0; follow_prev_time = millis(); break; case '*': break; case '#': break; default: break; } if (key_flag == key_value) { key_value = '\0'; } } }   void setup() {   Serial.begin(9600); ultrasonicInit(); keyInit(); rgb.initialize(); voltageInit(); start_prev_time = millis(); carInitialize(); } void loop() { getKeyValue(); getBluetoothData(); keyEventHandle(); getDistance(); voltageMeasure(); setMotionState(); functionMode(); checkObstacle(); rgb.blink(100); static unsigned long print_time; if (millis() - print_time > 100) { print_time = millis(); Serial.println(kalmanfilter.angle); } static unsigned long start_time; if (millis() - start_time < 10) { function_mode = IDLE; motion_mode = STOP; carStop(); } if (millis() - start_time == 2000) // Enter the pendulum, the car balances... { key_value = '5'; } }

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Et voilât les sous programme :

Adafruit_NeoPixel.cpp :

Code:

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*------------------------------------------------------------------------- * Arduino library to control a wide variety of WS2811- and WS2812-based RGB * LED devices such as Adafruit FLORA RGB Smart Pixels and NeoPixel strips. * Currently handles 400 and 800 KHz bitstreams on 8, 12 and 16 MHz ATmega * MCUs, with LEDs wired for various color orders. 8 MHz MCUs provide * output on PORTB and PORTD, while 16 MHz chips can handle most output pins * (possible exception with upper PORT registers on the Arduino Mega). * * Written by Phil Burgess / Paint Your Dragon for Adafruit Industries, * contributions by PJRC, Michael Miller and other members of the open * source community. * * Adafruit invests time and resources providing this open source code, * please support Adafruit and open-source hardware by purchasing products * from Adafruit! * * ------------------------------------------------------------------------- * This file is part of the Adafruit NeoPixel library. * * NeoPixel is free software: you can redistribute it and/or modify * it under the terms of the GNU Lesser General Public License as * published by the Free Software Foundation, either version 3 of * the License, or (at your option) any later version. * * NeoPixel is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with NeoPixel. If not, see * <http://www.gnu.org/licenses/>. * -------------------------------------------------------------------------*/   #include "Adafruit_NeoPixel.h" // Constructor when length, pin and type are known at compile-time: Adafruit_NeoPixel::Adafruit_NeoPixel(uint16_t n, uint8_t p, neoPixelType t) : begun(false), brightness(0), pixels(NULL), endTime(0) { updateType(t); updateLength(n); setPin(p); }     // via Michael Vogt/neophob: empty constructor is used when strand length // isn't known at compile-time; situations where program config might be // read from internal flash memory or an SD card, or arrive via serial // command. If using this constructor, MUST follow up with updateType(), // updateLength(), etc. to establish the strand type, length and pin number! Adafruit_NeoPixel::Adafruit_NeoPixel() : #ifdef NEO_KHZ400 is800KHz(true), #endif begun(false), numLEDs(0), numBytes(0), pin(-1), brightness(0), pixels(NULL), rOffset(1), gOffset(0), bOffset(2), wOffset(1), endTime(0) { }     Adafruit_NeoPixel::~Adafruit_NeoPixel() { if (pixels) { free(pixels); } if (pin >= 0) { pinMode(pin, INPUT); } }     void Adafruit_NeoPixel::begin(void) { if (pin >= 0) { pinMode(pin, OUTPUT); digitalWrite(pin, LOW); } begun = true; }     void Adafruit_NeoPixel::updateLength(uint16_t n) { if (pixels) { free(pixels); // Free existing data (if any) } // Allocate new data -- note: ALL PIXELS ARE CLEARED numBytes = n * ((wOffset == rOffset) ? 3 : 4); if ((pixels = (uint8_t *)malloc(numBytes))) { memset(pixels, 0, numBytes); numLEDs = n; } else { numLEDs = numBytes = 0; } }     void Adafruit_NeoPixel::updateType(neoPixelType t) { boolean oldThreeBytesPerPixel = (wOffset == rOffset); // false if RGBW   wOffset = (t >> 6) & 0b11; // See notes in header file rOffset = (t >> 4) & 0b11; // regarding R/G/B/W offsets gOffset = (t >> 2) & 0b11; bOffset = t & 0b11; #ifdef NEO_KHZ400 is800KHz = (t < 256); // 400 KHz flag is 1<<8 #endif   // If bytes-per-pixel has changed (and pixel data was previously // allocated), re-allocate to new size. Will clear any data. if (pixels) { boolean newThreeBytesPerPixel = (wOffset == rOffset); if (newThreeBytesPerPixel != oldThreeBytesPerPixel) { updateLength(numLEDs); } } }     #ifdef ESP8266 // ESP8266 show() is external to enforce ICACHE_RAM_ATTR execution extern "C" void ICACHE_RAM_ATTR espShow( uint8_t pin, uint8_t *pixels, uint32_t numBytes, uint8_t type);   #endif // ESP8266   void Adafruit_NeoPixel::show(void) { if (!pixels) { return; }   // Data latch = 50+ microsecond pause in the output stream. Rather than // put a delay at the end of the function, the ending time is noted and // the function will simply hold off (if needed) on issuing the // subsequent round of data until the latch time has elapsed. This // allows the mainline code to start generating the next frame of data // rather than stalling for the latch. while (!canShow()) { } // endTime is a private member (rather than global var) so that mutliple // instances on different pins can be quickly issued in succession (each // instance doesn't delay the next).   // In order to make this code runtime-configurable to work with any pin, // SBI/CBI instructions are eschewed in favor of full PORT writes via the // OUT or ST instructions. It relies on two facts: that peripheral // functions (such as PWM) take precedence on output pins, so our PORT- // wide writes won't interfere, and that interrupts are globally disabled // while data is being issued to the LEDs, so no other code will be // accessing the PORT. The code takes an initial 'snapshot' of the PORT // state, computes 'pin high' and 'pin low' values, and writes these back // to the PORT register as needed.   noInterrupts(); // Need 100% focus on instruction timing     #ifdef __AVR__ // AVR MCUs -- ATmega & ATtiny (no XMEGA) ---------------------------------   volatile uint16_t i = numBytes; // Loop counter volatile uint8_t *ptr = pixels, // Pointer to next byte b = *ptr++, // Current byte value hi, // PORT w/output bit set high lo; // PORT w/output bit set low   // Hand-tuned assembly code issues data to the LED drivers at a specific // rate. There's separate code for different CPU speeds (8, 12, 16 MHz) // for both the WS2811 (400 KHz) and WS2812 (800 KHz) drivers. The // datastream timing for the LED drivers allows a little wiggle room each // way (listed in the datasheets), so the conditions for compiling each // case are set up for a range of frequencies rather than just the exact // 8, 12 or 16 MHz values, permitting use with some close-but-not-spot-on // devices (e.g. 16.5 MHz DigiSpark). The ranges were arrived at based // on the datasheet figures and have not been extensively tested outside // the canonical 8/12/16 MHz speeds; there's no guarantee these will work // close to the extremes (or possibly they could be pushed further). // Keep in mind only one CPU speed case actually gets compiled; the // resulting program isn't as massive as it might look from source here.   // 8 MHz(ish) AVR --------------------------------------------------------- #if (F_CPU >= 7400000UL) && (F_CPU <= 9500000UL) #ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled if (is800KHz) { #endif   volatile uint8_t n1, n2 = 0; // First, next bits out   // Squeezing an 800 KHz stream out of an 8 MHz chip requires code // specific to each PORT register. At present this is only written // to work with pins on PORTD or PORTB, the most likely use case -- // this covers all the pins on the Adafruit Flora and the bulk of // digital pins on the Arduino Pro 8 MHz (keep in mind, this code // doesn't even get compiled for 16 MHz boards like the Uno, Mega, // Leonardo, etc., so don't bother extending this out of hand). // Additional PORTs could be added if you really need them, just // duplicate the else and loop and change the PORT. Each add'l // PORT will require about 150(ish) bytes of program space.   // 10 instruction clocks per bit: HHxxxxxLLL // OUT instructions: ^ ^ ^ (T=0,2,7)   #ifdef PORTD // PORTD isn't present on ATtiny85, etc. if (port == &PORTD) { hi = PORTD | pinMask; lo = PORTD & ~pinMask; n1 = lo; if (b & 0x80) { n1 = hi; }   // Dirty trick: RJMPs proceeding to the next instruction are used // to delay two clock cycles in one instruction word (rather than // using two NOPs). This was necessary in order to squeeze the // loop down to exactly 64 words -- the maximum possible for a // relative branch.   asm volatile ( "headD:" "\n\t" // Clk Pseudocode // Bit 7: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi "mov %[n2] , %[lo]" "\n\t" // 1 n2 = lo "out %[port] , %[n1]" "\n\t" // 1 PORT = n1 "rjmp .+0" "\n\t" // 2 nop nop "sbrc %[byte] , 6" "\n\t" // 1-2 if(b & 0x40) "mov %[n2] , %[hi]" "\n\t" // 0-1 n2 = hi "out %[port] , %[lo]" "\n\t" // 1 PORT = lo "rjmp .+0" "\n\t" // 2 nop nop // Bit 6: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi "mov %[n1] , %[lo]" "\n\t" // 1 n1 = lo "out %[port] , %[n2]" "\n\t" // 1 PORT = n2 "rjmp .+0" "\n\t" // 2 nop nop "sbrc %[byte] , 5" "\n\t" // 1-2 if(b & 0x20) "mov %[n1] , %[hi]" "\n\t" // 0-1 n1 = hi "out %[port] , %[lo]" "\n\t" // 1 PORT = lo "rjmp .+0" "\n\t" // 2 nop nop // Bit 5: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi "mov %[n2] , %[lo]" "\n\t" // 1 n2 = lo "out %[port] , %[n1]" "\n\t" // 1 PORT = n1 "rjmp .+0" "\n\t" // 2 nop nop "sbrc %[byte] , 4" "\n\t" // 1-2 if(b & 0x10) "mov %[n2] , %[hi]" "\n\t" // 0-1 n2 = hi "out %[port] , %[lo]" "\n\t" // 1 PORT = lo "rjmp .+0" "\n\t" // 2 nop nop // Bit 4: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi "mov %[n1] , %[lo]" "\n\t" // 1 n1 = lo "out %[port] , %[n2]" "\n\t" // 1 PORT = n2 "rjmp .+0" "\n\t" // 2 nop nop "sbrc %[byte] , 3" "\n\t" // 1-2 if(b & 0x08) "mov %[n1] , %[hi]" "\n\t" // 0-1 n1 = hi "out %[port] , %[lo]" "\n\t" // 1 PORT = lo "rjmp .+0" "\n\t" // 2 nop nop // Bit 3: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi "mov %[n2] , %[lo]" "\n\t" // 1 n2 = lo "out %[port] , %[n1]" "\n\t" // 1 PORT = n1 "rjmp .+0" "\n\t" // 2 nop nop "sbrc %[byte] , 2" "\n\t" // 1-2 if(b & 0x04) "mov %[n2] , %[hi]" "\n\t" // 0-1 n2 = hi "out %[port] , %[lo]" "\n\t" // 1 PORT = lo "rjmp .+0" "\n\t" // 2 nop nop // Bit 2: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi "mov %[n1] , %[lo]" "\n\t" // 1 n1 = lo "out %[port] , %[n2]" "\n\t" // 1 PORT = n2 "rjmp .+0" "\n\t" // 2 nop nop "sbrc %[byte] , 1" "\n\t" // 1-2 if(b & 0x02) "mov %[n1] , %[hi]" "\n\t" // 0-1 n1 = hi "out %[port] , %[lo]" "\n\t" // 1 PORT = lo "rjmp .+0" "\n\t" // 2 nop nop // Bit 1: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi "mov %[n2] , %[lo]" "\n\t" // 1 n2 = lo "out %[port] , %[n1]" "\n\t" // 1 PORT = n1 "rjmp .+0" "\n\t" // 2 nop nop "sbrc %[byte] , 0" "\n\t" // 1-2 if(b & 0x01) "mov %[n2] , %[hi]" "\n\t" // 0-1 n2 = hi "out %[port] , %[lo]" "\n\t" // 1 PORT = lo "sbiw %[count], 1" "\n\t" // 2 i-- (don't act on Z flag yet) // Bit 0: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi "mov %[n1] , %[lo]" "\n\t" // 1 n1 = lo "out %[port] , %[n2]" "\n\t" // 1 PORT = n2 "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 0x80) "mov %[n1] , %[hi]" "\n\t" // 0-1 n1 = hi "out %[port] , %[lo]" "\n\t" // 1 PORT = lo "brne headD" "\n" // 2 while(i) (Z flag set above) : [byte] "+r" (b), [n1] "+r" (n1), [n2] "+r" (n2), [count] "+w" (i) : [port] "I" (_SFR_IO_ADDR(PORTD)), [ptr] "e" (ptr), [hi] "r" (hi), [lo] "r" (lo)); } else if (port == &PORTB) { #endif // PORTD   // Same as above, just switched to PORTB and stripped of comments. hi = PORTB | pinMask; lo = PORTB & ~pinMask; n1 = lo; if (b & 0x80) { n1 = hi; }   asm volatile ( "headB:" "\n\t" "out %[port] , %[hi]" "\n\t" "mov %[n2] , %[lo]" "\n\t" "out %[port] , %[n1]" "\n\t" "rjmp .+0" "\n\t" "sbrc %[byte] , 6" "\n\t" "mov %[n2] , %[hi]" "\n\t" "out %[port] , %[lo]" "\n\t" "rjmp .+0" "\n\t" "out %[port] , %[hi]" "\n\t" "mov %[n1] , %[lo]" "\n\t" "out %[port] , %[n2]" "\n\t" "rjmp .+0" "\n\t" "sbrc %[byte] , 5" "\n\t" "mov %[n1] , %[hi]" "\n\t" "out %[port] , %[lo]" "\n\t" "rjmp .+0" "\n\t" "out %[port] , %[hi]" "\n\t" "mov %[n2] , %[lo]" "\n\t" "out %[port] , %[n1]" "\n\t" "rjmp .+0" "\n\t" "sbrc %[byte] , 4" "\n\t" "mov %[n2] , %[hi]" "\n\t" "out %[port] , %[lo]" "\n\t" "rjmp .+0" "\n\t" "out %[port] , %[hi]" "\n\t" "mov %[n1] , %[lo]" "\n\t" "out %[port] , %[n2]" "\n\t" "rjmp .+0" "\n\t" "sbrc %[byte] , 3" "\n\t" "mov %[n1] , %[hi]" "\n\t" "out %[port] , %[lo]" "\n\t" "rjmp .+0" "\n\t" "out %[port] , %[hi]" "\n\t" "mov %[n2] , %[lo]" "\n\t" "out %[port] , %[n1]" "\n\t" "rjmp .+0" "\n\t" "sbrc %[byte] , 2" "\n\t" "mov %[n2] , %[hi]" "\n\t" "out %[port] , %[lo]" "\n\t" "rjmp .+0" "\n\t" "out %[port] , %[hi]" "\n\t" "mov %[n1] , %[lo]" "\n\t" "out %[port] , %[n2]" "\n\t" "rjmp .+0" "\n\t" "sbrc %[byte] , 1" "\n\t" "mov %[n1] , %[hi]" "\n\t" "out %[port] , %[lo]" "\n\t" "rjmp .+0" "\n\t" "out %[port] , %[hi]" "\n\t" "mov %[n2] , %[lo]" "\n\t" "out %[port] , %[n1]" "\n\t" "rjmp .+0" "\n\t" "sbrc %[byte] , 0" "\n\t" "mov %[n2] , %[hi]" "\n\t" "out %[port] , %[lo]" "\n\t" "sbiw %[count], 1" "\n\t" "out %[port] , %[hi]" "\n\t" "mov %[n1] , %[lo]" "\n\t" "out %[port] , %[n2]" "\n\t" "ld %[byte] , %a[ptr]+" "\n\t" "sbrc %[byte] , 7" "\n\t" "mov %[n1] , %[hi]" "\n\t" "out %[port] , %[lo]" "\n\t" "brne headB" "\n" : [byte] "+r" (b), [n1] "+r" (n1), [n2] "+r" (n2), [count] "+w" (i) : [port] "I" (_SFR_IO_ADDR(PORTB)), [ptr] "e" (ptr), [hi] "r" (hi), [lo] "r" (lo));   #ifdef PORTD } // endif PORTB #endif   #ifdef NEO_KHZ400 } else { // end 800 KHz, do 400 KHz // Timing is more relaxed; unrolling the inner loop for each bit is // not necessary. Still using the peculiar RJMPs as 2X NOPs, not out // of need but just to trim the code size down a little. // This 400-KHz-datastream-on-8-MHz-CPU code is not quite identical // to the 800-on-16 code later -- the hi/lo timing between WS2811 and // WS2812 is not simply a 2:1 scale!   // 20 inst. clocks per bit: HHHHxxxxxxLLLLLLLLLL // ST instructions: ^ ^ ^ (T=0,4,10)   volatile uint8_t next, bit;   hi = *port | pinMask; lo = *port & ~pinMask; next = lo; bit = 8;   asm volatile ( "head20:" "\n\t" // Clk Pseudocode (T = 0) "st %a[port], %[hi]" "\n\t" // 2 PORT = hi (T = 2) "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 128) "mov %[next], %[hi]" "\n\t" // 0-1 next = hi (T = 4) "st %a[port], %[next]" "\n\t" // 2 PORT = next (T = 6) "mov %[next] , %[lo]" "\n\t" // 1 next = lo (T = 7) "dec %[bit]" "\n\t" // 1 bit-- (T = 8) "breq nextbyte20" "\n\t" // 1-2 if(bit == 0) "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 10) "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 12) "rjmp .+0" "\n\t" // 2 nop nop (T = 14) "rjmp .+0" "\n\t" // 2 nop nop (T = 16) "rjmp .+0" "\n\t" // 2 nop nop (T = 18) "rjmp head20" "\n\t" // 2 -> head20 (next bit out) "nextbyte20:" "\n\t" // (T = 10) "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 12) "nop" "\n\t" // 1 nop (T = 13) "ldi %[bit] , 8" "\n\t" // 1 bit = 8 (T = 14) "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 16) "sbiw %[count], 1" "\n\t" // 2 i-- (T = 18) "brne head20" "\n" // 2 if(i != 0) -> (next byte) : [port] "+e" (port), [byte] "+r" (b), [bit] "+r" (bit), [next] "+r" (next), [count] "+w" (i) : [hi] "r" (hi), [lo] "r" (lo), [ptr] "e" (ptr)); } #endif // NEO_KHZ400   // 12 MHz(ish) AVR -------------------------------------------------------- #elif (F_CPU >= 11100000UL) && (F_CPU <= 14300000UL) #ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled if (is800KHz) { #endif   // In the 12 MHz case, an optimized 800 KHz datastream (no dead time // between bytes) requires a PORT-specific loop similar to the 8 MHz // code (but a little more relaxed in this case).   // 15 instruction clocks per bit: HHHHxxxxxxLLLLL // OUT instructions: ^ ^ ^ (T=0,4,10)   volatile uint8_t next;   #ifdef PORTD if (port == &PORTD) { hi = PORTD | pinMask; lo = PORTD & ~pinMask; next = lo; if (b & 0x80) { next = hi; }   // Don't "optimize" the OUT calls into the bitTime subroutine; // we're exploiting the RCALL and RET as 3- and 4-cycle NOPs! asm volatile ( "headD:" "\n\t" // (T = 0) "out %[port], %[hi]" "\n\t" // (T = 1) "rcall bitTimeD" "\n\t" // Bit 7 (T = 15) "out %[port], %[hi]" "\n\t" "rcall bitTimeD" "\n\t" // Bit 6 "out %[port], %[hi]" "\n\t" "rcall bitTimeD" "\n\t" // Bit 5 "out %[port], %[hi]" "\n\t" "rcall bitTimeD" "\n\t" // Bit 4 "out %[port], %[hi]" "\n\t" "rcall bitTimeD" "\n\t" // Bit 3 "out %[port], %[hi]" "\n\t" "rcall bitTimeD" "\n\t" // Bit 2 "out %[port], %[hi]" "\n\t" "rcall bitTimeD" "\n\t" // Bit 1 // Bit 0: "out %[port] , %[hi]" "\n\t" // 1 PORT = hi (T = 1) "rjmp .+0" "\n\t" // 2 nop nop (T = 3) "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 5) "out %[port] , %[next]" "\n\t" // 1 PORT = next (T = 6) "mov %[next] , %[lo]" "\n\t" // 1 next = lo (T = 7) "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 0x80) (T = 8) "mov %[next] , %[hi]" "\n\t" // 0-1 next = hi (T = 9) "nop" "\n\t" // 1 (T = 10) "out %[port] , %[lo]" "\n\t" // 1 PORT = lo (T = 11) "sbiw %[count], 1" "\n\t" // 2 i-- (T = 13) "brne headD" "\n\t" // 2 if(i != 0) -> (next byte) "rjmp doneD" "\n\t" "bitTimeD:" "\n\t" // nop nop nop (T = 4) "out %[port], %[next]" "\n\t" // 1 PORT = next (T = 5) "mov %[next], %[lo]" "\n\t" // 1 next = lo (T = 6) "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 7) "sbrc %[byte], 7" "\n\t" // 1-2 if(b & 0x80) (T = 8) "mov %[next], %[hi]" "\n\t" // 0-1 next = hi (T = 9) "nop" "\n\t" // 1 (T = 10) "out %[port], %[lo]" "\n\t" // 1 PORT = lo (T = 11) "ret" "\n\t" // 4 nop nop nop nop (T = 15) "doneD:" "\n" : [byte] "+r" (b), [next] "+r" (next), [count] "+w" (i) : [port] "I" (_SFR_IO_ADDR(PORTD)), [ptr] "e" (ptr), [hi] "r" (hi), [lo] "r" (lo)); } else if (port == &PORTB) { #endif // PORTD   hi = PORTB | pinMask; lo = PORTB & ~pinMask; next = lo; if (b & 0x80) { next = hi; }   // Same as above, just set for PORTB & stripped of comments asm volatile ( "headB:" "\n\t" "out %[port], %[hi]" "\n\t" "rcall bitTimeB" "\n\t" "out %[port], %[hi]" "\n\t" "rcall bitTimeB" "\n\t" "out %[port], %[hi]" "\n\t" "rcall bitTimeB" "\n\t" "out %[port], %[hi]" "\n\t" "rcall bitTimeB" "\n\t" "out %[port], %[hi]" "\n\t" "rcall bitTimeB" "\n\t" "out %[port], %[hi]" "\n\t" "rcall bitTimeB" "\n\t" "out %[port], %[hi]" "\n\t" "rcall bitTimeB" "\n\t" "out %[port] , %[hi]" "\n\t" "rjmp .+0" "\n\t" "ld %[byte] , %a[ptr]+" "\n\t" "out %[port] , %[next]" "\n\t" "mov %[next] , %[lo]" "\n\t" "sbrc %[byte] , 7" "\n\t" "mov %[next] , %[hi]" "\n\t" "nop" "\n\t" "out %[port] , %[lo]" "\n\t" "sbiw %[count], 1" "\n\t" "brne headB" "\n\t" "rjmp doneB" "\n\t" "bitTimeB:" "\n\t" "out %[port], %[next]" "\n\t" "mov %[next], %[lo]" "\n\t" "rol %[byte]" "\n\t" "sbrc %[byte], 7" "\n\t" "mov %[next], %[hi]" "\n\t" "nop" "\n\t" "out %[port], %[lo]" "\n\t" "ret" "\n\t" "doneB:" "\n" : [byte] "+r" (b), [next] "+r" (next), [count] "+w" (i) : [port] "I" (_SFR_IO_ADDR(PORTB)), [ptr] "e" (ptr), [hi] "r" (hi), [lo] "r" (lo));   #ifdef PORTD } #endif   #ifdef NEO_KHZ400 } else { // 400 KHz // 30 instruction clocks per bit: HHHHHHxxxxxxxxxLLLLLLLLLLLLLLL // ST instructions: ^ ^ ^ (T=0,6,15)   volatile uint8_t next, bit;   hi = *port | pinMask; lo = *port & ~pinMask; next = lo; bit = 8;   asm volatile ( "head30:" "\n\t" // Clk Pseudocode (T = 0) "st %a[port], %[hi]" "\n\t" // 2 PORT = hi (T = 2) "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 128) "mov %[next], %[hi]" "\n\t" // 0-1 next = hi (T = 4) "rjmp .+0" "\n\t" // 2 nop nop (T = 6) "st %a[port], %[next]" "\n\t" // 2 PORT = next (T = 8) "rjmp .+0" "\n\t" // 2 nop nop (T = 10) "rjmp .+0" "\n\t" // 2 nop nop (T = 12) "rjmp .+0" "\n\t" // 2 nop nop (T = 14) "nop" "\n\t" // 1 nop (T = 15) "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 17) "rjmp .+0" "\n\t" // 2 nop nop (T = 19) "dec %[bit]" "\n\t" // 1 bit-- (T = 20) "breq nextbyte30" "\n\t" // 1-2 if(bit == 0) "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 22) "rjmp .+0" "\n\t" // 2 nop nop (T = 24) "rjmp .+0" "\n\t" // 2 nop nop (T = 26) "rjmp .+0" "\n\t" // 2 nop nop (T = 28) "rjmp head30" "\n\t" // 2 -> head30 (next bit out) "nextbyte30:" "\n\t" // (T = 22) "nop" "\n\t" // 1 nop (T = 23) "ldi %[bit] , 8" "\n\t" // 1 bit = 8 (T = 24) "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 26) "sbiw %[count], 1" "\n\t" // 2 i-- (T = 28) "brne head30" "\n" // 1-2 if(i != 0) -> (next byte) : [port] "+e" (port), [byte] "+r" (b), [bit] "+r" (bit), [next] "+r" (next), [count] "+w" (i) : [hi] "r" (hi), [lo] "r" (lo), [ptr] "e" (ptr)); } #endif // NEO_KHZ400   // 16 MHz(ish) AVR -------------------------------------------------------- #elif (F_CPU >= 15400000UL) && (F_CPU <= 19000000L) #ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled if (is800KHz) { #endif   // WS2811 and WS2812 have different hi/lo duty cycles; this is // similar but NOT an exact copy of the prior 400-on-8 code.   // 20 inst. clocks per bit: HHHHHxxxxxxxxLLLLLLL // ST instructions: ^ ^ ^ (T=0,5,13)   volatile uint8_t next, bit;   hi = *port | pinMask; lo = *port & ~pinMask; next = lo; bit = 8;   asm volatile ( "head20:" "\n\t" // Clk Pseudocode (T = 0) "st %a[port], %[hi]" "\n\t" // 2 PORT = hi (T = 2) "sbrc %[byte], 7" "\n\t" // 1-2 if(b & 128) "mov %[next], %[hi]" "\n\t" // 0-1 next = hi (T = 4) "dec %[bit]" "\n\t" // 1 bit-- (T = 5) "st %a[port], %[next]" "\n\t" // 2 PORT = next (T = 7) "mov %[next] , %[lo]" "\n\t" // 1 next = lo (T = 8) "breq nextbyte20" "\n\t" // 1-2 if(bit == 0) (from dec above) "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 10) "rjmp .+0" "\n\t" // 2 nop nop (T = 12) "nop" "\n\t" // 1 nop (T = 13) "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 15) "nop" "\n\t" // 1 nop (T = 16) "rjmp .+0" "\n\t" // 2 nop nop (T = 18) "rjmp head20" "\n\t" // 2 -> head20 (next bit out) "nextbyte20:" "\n\t" // (T = 10) "ldi %[bit] , 8" "\n\t" // 1 bit = 8 (T = 11) "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 13) "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 15) "nop" "\n\t" // 1 nop (T = 16) "sbiw %[count], 1" "\n\t" // 2 i-- (T = 18) "brne head20" "\n" // 2 if(i != 0) -> (next byte) : [port] "+e" (port), [byte] "+r" (b), [bit] "+r" (bit), [next] "+r" (next), [count] "+w" (i) : [ptr] "e" (ptr), [hi] "r" (hi), [lo] "r" (lo));   #ifdef NEO_KHZ400 } else { // 400 KHz // The 400 KHz clock on 16 MHz MCU is the most 'relaxed' version.   // 40 inst. clocks per bit: HHHHHHHHxxxxxxxxxxxxLLLLLLLLLLLLLLLLLLLL // ST instructions: ^ ^ ^ (T=0,8,20)   volatile uint8_t next, bit;   hi = *port | pinMask; lo = *port & ~pinMask; next = lo; bit = 8;   asm volatile ( "head40:" "\n\t" // Clk Pseudocode (T = 0) "st %a[port], %[hi]" "\n\t" // 2 PORT = hi (T = 2) "sbrc %[byte] , 7" "\n\t" // 1-2 if(b & 128) "mov %[next] , %[hi]" "\n\t" // 0-1 next = hi (T = 4) "rjmp .+0" "\n\t" // 2 nop nop (T = 6) "rjmp .+0" "\n\t" // 2 nop nop (T = 8) "st %a[port], %[next]" "\n\t" // 2 PORT = next (T = 10) "rjmp .+0" "\n\t" // 2 nop nop (T = 12) "rjmp .+0" "\n\t" // 2 nop nop (T = 14) "rjmp .+0" "\n\t" // 2 nop nop (T = 16) "rjmp .+0" "\n\t" // 2 nop nop (T = 18) "rjmp .+0" "\n\t" // 2 nop nop (T = 20) "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 22) "nop" "\n\t" // 1 nop (T = 23) "mov %[next] , %[lo]" "\n\t" // 1 next = lo (T = 24) "dec %[bit]" "\n\t" // 1 bit-- (T = 25) "breq nextbyte40" "\n\t" // 1-2 if(bit == 0) "rol %[byte]" "\n\t" // 1 b <<= 1 (T = 27) "nop" "\n\t" // 1 nop (T = 28) "rjmp .+0" "\n\t" // 2 nop nop (T = 30) "rjmp .+0" "\n\t" // 2 nop nop (T = 32) "rjmp .+0" "\n\t" // 2 nop nop (T = 34) "rjmp .+0" "\n\t" // 2 nop nop (T = 36) "rjmp .+0" "\n\t" // 2 nop nop (T = 38) "rjmp head40" "\n\t" // 2 -> head40 (next bit out) "nextbyte40:" "\n\t" // (T = 27) "ldi %[bit] , 8" "\n\t" // 1 bit = 8 (T = 28) "ld %[byte] , %a[ptr]+" "\n\t" // 2 b = *ptr++ (T = 30) "rjmp .+0" "\n\t" // 2 nop nop (T = 32) "st %a[port], %[lo]" "\n\t" // 2 PORT = lo (T = 34) "rjmp .+0" "\n\t" // 2 nop nop (T = 36) "sbiw %[count], 1" "\n\t" // 2 i-- (T = 38) "brne head40" "\n" // 1-2 if(i != 0) -> (next byte) : [port] "+e" (port), [byte] "+r" (b), [bit] "+r" (bit), [next] "+r" (next), [count] "+w" (i) : [ptr] "e" (ptr), [hi] "r" (hi), [lo] "r" (lo)); } #endif // NEO_KHZ400 #else #error "CPU SPEED NOT SUPPORTED" #endif // end F_CPU ifdefs on __AVR__   // END AVR ---------------------------------------------------------------- #elif defined(__arm__) // ARM MCUs -- Teensy 3.0, 3.1, LC, Arduino Due ---------------------------   #if defined(__MK20DX128__) || defined(__MK20DX256__) // Teensy 3.0 & 3.1 #define CYCLES_800_T0H (F_CPU / 4000000) #define CYCLES_800_T1H (F_CPU / 1250000) #define CYCLES_800 (F_CPU / 800000) #define CYCLES_400_T0H (F_CPU / 2000000) #define CYCLES_400_T1H (F_CPU / 833333) #define CYCLES_400 (F_CPU / 400000)   uint8_t *p = pixels, *end = p + numBytes, pix, mask; volatile uint8_t *set = portSetRegister(pin), *clr = portClearRegister(pin); uint32_t cyc;   ARM_DEMCR |= ARM_DEMCR_TRCENA; ARM_DWT_CTRL |= ARM_DWT_CTRL_CYCCNTENA;   #ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled if (is800KHz) { #endif cyc = ARM_DWT_CYCCNT + CYCLES_800; while (p < end) { pix = *p++; for (mask = 0x80; mask; mask >>= 1) { while (ARM_DWT_CYCCNT - cyc < CYCLES_800) { } cyc = ARM_DWT_CYCCNT; *set = 1; if (pix & mask) { while (ARM_DWT_CYCCNT - cyc < CYCLES_800_T1H) { } } else { while (ARM_DWT_CYCCNT - cyc < CYCLES_800_T0H) { } } *clr = 1; } } while (ARM_DWT_CYCCNT - cyc < CYCLES_800) { } #ifdef NEO_KHZ400 } else { // 400 kHz bitstream cyc = ARM_DWT_CYCCNT + CYCLES_400; while (p < end) { pix = *p++; for (mask = 0x80; mask; mask >>= 1) { while (ARM_DWT_CYCCNT - cyc < CYCLES_400) { } cyc = ARM_DWT_CYCCNT; *set = 1; if (pix & mask) { while (ARM_DWT_CYCCNT - cyc < CYCLES_400_T1H) { } } else { while (ARM_DWT_CYCCNT - cyc < CYCLES_400_T0H) { } } *clr = 1; } } while (ARM_DWT_CYCCNT - cyc < CYCLES_400) { } } #endif // NEO_KHZ400 #elif defined(__MKL26Z64__) // Teensy-LC #if F_CPU == 48000000 uint8_t *p = pixels, pix, count, dly, bitmask = digitalPinToBitMask(pin); volatile uint8_t *reg = portSetRegister(pin); uint32_t num = numBytes; asm volatile ( "L%=_begin:" "\n\t" "ldrb %[pix], [%[p], #0]" "\n\t" "lsl %[pix], #24" "\n\t" "movs %[count], #7" "\n\t" "L%=_loop:" "\n\t" "lsl %[pix], #1" "\n\t" "bcs L%=_loop_one" "\n\t" "L%=_loop_zero:" "strb %[bitmask], [%[reg], #0]" "\n\t" "movs %[dly], #4" "\n\t" "L%=_loop_delay_T0H:" "\n\t" "sub %[dly], #1" "\n\t" "bne L%=_loop_delay_T0H" "\n\t" "strb %[bitmask], [%[reg], #4]" "\n\t" "movs %[dly], #13" "\n\t" "L%=_loop_delay_T0L:" "\n\t" "sub %[dly], #1" "\n\t" "bne L%=_loop_delay_T0L" "\n\t" "b L%=_next" "\n\t" "L%=_loop_one:" "strb %[bitmask], [%[reg], #0]" "\n\t" "movs %[dly], #13" "\n\t" "L%=_loop_delay_T1H:" "\n\t" "sub %[dly], #1" "\n\t" "bne L%=_loop_delay_T1H" "\n\t" "strb %[bitmask], [%[reg], #4]" "\n\t" "movs %[dly], #4" "\n\t" "L%=_loop_delay_T1L:" "\n\t" "sub %[dly], #1" "\n\t" "bne L%=_loop_delay_T1L" "\n\t" "nop" "\n\t" "L%=_next:" "\n\t" "sub %[count], #1" "\n\t" "bne L%=_loop" "\n\t" "lsl %[pix], #1" "\n\t" "bcs L%=_last_one" "\n\t" "L%=_last_zero:" "strb %[bitmask], [%[reg], #0]" "\n\t" "movs %[dly], #4" "\n\t" "L%=_last_delay_T0H:" "\n\t" "sub %[dly], #1" "\n\t" "bne L%=_last_delay_T0H" "\n\t" "strb %[bitmask], [%[reg], #4]" "\n\t" "movs %[dly], #10" "\n\t" "L%=_last_delay_T0L:" "\n\t" "sub %[dly], #1" "\n\t" "bne L%=_last_delay_T0L" "\n\t" "b L%=_repeat" "\n\t" "L%=_last_one:" "strb %[bitmask], [%[reg], #0]" "\n\t" "movs %[dly], #13" "\n\t" "L%=_last_delay_T1H:" "\n\t" "sub %[dly], #1" "\n\t" "bne L%=_last_delay_T1H" "\n\t" "strb %[bitmask], [%[reg], #4]" "\n\t" "movs %[dly], #1" "\n\t" "L%=_last_delay_T1L:" "\n\t" "sub %[dly], #1" "\n\t" "bne L%=_last_delay_T1L" "\n\t" "nop" "\n\t" "L%=_repeat:" "\n\t" "add %[p], #1" "\n\t" "sub %[num], #1" "\n\t" "bne L%=_begin" "\n\t" "L%=_done:" "\n\t" : [p] "+r" (p), [pix] "=&r" (pix), [count] "=&r" (count), [dly] "=&r" (dly), [num] "+r" (num) : [bitmask] "r" (bitmask), [reg] "r" (reg) ); #else #error "Sorry, only 48 MHz is supported, please set Tools > CPU Speed to 48 MHz" #endif // F_CPU == 48000000 #elif defined(__SAMD21G18A__) // Arduino Zero // Tried this with a timer/counter, couldn't quite get adequate // resolution. So yay, you get a load of goofball NOPs...   uint8_t *ptr, *end, p, bitMask, portNum; uint32_t pinMask;   portNum = g_APinDescription[pin].ulPort; pinMask = 1ul << g_APinDescription[pin].ulPin; ptr = pixels; end = ptr + numBytes; p = *ptr++; bitMask = 0x80;   volatile uint32_t *set = &(PORT->Group[portNum].OUTSET.reg), *clr = &(PORT->Group[portNum].OUTCLR.reg);   #ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled if (is800KHz) { #endif for ( ; ;) { *set = pinMask; asm ("nop; nop; nop; nop; nop; nop; nop; nop;"); if (p & bitMask) { asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop;"); *clr = pinMask; } else { *clr = pinMask; asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop;"); } if (bitMask >>= 1) { asm ("nop; nop; nop; nop; nop; nop; nop; nop; nop;"); } else { if (ptr >= end) { break; } p = *ptr++; bitMask = 0x80; } } #ifdef NEO_KHZ400 } else { // 400 KHz bitstream for ( ; ;) { *set = pinMask; asm ("nop; nop; nop; nop; nop; nop; nop; nop; nop; nop; nop;"); if (p & bitMask) { asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop;"); *clr = pinMask; } else { *clr = pinMask; asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop;"); } asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;"); if (bitMask >>= 1) { asm ("nop; nop; nop; nop; nop; nop; nop;"); } else { if (ptr >= end) { break; } p = *ptr++; bitMask = 0x80; } } } #endif #elif defined (ARDUINO_STM32_FEATHER) // FEATHER WICED (120MHz) // Tried this with a timer/counter, couldn't quite get adequate // resolution. So yay, you get a load of goofball NOPs...   uint8_t *ptr, *end, p, bitMask; uint32_t pinMask;   pinMask = BIT(PIN_MAP[pin].gpio_bit); ptr = pixels; end = ptr + numBytes; p = *ptr++; bitMask = 0x80;   volatile uint16_t *set = &(PIN_MAP[pin].gpio_device->regs->BSRRL); volatile uint16_t *clr = &(PIN_MAP[pin].gpio_device->regs->BSRRH);   #ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled if (is800KHz) { #endif for ( ; ;) { if (p & bitMask) { // ONE // High 800ns *set = pinMask; asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop;"); // Low 450ns *clr = pinMask; asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop;"); } else { // ZERO // High 400ns *set = pinMask; asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop;"); // Low 850ns *clr = pinMask; asm ("nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop; nop; nop; nop; nop;" "nop; nop; nop; nop;"); } if (bitMask >>= 1) { // Move on to the next pixel asm ("nop;"); } else { if (ptr >= end) { break; } p = *ptr++; bitMask = 0x80; } } #ifdef NEO_KHZ400 } else { // 400 KHz bitstream // ToDo! } #endif #else // Other ARM architecture -- Presumed Arduino Due #define SCALE VARIANT_MCK / 2UL / 1000000UL #define INST (2UL * F_CPU / VARIANT_MCK) #define TIME_800_0 ((int)(0.40 * SCALE + 0.5) - (5 * INST)) #define TIME_800_1 ((int)(0.80 * SCALE + 0.5) - (5 * INST)) #define PERIOD_800 ((int)(1.25 * SCALE + 0.5) - (5 * INST)) #define TIME_400_0 ((int)(0.50 * SCALE + 0.5) - (5 * INST)) #define TIME_400_1 ((int)(1.20 * SCALE + 0.5) - (5 * INST)) #define PERIOD_400 ((int)(2.50 * SCALE + 0.5) - (5 * INST))   int pinMask, time0, time1, period, t; Pio *port; volatile WoReg *portSet, *portClear, *timeValue, *timeReset; uint8_t *p, *end, pix, mask;   pmc_set_writeprotect(false); pmc_enable_periph_clk((uint32_t)TC3_IRQn); TC_Configure(TC1, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP | TC_CMR_TCCLKS_TIMER_CLOCK1); TC_Start(TC1, 0);   pinMask = g_APinDescription[pin].ulPin; // Don't 'optimize' these into port = g_APinDescription[pin].pPort; // declarations above. Want to portSet = &(port->PIO_SODR); // burn a few cycles after portClear = &(port->PIO_CODR); // starting timer to minimize timeValue = &(TC1->TC_CHANNEL[0].TC_CV); // the initial 'while'. timeReset = &(TC1->TC_CHANNEL[0].TC_CCR); p = pixels; end = p + numBytes; pix = *p++; mask = 0x80;   #ifdef NEO_KHZ400 // 800 KHz check needed only if 400 KHz support enabled if (is800KHz) { #endif time0 = TIME_800_0; time1 = TIME_800_1; period = PERIOD_800; #ifdef NEO_KHZ400 } else { // 400 KHz bitstream time0 = TIME_400_0; time1 = TIME_400_1; period = PERIOD_400; } #endif   for (t = time0; ; t = time0) { if (pix & mask) { t = time1; } while (*timeValue < period) { } *portSet = pinMask; *timeReset = TC_CCR_CLKEN | TC_CCR_SWTRG; while (*timeValue < t) { } *portClear = pinMask; if (!(mask >>= 1)) { // This 'inside-out' loop logic utilizes if (p >= end) { break; // idle time to minimize inter-byte delays. } pix = *p++; mask = 0x80; } } while (*timeValue < period) // Wait for last bit { } TC_Stop(TC1, 0); #endif // end Due   // END ARM ---------------------------------------------------------------- #elif defined(ESP8266) // ESP8266 ----------------------------------------------------------------   // ESP8266 show() is external to enforce ICACHE_RAM_ATTR execution espShow(pin, pixels, numBytes, is800KHz); #elif defined(__ARDUINO_ARC__) // Arduino 101 -----------------------------------------------------------   #define NOPx7 \ { __builtin_arc_nop(); \ __builtin_arc_nop(); __builtin_arc_nop(); \ __builtin_arc_nop(); __builtin_arc_nop(); \ __builtin_arc_nop(); __builtin_arc_nop(); }   PinDescription *pindesc = &g_APinDescription[pin]; register uint32_t loop = 8 * numBytes; // one loop to handle all bytes and all bits register uint8_t *p = pixels; register uint32_t currByte = (uint32_t)(*p); register uint32_t currBit = 0x80 & currByte; register uint32_t bitCounter = 0; register uint32_t first = 1;   // The loop is unusual. Very first iteration puts all the way LOW to the wire - // constant LOW does not affect NEOPIXEL, so there is no visible effect displayed. // During that very first iteration CPU caches instructions in the loop. // Because of the caching process, "CPU slows down". NEOPIXEL pulse is very time sensitive // that's why we let the CPU cache first and we start regular pulse from 2nd iteration if (pindesc->ulGPIOType == SS_GPIO) { register uint32_t reg = pindesc->ulGPIOBase + SS_GPIO_SWPORTA_DR; uint32_t reg_val = __builtin_arc_lr((volatile uint32_t)reg); register uint32_t reg_bit_high = reg_val | (1 << pindesc->ulGPIOId); register uint32_t reg_bit_low = reg_val & ~(1 << pindesc->ulGPIOId);   loop += 1; // include first, special iteration while (loop--) { if (!first) { currByte <<= 1; bitCounter++; }   // 1 is >550ns high and >450ns low; 0 is 200..500ns high and >450ns low __builtin_arc_sr(first ? reg_bit_low : reg_bit_high, (volatile uint32_t)reg); if (currBit) { // ~400ns HIGH (740ns overall) NOPx7 NOPx7 } // ~340ns HIGH NOPx7 __builtin_arc_nop();   // 820ns LOW; per spec, max allowed low here is 5000ns */ __builtin_arc_sr(reg_bit_low, (volatile uint32_t)reg); NOPx7 NOPx7   if (bitCounter >= 8) { bitCounter = 0; currByte = (uint32_t)(*++p); }   currBit = 0x80 & currByte; first = 0; } } else if (pindesc->ulGPIOType == SOC_GPIO) { register uint32_t reg = pindesc->ulGPIOBase + SOC_GPIO_SWPORTA_DR; uint32_t reg_val = MMIO_REG_VAL(reg); register uint32_t reg_bit_high = reg_val | (1 << pindesc->ulGPIOId); register uint32_t reg_bit_low = reg_val & ~(1 << pindesc->ulGPIOId);   loop += 1; // include first, special iteration while (loop--) { if (!first) { currByte <<= 1; bitCounter++; } MMIO_REG_VAL(reg) = first ? reg_bit_low : reg_bit_high; if (currBit) { // ~430ns HIGH (740ns overall) NOPx7 NOPx7 __builtin_arc_nop(); } // ~310ns HIGH NOPx7   // 850ns LOW; per spec, max allowed low here is 5000ns */ MMIO_REG_VAL(reg) = reg_bit_low; NOPx7 NOPx7   if (bitCounter >= 8) { bitCounter = 0; currByte = (uint32_t)(*++p); }   currBit = 0x80 & currByte; first = 0; } } #endif     // END ARCHITECTURE SELECT ------------------------------------------------     interrupts(); endTime = micros(); // Save EOD time for latch on next call }   // Set the output pin number void Adafruit_NeoPixel::setPin(uint8_t p) { if (begun && (pin >= 0)) { pinMode(pin, INPUT); } pin = p; if (begun) { pinMode(p, OUTPUT); digitalWrite(p, LOW); } #ifdef __AVR__ port = portOutputRegister(digitalPinToPort(p)); pinMask = digitalPinToBitMask(p); #endif }     // Set pixel color from separate R,G,B components: void Adafruit_NeoPixel::setPixelColor( uint16_t n, uint8_t r, uint8_t g, uint8_t b) { if (n < numLEDs) { if (brightness) { // See notes in setBrightness() r = (r * brightness) >> 8; g = (g * brightness) >> 8; b = (b * brightness) >> 8; } uint8_t *p; if (wOffset == rOffset) { // Is an RGB-type strip p = &pixels[n * 3]; // 3 bytes per pixel } else { // Is a WRGB-type strip p = &pixels[n * 4]; // 4 bytes per pixel p[wOffset] = 0; // But only R,G,B passed -- set W to 0 } p[rOffset] = r; // R,G,B always stored p[gOffset] = g; p[bOffset] = b; } }     void Adafruit_NeoPixel::setPixelColor( uint16_t n, uint8_t r, uint8_t g, uint8_t b, uint8_t w) { if (n < numLEDs) { if (brightness) { // See notes in setBrightness() r = (r * brightness) >> 8; g = (g * brightness) >> 8; b = (b * brightness) >> 8; w = (w * brightness) >> 8; } uint8_t *p; if (wOffset == rOffset) { // Is an RGB-type strip p = &pixels[n * 3]; // 3 bytes per pixel (ignore W) } else { // Is a WRGB-type strip p = &pixels[n * 4]; // 4 bytes per pixel p[wOffset] = w; // Store W } p[rOffset] = r; // Store R,G,B p[gOffset] = g; p[bOffset] = b; } }     // Set pixel color from 'packed' 32-bit RGB color: void Adafruit_NeoPixel::setPixelColor(uint16_t n, uint32_t c) { if (n < numLEDs) { uint8_t *p, r = (uint8_t)(c >> 16), g = (uint8_t)(c >> 8), b = (uint8_t)c; if (brightness) { // See notes in setBrightness() r = (r * brightness) >> 8; g = (g * brightness) >> 8; b = (b * brightness) >> 8; } if (wOffset == rOffset) { p = &pixels[n * 3]; } else { p = &pixels[n * 4]; uint8_t w = (uint8_t)(c >> 24); p[wOffset] = brightness ? ((w * brightness) >> 8) : w; } p[rOffset] = r; p[gOffset] = g; p[bOffset] = b; } }     // Convert separate R,G,B into packed 32-bit RGB color. // Packed format is always RGB, regardless of LED strand color order. uint32_t Adafruit_NeoPixel::Color(uint8_t r, uint8_t g, uint8_t b) { return (((uint32_t)r << 16) | ((uint32_t)g << 8) | b); }     // Convert separate R,G,B,W into packed 32-bit WRGB color. // Packed format is always WRGB, regardless of LED strand color order. uint32_t Adafruit_NeoPixel::Color(uint8_t r, uint8_t g, uint8_t b, uint8_t w) { return (((uint32_t)w << 24) | ((uint32_t)r << 16) | ((uint32_t)g << 8) | b); }     // Query color from previously-set pixel (returns packed 32-bit RGB value) uint32_t Adafruit_NeoPixel::getPixelColor(uint16_t n) const { if (n >= numLEDs) { return (0); // Out of bounds, return no color. } uint8_t *p;   if (wOffset == rOffset) { // Is RGB-type device p = &pixels[n * 3]; if (brightness) { // Stored color was decimated by setBrightness(). Returned value // attempts to scale back to an approximation of the original 24-bit // value used when setting the pixel color, but there will always be // some error -- those bits are simply gone. Issue is most // pronounced at low brightness levels. return ((((uint32_t)(p[rOffset] << 8) / brightness) << 16) | (((uint32_t)(p[gOffset] << 8) / brightness) << 8) | ((uint32_t)(p[bOffset] << 8) / brightness)); } else { // No brightness adjustment has been made -- return 'raw' color return (((uint32_t)p[rOffset] << 16) | ((uint32_t)p[gOffset] << 8) | (uint32_t)p[bOffset]); } } else { // Is RGBW-type device p = &pixels[n * 4]; if (brightness) { // Return scaled color return ((((uint32_t)(p[wOffset] << 8) / brightness) << 24) | (((uint32_t)(p[rOffset] << 8) / brightness) << 16) | (((uint32_t)(p[gOffset] << 8) / brightness) << 8) | ((uint32_t)(p[bOffset] << 8) / brightness)); } else { // Return raw color return (((uint32_t)p[wOffset] << 24) | ((uint32_t)p[rOffset] << 16) | ((uint32_t)p[gOffset] << 8) | (uint32_t)p[bOffset]); } } }     // Returns pointer to pixels[] array. Pixel data is stored in device- // native format and is not translated here. Application will need to be // aware of specific pixel data format and handle colors appropriately. uint8_t *Adafruit_NeoPixel::getPixels(void) const { return (pixels); }     uint16_t Adafruit_NeoPixel::numPixels(void) const { return (numLEDs); }     // Adjust output brightness; 0=darkest (off), 255=brightest. This does // NOT immediately affect what's currently displayed on the LEDs. The // next call to show() will refresh the LEDs at this level. However, // this process is potentially "lossy," especially when increasing // brightness. The tight timing in the WS2811/WS2812 code means there // aren't enough free cycles to perform this scaling on the fly as data // is issued. So we make a pass through the existing color data in RAM // and scale it (subsequent graphics commands also work at this // brightness level). If there's a significant step up in brightness, // the limited number of steps (quantization) in the old data will be // quite visible in the re-scaled version. For a non-destructive // change, you'll need to re-render the full strip data. C'est la vie. void Adafruit_NeoPixel::setBrightness(uint8_t b) { // Stored brightness value is different than what's passed. // This simplifies the actual scaling math later, allowing a fast // 8x8-bit multiply and taking the MSB. 'brightness' is a uint8_t, // adding 1 here may (intentionally) roll over...so 0 = max brightness // (color values are interpreted literally; no scaling), 1 = min // brightness (off), 255 = just below max brightness. uint8_t newBrightness = b + 1;   if (newBrightness != brightness) { // Compare against prior value // Brightness has changed -- re-scale existing data in RAM uint8_t c, *ptr = pixels, oldBrightness = brightness - 1; // De-wrap old brightness value uint16_t scale; if (oldBrightness == 0) { scale = 0; // Avoid /0 }else if (b == 255) { scale = 65535 / oldBrightness; } else { scale = (((uint16_t)newBrightness << 8) - 1) / oldBrightness; } for (uint16_t i = 0; i < numBytes; i++) { c = *ptr; *ptr++ = (c * scale) >> 8; } brightness = newBrightness; } }     //Return the brightness value uint8_t Adafruit_NeoPixel::getBrightness(void) const { return (brightness - 1); }     void Adafruit_NeoPixel::clear() { memset(pixels, 0, numBytes); }

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Adafruit_NeoPixel.h :

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/*--------------------------------------------------------------------  * This file is part of the Adafruit NeoPixel library.  *  * NeoPixel is free software: you can redistribute it and/or modify  * it under the terms of the GNU Lesser General Public License as  * published by the Free Software Foundation, either version 3 of  * the License, or (at your option) any later version.  *  * NeoPixel is distributed in the hope that it will be useful,  * but WITHOUT ANY WARRANTY; without even the implied warranty of  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the  * GNU Lesser General Public License for more details.  *  * You should have received a copy of the GNU Lesser General Public  * License along with NeoPixel. If not, see  * <http://www.gnu.org/licenses/>.  * --------------------------------------------------------------------*/   #ifndef ADAFRUIT_NEOPIXEL_H #define ADAFRUIT_NEOPIXEL_H   #if (ARDUINO >= 100) #include <Arduino.h> #else #include <WProgram.h> #include <pins_arduino.h> #endif   // The order of primary colors in the NeoPixel data stream can vary // among device types, manufacturers and even different revisions of // the same item. The third parameter to the Adafruit_NeoPixel // constructor encodes the per-pixel byte offsets of the red, green // and blue primaries (plus white, if present) in the data stream -- // the following #defines provide an easier-to-use named version for // each permutation. e.g. NEO_GRB indicates a NeoPixel-compatible // device expecting three bytes per pixel, with the first byte // containing the green value, second containing red and third // containing blue. The in-memory representation of a chain of // NeoPixels is the same as the data-stream order; no re-ordering of // bytes is required when issuing data to the chain.   // Bits 5,4 of this value are the offset (0-3) from the first byte of // a pixel to the location of the red color byte. Bits 3,2 are the // green offset and 1,0 are the blue offset. If it is an RGBW-type // device (supporting a white primary in addition to R,G,B), bits 7,6 // are the offset to the white byte...otherwise, bits 7,6 are set to // the same value as 5,4 (red) to indicate an RGB (not RGBW) device. // i.e. binary representation: // 0bWWRRGGBB for RGBW devices // 0bRRRRGGBB for RGB   // RGB NeoPixel permutations; white and red offsets are always same // Offset: W R G B #define NEO_RGB ((0 << 6) | (0 << 4) | (1 << 2) | (2)) #define NEO_RBG ((0 << 6) | (0 << 4) | (2 << 2) | (1)) #define NEO_GRB ((1 << 6) | (1 << 4) | (0 << 2) | (2)) #define NEO_GBR ((2 << 6) | (2 << 4) | (0 << 2) | (1)) #define NEO_BRG ((1 << 6) | (1 << 4) | (2 << 2) | (0)) #define NEO_BGR ((2 << 6) | (2 << 4) | (1 << 2) | (0))   // RGBW NeoPixel permutations; all 4 offsets are distinct // Offset: W R G B #define NEO_WRGB ((0 << 6) | (1 << 4) | (2 << 2) | (3)) #define NEO_WRBG ((0 << 6) | (1 << 4) | (3 << 2) | (2)) #define NEO_WGRB ((0 << 6) | (2 << 4) | (1 << 2) | (3)) #define NEO_WGBR ((0 << 6) | (3 << 4) | (1 << 2) | (2)) #define NEO_WBRG ((0 << 6) | (2 << 4) | (3 << 2) | (1)) #define NEO_WBGR ((0 << 6) | (3 << 4) | (2 << 2) | (1))   #define NEO_RWGB ((1 << 6) | (0 << 4) | (2 << 2) | (3)) #define NEO_RWBG ((1 << 6) | (0 << 4) | (3 << 2) | (2)) #define NEO_RGWB ((2 << 6) | (0 << 4) | (1 << 2) | (3)) #define NEO_RGBW ((3 << 6) | (0 << 4) | (1 << 2) | (2)) #define NEO_RBWG ((2 << 6) | (0 << 4) | (3 << 2) | (1)) #define NEO_RBGW ((3 << 6) | (0 << 4) | (2 << 2) | (1))   #define NEO_GWRB ((1 << 6) | (2 << 4) | (0 << 2) | (3)) #define NEO_GWBR ((1 << 6) | (3 << 4) | (0 << 2) | (2)) #define NEO_GRWB ((2 << 6) | (1 << 4) | (0 << 2) | (3)) #define NEO_GRBW ((3 << 6) | (1 << 4) | (0 << 2) | (2)) #define NEO_GBWR ((2 << 6) | (3 << 4) | (0 << 2) | (1)) #define NEO_GBRW ((3 << 6) | (2 << 4) | (0 << 2) | (1))   #define NEO_BWRG ((1 << 6) | (2 << 4) | (3 << 2) | (0)) #define NEO_BWGR ((1 << 6) | (3 << 4) | (2 << 2) | (0)) #define NEO_BRWG ((2 << 6) | (1 << 4) | (3 << 2) | (0)) #define NEO_BRGW ((3 << 6) | (1 << 4) | (2 << 2) | (0)) #define NEO_BGWR ((2 << 6) | (3 << 4) | (1 << 2) | (0)) #define NEO_BGRW ((3 << 6) | (2 << 4) | (1 << 2) | (0))   // Add NEO_KHZ400 to the color order value to indicate a 400 KHz // device. All but the earliest v1 NeoPixels expect an 800 KHz data // stream, this is the default if unspecified. Because flash space // is very limited on ATtiny devices (e.g. Trinket, Gemma), v1 // NeoPixels aren't handled by default on those chips, though it can // be enabled by removing the ifndef/endif below -- but code will be // bigger. Conversely, can disable the NEO_KHZ400 line on other MCUs // to remove v1 support and save a little space.   #define NEO_KHZ800 0x0000 // 800 KHz datastream #ifndef __AVR_ATtiny85__ #define NEO_KHZ400 0x0100 // 400 KHz datastream #endif   // If 400 KHz support is enabled, the third parameter to the constructor // requires a 16-bit value (in order to select 400 vs 800 KHz speed). // If only 800 KHz is enabled (as is default on ATtiny), an 8-bit value // is sufficient to encode pixel color order, saving some space.   #ifdef NEO_KHZ400 typedef uint16_t neoPixelType; #else typedef uint8_t neoPixelType; #endif   class Adafruit_NeoPixel { public:   // Constructor: number of LEDs, pin number, LED type Adafruit_NeoPixel(uint16_t n, uint8_t p = 6, neoPixelType t = NEO_GRB + NEO_KHZ800); Adafruit_NeoPixel(void); ~Adafruit_NeoPixel();   void begin(void), show(void), setPin(uint8_t p), setPixelColor(uint16_t n, uint8_t r, uint8_t g, uint8_t b), setPixelColor(uint16_t n, uint8_t r, uint8_t g, uint8_t b, uint8_t w), setPixelColor(uint16_t n, uint32_t c), setBrightness(uint8_t), clear(), updateLength(uint16_t n), updateType(neoPixelType t); uint8_t *getPixels(void) const, getBrightness(void) const; uint16_t numPixels(void) const; static uint32_t Color(uint8_t r, uint8_t g, uint8_t b), Color(uint8_t r, uint8_t g, uint8_t b, uint8_t w); uint32_t getPixelColor(uint16_t n) const;   inline bool canShow(void) { return ((micros() - endTime) >= 50L); }     private:   boolean #ifdef NEO_KHZ400 // If 400 KHz NeoPixel support enabled... is800KHz, // ...true if 800 KHz pixels #endif begun; // true if begin() previously called uint16_t numLEDs, // Number of RGB LEDs in strip numBytes; // Size of 'pixels' buffer below (3 or 4 bytes/pixel) int8_t pin; // Output pin number (-1 if not yet set) uint8_t brightness, *pixels, // Holds LED color values (3 or 4 bytes each) rOffset, // Index of red byte within each 3- or 4-byte pixel gOffset, // Index of green byte bOffset, // Index of blue byte wOffset; // Index of white byte (same as rOffset if no white) uint32_t endTime; // Latch timing reference #ifdef __AVR__ volatile uint8_t *port; // Output PORT register uint8_t pinMask; // Output PORT bitmask #endif };   #endif // ADAFRUIT_NEOPIXEL_H

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BalanceCar.h :

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/*  * @Description: In User Settings Edit  * @Author: your name  * @Date: 2019-10-08 09:35:07  * @LastEditTime: 2019-10-11 16:25:04  * @LastEditors: Please set LastEditors  */ #include "MsTimer2.h" #include "KalmanFilter.h" #include "I2Cdev.h" //#include "MPU6050_6Axis_MotionApps20.h"   #include "MPU6050.h" #include "Wire.h" MPU6050 mpu; KalmanFilter kalmanfilter;   //Setting PID parameters   double kp_balance = 55, kd_balance = 0.75; double kp_speed = 10, ki_speed = 0.26; double kp_turn = 2.5, kd_turn = 0.5;   //Setting MPU6050 calibration parameters double angle_zero = 0; //x axle angle calibration double angular_velocity_zero = 0; //x axle angular velocity calibration   volatile unsigned long encoder_count_right_a = 0; volatile unsigned long encoder_count_left_a = 0; int16_t ax, ay, az, gx, gy, gz; float dt = 0.005, Q_angle = 0.001, Q_gyro = 0.005, R_angle = 0.5, C_0 = 1, K1 = 0.05;   int encoder_left_pulse_num_speed = 0; int encoder_right_pulse_num_speed = 0; double speed_control_output = 0; double rotation_control_output = 0; double speed_filter = 0; int speed_control_period_count = 0; double car_speed_integeral = 0; double speed_filter_old = 0; int setting_car_speed = 0; int setting_turn_speed = 0; double pwm_left = 0; double pwm_right = 0; float kalmanfilter_angle; // char balance_angle_min = -27; // char balance_angle_max = 27; char balance_angle_min = -22; char balance_angle_max = 22;   void carStop() { digitalWrite(AIN1, HIGH); digitalWrite(BIN1, LOW); digitalWrite(STBY_PIN, HIGH); analogWrite(PWMA_LEFT, 0); analogWrite(PWMB_RIGHT, 0); }   void carForward(unsigned char speed) { digitalWrite(AIN1, 0); digitalWrite(BIN1, 0); analogWrite(PWMA_LEFT, speed); analogWrite(PWMB_RIGHT, speed); }   void carBack(unsigned char speed) { digitalWrite(AIN1, 1); digitalWrite(BIN1, 1); analogWrite(PWMA_LEFT, speed); analogWrite(PWMB_RIGHT, speed); }   void balanceCar() { sei(); encoder_left_pulse_num_speed += pwm_left < 0 ? -encoder_count_left_a : encoder_count_left_a; encoder_right_pulse_num_speed += pwm_right < 0 ? -encoder_count_right_a : encoder_count_right_a; encoder_count_left_a = 0; encoder_count_right_a = 0; mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); kalmanfilter.Angle(ax, ay, az, gx, gy, gz, dt, Q_angle, Q_gyro, R_angle, C_0, K1); kalmanfilter_angle = kalmanfilter.angle; double balance_control_output = kp_balance * (kalmanfilter_angle - angle_zero) + kd_balance * (kalmanfilter.Gyro_x - angular_velocity_zero);   speed_control_period_count++; if (speed_control_period_count >= 8) { speed_control_period_count = 0; double car_speed = (encoder_left_pulse_num_speed + encoder_right_pulse_num_speed) * 0.5; encoder_left_pulse_num_speed = 0; encoder_right_pulse_num_speed = 0; speed_filter = speed_filter_old * 0.7 + car_speed * 0.3; speed_filter_old = speed_filter; car_speed_integeral += speed_filter; car_speed_integeral += -setting_car_speed; car_speed_integeral = constrain(car_speed_integeral, -3000, 3000); speed_control_output = -kp_speed * speed_filter - ki_speed * car_speed_integeral; rotation_control_output = setting_turn_speed + kd_turn * kalmanfilter.Gyro_z; }   pwm_left = balance_control_output - speed_control_output - rotation_control_output; pwm_right = balance_control_output - speed_control_output + rotation_control_output;   pwm_left = constrain(pwm_left, -255, 255); pwm_right = constrain(pwm_right, -255, 255); if (motion_mode != START && motion_mode != STOP && (kalmanfilter_angle < balance_angle_min || balance_angle_max < kalmanfilter_angle)) { motion_mode = STOP; carStop(); }   if (motion_mode == STOP && key_flag != '4') { car_speed_integeral = 0; setting_car_speed = 0; pwm_left = 0; pwm_right = 0; carStop(); } else if (motion_mode == STOP) { car_speed_integeral = 0; setting_car_speed = 0; pwm_left = 0; pwm_right = 0; } else { if (pwm_left < 0) { digitalWrite(AIN1, 1); analogWrite(PWMA_LEFT, -pwm_left); } else { digitalWrite(AIN1, 0); analogWrite(PWMA_LEFT, pwm_left); } if (pwm_right < 0) { digitalWrite(BIN1, 1); analogWrite(PWMB_RIGHT, -pwm_right); } else { digitalWrite(BIN1, 0); analogWrite(PWMB_RIGHT, pwm_right); } } }   void encoderCountRightA() { encoder_count_right_a++; }   void encoderCountLeftA() { encoder_count_left_a++; }   void carInitialize() { pinMode(AIN1, OUTPUT); pinMode(BIN1, OUTPUT); pinMode(PWMA_LEFT, OUTPUT); pinMode(PWMB_RIGHT, OUTPUT); pinMode(STBY_PIN, OUTPUT); carStop(); Wire.begin(); mpu.initialize(); attachInterrupt(digitalPinToInterrupt(ENCODER_LEFT_A_PIN), encoderCountLeftA, CHANGE); attachPinChangeInterrupt(ENCODER_RIGHT_A_PIN, encoderCountRightA, CHANGE); MsTimer2::set(5, balanceCar); MsTimer2::start(); }

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Command.h :

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char key_value = '\0'; char key_flag = '\0'; char key_mode = 0; char prev_key_mode = 0; unsigned long key_mode_time = 0;   void keyValue() { if (millis() - key_mode_time > 500) { key_mode_time = millis();   key_mode++;   if (key_mode >= 5) { key_mode = 0; } } }   bool getKeyValue() { if (prev_key_mode != key_mode) { prev_key_mode = key_mode; switch (key_mode) { case 0: key_value = 's'; function_mode = IDLE; break; case 1: key_value = '1'; break; case 2: key_value = '2'; break; case 3: key_value = '0'; break; case 4: key_value = '3'; break; default: break; } return true; } return false; }   void keyInit() { pinMode(KEY_MODE, INPUT_PULLUP); attachPinChangeInterrupt(KEY_MODE, keyValue, FALLING); }   bool getBluetoothData() { if (Serial.available()) { char c = Serial.read(); if (c != '\0' && c != '\n') { key_value = c; if (c == 'f' || c == 'b' || c == 'l' || c == 'i') { function_mode = BLUETOOTH; } if (c == 's') { function_mode = IDLE; } if (key_value == 'f' || key_value == 'b' || key_value == 'l' || key_value == 'i' || key_value == 's' || key_value == '0' || key_value == '1' || key_value == '2' || key_value == '3' || key_value == '4' || key_value == '5' || key_value == '6' || key_value == '7' || key_value == '8' || key_value == '9' || key_value == '*' || key_value == '#') { return true; } } } return false; }

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I2Cdev.cpp :

Code:

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// I2Cdev library collection - Main I2C device class // Abstracts bit and byte I2C R/W functions into a convenient class // 6/9/2012 by Jeff Rowberg <jeff@rowberg.net> // // Changelog: // 2013-05-06 - add Francesco Ferrara's Fastwire v0.24 implementation with small modifications // 2013-05-05 - fix issue with writing bit values to words (Sasquatch/Farzanegan) // 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) 2013 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. =============================================== */   #include "./I2Cdev.h"   #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE   #ifdef I2CDEV_IMPLEMENTATION_WARNINGS #if ARDUINO < 100 #warning Using outdated Arduino IDE with Wire library is functionally limiting. #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended. #warning This I2Cdev implementation does not support: #warning - Repeated starts conditions #warning - Timeout detection (some Wire requests block forever) #elif ARDUINO == 100 #warning Using outdated Arduino IDE with Wire library is functionally limiting. #warning Arduino IDE v1.0.1+ with I2Cdev Fastwire implementation is recommended. #warning This I2Cdev implementation does not support: #warning - Repeated starts conditions #warning - Timeout detection (some Wire requests block forever) #elif ARDUINO > 100 #warning Using current Arduino IDE with Wire library is functionally limiting. #warning Arduino IDE v1.0.1+ with I2CDEV_BUILTIN_FASTWIRE implementation is recommended. #warning This I2Cdev implementation does not support: #warning - Timeout detection (some Wire requests block forever) #endif #endif   #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE   //#error The I2CDEV_BUILTIN_FASTWIRE implementation is known to be broken right now. Patience, Iago!   #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE   #ifdef I2CDEV_IMPLEMENTATION_WARNINGS #warning Using I2CDEV_BUILTIN_NBWIRE implementation may adversely affect interrupt detection. #warning This I2Cdev implementation does not support: #warning - Repeated starts conditions #endif   // 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 TwoWire Wire;   #endif   /** Default constructor.  */ I2Cdev::I2Cdev() { }   /** 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 a single bit from a 16-bit device register.  * @param devAddr I2C slave device address  * @param regAddr Register regAddr to read from  * @param bitNum Bit position to read (0-15)  * @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::readBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t *data, uint16_t timeout) { uint16_t b; uint8_t count = readWord(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 multiple bits from a 16-bit device register.  * @param devAddr I2C slave device address  * @param regAddr Register regAddr to read from  * @param bitStart First bit position to read (0-15)  * @param length Number of bits to read (not more than 16)  * @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 (1 = success, 0 = failure, -1 = timeout)  */ int8_t I2Cdev::readBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t *data, uint16_t timeout) { // 1101011001101001 read byte // fedcba9876543210 bit numbers // xxx args: bitStart=12, length=3 // 010 masked // -> 010 shifted uint8_t count; uint16_t w; if ((count = readWord(devAddr, regAddr, &w, timeout)) != 0) { uint16_t mask = ((1 << length) - 1) << (bitStart - length + 1); w &= mask; w >>= (bitStart - length + 1); *data = w; } 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 single word from a 16-bit device register.  * @param devAddr I2C slave device address  * @param regAddr Register regAddr to read from  * @param data Container for word 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::readWord(uint8_t devAddr, uint8_t regAddr, uint16_t *data, uint16_t timeout) { return readWords(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 Number of bytes read (-1 indicates failure)  */ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); Serial.print(") reading "); Serial.print(length, DEC); Serial.print(" bytes from 0x"); Serial.print(regAddr, HEX); Serial.print("..."); #endif   int8_t count = 0; uint32_t t1 = millis();   #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)   #if (ARDUINO < 100) // Arduino v00xx (before v1.0), Wire library   // I2C/TWI subsystem uses internal buffer that breaks with large data requests // so if user requests more than BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) { Wire.beginTransmission(devAddr); Wire.send(regAddr); Wire.endTransmission(); Wire.beginTransmission(devAddr); Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));   for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { data[count] = Wire.receive(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif }   Wire.endTransmission(); } #elif (ARDUINO == 100) // Arduino v1.0.0, Wire library // Adds standardized write() and read() stream methods instead of send() and receive()   // I2C/TWI subsystem uses internal buffer that breaks with large data requests // so if user requests more than BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) { Wire.beginTransmission(devAddr); Wire.write(regAddr); Wire.endTransmission(); Wire.beginTransmission(devAddr); Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));   for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { data[count] = Wire.read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif }   Wire.endTransmission(); } #elif (ARDUINO > 100) // Arduino v1.0.1+, Wire library // Adds official support for repeated start condition, yay!   // I2C/TWI subsystem uses internal buffer that breaks with large data requests // so if user requests more than BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once for (uint8_t k = 0; k < length; k += min(length, BUFFER_LENGTH)) { Wire.beginTransmission(devAddr); Wire.write(regAddr); Wire.endTransmission(); Wire.beginTransmission(devAddr); Wire.requestFrom(devAddr, (uint8_t)min(length - k, BUFFER_LENGTH));   for (; Wire.available() && (timeout == 0 || millis() - t1 < timeout); count++) { data[count] = Wire.read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif } } #endif   #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)   // Fastwire library // no loop required for fastwire uint8_t status = Fastwire::readBuf(devAddr << 1, regAddr, data, length); if (status == 0) { count = length; // success } else { count = -1; // error }   #endif   // check for timeout if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout   #ifdef I2CDEV_SERIAL_DEBUG Serial.print(". Done ("); Serial.print(count, DEC); Serial.println(" read)."); #endif   return count; }   /** Read multiple words from a 16-bit device register.  * @param devAddr I2C slave device address  * @param regAddr First register regAddr to read from  * @param length Number of words 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 Number of words read (-1 indicates failure)  */ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t *data, uint16_t timeout) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); Serial.print(") reading "); Serial.print(length, DEC); Serial.print(" words from 0x"); Serial.print(regAddr, HEX); Serial.print("..."); #endif   int8_t count = 0; uint32_t t1 = millis();   #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)   #if (ARDUINO < 100) // Arduino v00xx (before v1.0), Wire library   // I2C/TWI subsystem uses internal buffer that breaks with large data requests // so if user requests more than BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { Wire.beginTransmission(devAddr); Wire.send(regAddr); Wire.endTransmission(); Wire.beginTransmission(devAddr); Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes   bool msb = true; // starts with MSB, then LSB for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) data[count] = Wire.receive() << 8; } else { // second byte is bits 7-0 (LSb=0) data[count] |= Wire.receive(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif count++; } msb = !msb; }   Wire.endTransmission(); } #elif (ARDUINO == 100) // Arduino v1.0.0, Wire library // Adds standardized write() and read() stream methods instead of send() and receive()   // I2C/TWI subsystem uses internal buffer that breaks with large data requests // so if user requests more than BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { Wire.beginTransmission(devAddr); Wire.write(regAddr); Wire.endTransmission(); Wire.beginTransmission(devAddr); Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes   bool msb = true; // starts with MSB, then LSB for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) data[count] = Wire.read() << 8; } else { // second byte is bits 7-0 (LSb=0) data[count] |= Wire.read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif count++; } msb = !msb; }   Wire.endTransmission(); } #elif (ARDUINO > 100) // Arduino v1.0.1+, Wire library // Adds official support for repeated start condition, yay!   // I2C/TWI subsystem uses internal buffer that breaks with large data requests // so if user requests more than BUFFER_LENGTH bytes, we have to do it in // smaller chunks instead of all at once for (uint8_t k = 0; k < length * 2; k += min(length * 2, BUFFER_LENGTH)) { Wire.beginTransmission(devAddr); Wire.write(regAddr); Wire.endTransmission(); Wire.beginTransmission(devAddr); Wire.requestFrom(devAddr, (uint8_t)(length * 2)); // length=words, this wants bytes   bool msb = true; // starts with MSB, then LSB for (; Wire.available() && count < length && (timeout == 0 || millis() - t1 < timeout);) { if (msb) { // first byte is bits 15-8 (MSb=15) data[count] = Wire.read() << 8; } else { // second byte is bits 7-0 (LSb=0) data[count] |= Wire.read(); #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[count], HEX); if (count + 1 < length) Serial.print(" "); #endif count++; } msb = !msb; }   Wire.endTransmission(); } #endif   #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)   // Fastwire library // no loop required for fastwire uint16_t intermediate[(uint8_t)length]; uint8_t status = Fastwire::readBuf(devAddr << 1, regAddr, (uint8_t *)intermediate, (uint8_t)(length * 2)); if (status == 0) { count = length; // success for (uint8_t i = 0; i < length; i++) { data[i] = (intermediate[2*i] << 8) | intermediate[2*i + 1]; } } else { count = -1; // error }   #endif   if (timeout > 0 && millis() - t1 >= timeout && count < length) count = -1; // timeout   #ifdef I2CDEV_SERIAL_DEBUG Serial.print(". Done ("); Serial.print(count, DEC); Serial.println(" read)."); #endif   return count; }   /** 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 a single bit in a 16-bit device register.  * @param devAddr I2C slave device address  * @param regAddr Register regAddr to write to  * @param bitNum Bit position to write (0-15)  * @param value New bit value to write  * @return Status of operation (true = success)  */ bool I2Cdev::writeBitW(uint8_t devAddr, uint8_t regAddr, uint8_t bitNum, uint16_t data) { uint16_t w; readWord(devAddr, regAddr, &w); w = (data != 0) ? (w | (1 << bitNum)) : (w & ~(1 << bitNum)); return writeWord(devAddr, regAddr, w); }   /** 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; 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 multiple bits in a 16-bit device register.  * @param devAddr I2C slave device address  * @param regAddr Register regAddr to write to  * @param bitStart First bit position to write (0-15)  * @param length Number of bits to write (not more than 16)  * @param data Right-aligned value to write  * @return Status of operation (true = success)  */ bool I2Cdev::writeBitsW(uint8_t devAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint16_t data) { // 010 value to write // fedcba9876543210 bit numbers // xxx args: bitStart=12, length=3 // 0001110000000000 mask word // 1010111110010110 original value (sample) // 1010001110010110 original & ~mask // 1010101110010110 masked | value uint16_t w; if (readWord(devAddr, regAddr, &w) != 0) { uint16_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 w &= ~(mask); // zero all important bits in existing word w |= data; // combine data with existing word return writeWord(devAddr, regAddr, w); } 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) { return writeBytes(devAddr, regAddr, 1, &data); }   /** Write single word to a 16-bit device register.  * @param devAddr I2C slave device address  * @param regAddr Register address to write to  * @param data New word value to write  * @return Status of operation (true = success)  */ bool I2Cdev::writeWord(uint8_t devAddr, uint8_t regAddr, uint16_t data) { return writeWords(devAddr, regAddr, 1, &data); }   /** Write multiple bytes to an 8-bit device register.  * @param devAddr I2C slave device address  * @param regAddr First register address to write to  * @param length Number of bytes to write  * @param data Buffer to copy new data from  * @return Status of operation (true = success)  */ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); Serial.print(") writing "); Serial.print(length, DEC); Serial.print(" bytes to 0x"); Serial.print(regAddr, HEX); Serial.print("..."); #endif uint8_t status = 0; #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) Wire.beginTransmission(devAddr); Wire.send((uint8_t) regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) Wire.beginTransmission(devAddr); Wire.write((uint8_t) regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::beginTransmission(devAddr); Fastwire::write(regAddr); #endif for (uint8_t i = 0; i < length; i++) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[i], HEX); if (i + 1 < length) Serial.print(" "); #endif #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) Wire.send((uint8_t) data[i]); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) Wire.write((uint8_t) data[i]); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::write((uint8_t) data[i]); #endif } #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) Wire.endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) status = Wire.endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::stop(); //status = Fastwire::endTransmission(); #endif #ifdef I2CDEV_SERIAL_DEBUG Serial.println(". Done."); #endif return status == 0; }   /** Write multiple words to a 16-bit device register.  * @param devAddr I2C slave device address  * @param regAddr First register address to write to  * @param length Number of words to write  * @param data Buffer to copy new data from  * @return Status of operation (true = success)  */ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16_t* data) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print("I2C (0x"); Serial.print(devAddr, HEX); Serial.print(") writing "); Serial.print(length, DEC); Serial.print(" words to 0x"); Serial.print(regAddr, HEX); Serial.print("..."); #endif uint8_t status = 0; #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) Wire.beginTransmission(devAddr); Wire.send(regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) Wire.beginTransmission(devAddr); Wire.write(regAddr); // send address #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::beginTransmission(devAddr); Fastwire::write(regAddr); #endif for (uint8_t i = 0; i < length * 2; i++) { #ifdef I2CDEV_SERIAL_DEBUG Serial.print(data[i], HEX); if (i + 1 < length) Serial.print(" "); #endif #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) Wire.send((uint8_t)(data[i] >> 8)); // send MSB Wire.send((uint8_t)data[i++]); // send LSB #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) Wire.write((uint8_t)(data[i] >> 8)); // send MSB Wire.write((uint8_t)data[i++]); // send LSB #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::write((uint8_t)(data[i] >> 8)); // send MSB status = Fastwire::write((uint8_t)data[i++]); // send LSB if (status != 0) break; #endif } #if ((I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO < 100) || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE) Wire.endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100) status = Wire.endTransmission(); #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE) Fastwire::stop(); //status = Fastwire::endTransmission(); #endif #ifdef I2CDEV_SERIAL_DEBUG Serial.println(". Done."); #endif return status == 0; }   /** Default timeout value for read operations.  * Set this to 0 to disable timeout detection.  */ uint16_t I2Cdev::readTimeout = I2CDEV_DEFAULT_READ_TIMEOUT;   #if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE // I2C library ////////////////////// // Copyright(C) 2012 // Francesco Ferrara // ferrara[at]libero[point]it //////////////////////   /*   FastWire   - 0.24 added stop   - 0.23 added reset     This is a library to help faster programs to read I2C devices.   Copyright(C) 2012 Francesco Ferrara   occhiobello at gmail dot com   [used by Jeff Rowberg for I2Cdevlib with permission]   */   boolean Fastwire::waitInt() { int l = 250; while (!(TWCR & (1 << TWINT)) && l-- > 0); return l > 0; }   void Fastwire::setup(int khz, boolean pullup) { TWCR = 0; #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__) // activate internal pull-ups for twi (PORTC bits 4 & 5) // as per note from atmega8 manual pg167 if (pullup) PORTC |= ((1 << 4) | (1 << 5)); else PORTC &= ~((1 << 4) | (1 << 5)); #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) // activate internal pull-ups for twi (PORTC bits 0 & 1) if (pullup) PORTC |= ((1 << 0) | (1 << 1)); else PORTC &= ~((1 << 0) | (1 << 1)); #else // activate internal pull-ups for twi (PORTD bits 0 & 1) // as per note from atmega128 manual pg204 if (pullup) PORTD |= ((1 << 0) | (1 << 1)); else PORTD &= ~((1 << 0) | (1 << 1)); #endif   TWSR = 0; // no prescaler => prescaler = 1 TWBR = ((16000L / khz) - 16) / 2; // change the I2C clock rate TWCR = 1 << TWEN; // enable twi module, no interrupt }   // added by Jeff Rowberg 2013-05-07: // Arduino Wire-style "beginTransmission" function // (takes 7-bit device address like the Wire method, NOT 8-bit: 0x68, not 0xD0/0xD1) byte Fastwire::beginTransmission(byte device) { byte twst, retry; retry = 2; do { TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); if (!waitInt()) return 1; twst = TWSR & 0xF8; if (twst != TW_START && twst != TW_REP_START) return 2;   //Serial.print(device, HEX); //Serial.print(" "); TWDR = device << 1; // send device address without read bit (1) TWCR = (1 << TWINT) | (1 << TWEN); if (!waitInt()) return 3; twst = TWSR & 0xF8; } while (twst == TW_MT_SLA_NACK && retry-- > 0); if (twst != TW_MT_SLA_ACK) return 4; return 0; }   byte Fastwire::writeBuf(byte device, byte address, byte *data, byte num) { byte twst, retry;   retry = 2; do { TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); if (!waitInt()) return 1; twst = TWSR & 0xF8; if (twst != TW_START && twst != TW_REP_START) return 2;   //Serial.print(device, HEX); //Serial.print(" "); TWDR = device & 0xFE; // send device address without read bit (1) TWCR = (1 << TWINT) | (1 << TWEN); if (!waitInt()) return 3; twst = TWSR & 0xF8; } while (twst == TW_MT_SLA_NACK && retry-- > 0); if (twst != TW_MT_SLA_ACK) return 4;   //Serial.print(address, HEX); //Serial.print(" "); TWDR = address; // send data to the previously addressed device TWCR = (1 << TWINT) | (1 << TWEN); if (!waitInt()) return 5; twst = TWSR & 0xF8; if (twst != TW_MT_DATA_ACK) return 6;   for (byte i = 0; i < num; i++) { //Serial.print(data[i], HEX); //Serial.print(" "); TWDR = data[i]; // send data to the previously addressed device TWCR = (1 << TWINT) | (1 << TWEN); if (!waitInt()) return 7; twst = TWSR & 0xF8; if (twst != TW_MT_DATA_ACK) return 8; } //Serial.print("\n");   return 0; }   byte Fastwire::write(byte value) { byte twst; //Serial.println(value, HEX); TWDR = value; // send data TWCR = (1 << TWINT) | (1 << TWEN); if (!waitInt()) return 1; twst = TWSR & 0xF8; if (twst != TW_MT_DATA_ACK) return 2; return 0; }   byte Fastwire::readBuf(byte device, byte address, byte *data, byte num) { byte twst, retry;   retry = 2; do { TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); if (!waitInt()) return 16; twst = TWSR & 0xF8; if (twst != TW_START && twst != TW_REP_START) return 17;   //Serial.print(device, HEX); //Serial.print(" "); TWDR = device & 0xfe; // send device address to write TWCR = (1 << TWINT) | (1 << TWEN); if (!waitInt()) return 18; twst = TWSR & 0xF8; } while (twst == TW_MT_SLA_NACK && retry-- > 0); if (twst != TW_MT_SLA_ACK) return 19;   //Serial.print(address, HEX); //Serial.print(" "); TWDR = address; // send data to the previously addressed device TWCR = (1 << TWINT) | (1 << TWEN); if (!waitInt()) return 20; twst = TWSR & 0xF8; if (twst != TW_MT_DATA_ACK) return 21;   /***/   retry = 2; do { TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO) | (1 << TWSTA); if (!waitInt()) return 22; twst = TWSR & 0xF8; if (twst != TW_START && twst != TW_REP_START) return 23;   //Serial.print(device, HEX); //Serial.print(" "); TWDR = device | 0x01; // send device address with the read bit (1) TWCR = (1 << TWINT) | (1 << TWEN); if (!waitInt()) return 24; twst = TWSR & 0xF8; } while (twst == TW_MR_SLA_NACK && retry-- > 0); if (twst != TW_MR_SLA_ACK) return 25;   for (uint8_t i = 0; i < num; i++) { if (i == num - 1) TWCR = (1 << TWINT) | (1 << TWEN); else TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWEA); if (!waitInt()) return 26; twst = TWSR & 0xF8; if (twst != TW_MR_DATA_ACK && twst != TW_MR_DATA_NACK) return twst; data[i] = TWDR; //Serial.print(data[i], HEX); //Serial.print(" "); } //Serial.print("\n"); stop();   return 0; }   void Fastwire::reset() { TWCR = 0; }   byte Fastwire::stop() { TWCR = (1 << TWINT) | (1 << TWEN) | (1 << TWSTO); if (!waitInt()) return 1; return 0; } #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   /*   call this version 1.0     Offhand, the only funky part that I can think of is in nbrequestFrom, where the buffer   length and index are set *before* the data is actually read. The problem is that these   are variables local to the TwoWire object, and by the time we actually have read the   data, and know what the length actually is, we have no simple access to the object's   variables. The actual bytes read *is* given to the callback function, though.     The ISR code for a slave receiver is commented out. I don't have that setup, and can't   verify it at this time. Save it for 2.0!     The handling of the read and write processes here is much like in the demo sketch code:   the process is broken down into sequential functions, where each registers the next as a   callback, essentially.     For example, for the Read process, twi_read00 just returns if TWI is not yet in a   ready state. When there's another interrupt, and the interface *is* ready, then it   sets up the read, starts it, and registers twi_read01 as the function to call after   the *next* interrupt. twi_read01, then, just returns if the interface is still in a   "reading" state. When the reading is done, it copies the information to the buffer,   cleans up, and calls the user-requested callback function with the actual number of   bytes read.     The writing is similar.     Questions, comments and problems can go to Gene@Telobot.com.     Thumbs Up!   Gene Knight     */   uint8_t TwoWire::rxBuffer[NBWIRE_BUFFER_LENGTH]; uint8_t TwoWire::rxBufferIndex = 0; uint8_t TwoWire::rxBufferLength = 0;   uint8_t TwoWire::txAddress = 0; uint8_t TwoWire::txBuffer[NBWIRE_BUFFER_LENGTH]; uint8_t TwoWire::txBufferIndex = 0; uint8_t TwoWire::txBufferLength = 0;   //uint8_t TwoWire::transmitting = 0; void (*TwoWire::user_onRequest)(void); void (*TwoWire::user_onReceive)(int);   static volatile uint8_t twi_transmitting; static volatile uint8_t twi_state; static uint8_t twi_slarw; static volatile uint8_t twi_error; static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; static volatile uint8_t twi_masterBufferIndex; static uint8_t twi_masterBufferLength; static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; static volatile uint8_t twi_rxBufferIndex; //static volatile uint8_t twi_Interrupt_Continue_Command; static volatile uint8_t twi_Return_Value; static volatile uint8_t twi_Done; void (*twi_cbendTransmissionDone)(int); void (*twi_cbreadFromDone)(int);   void twi_init() { // initialize state twi_state = TWI_READY;   // activate internal pull-ups for twi // as per note from atmega8 manual pg167 sbi(PORTC, 4); sbi(PORTC, 5);   // initialize twi prescaler and bit rate cbi(TWSR, TWPS0); // TWI Status Register - Prescaler bits cbi(TWSR, TWPS1);   /* twi bit rate formula from atmega128 manual pg 204   SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR))   note: TWBR should be 10 or higher for master mode   It is 72 for a 16mhz Wiring board with 100kHz TWI */   TWBR = ((CPU_FREQ / TWI_FREQ) - 16) / 2; // bitrate register // enable twi module, acks, and twi interrupt   TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);   /* TWEN - TWI Enable Bit   TWIE - TWI Interrupt Enable   TWEA - TWI Enable Acknowledge Bit   TWINT - TWI Interrupt Flag   TWSTA - TWI Start Condition   */ }   typedef struct { uint8_t address; uint8_t* data; uint8_t length; uint8_t wait; uint8_t i; } twi_Write_Vars;   twi_Write_Vars *ptwv = 0; static void (*fNextInterruptFunction)(void) = 0;   void twi_Finish(byte bRetVal) { if (ptwv) { free(ptwv); ptwv = 0; } twi_Done = 0xFF; twi_Return_Value = bRetVal; fNextInterruptFunction = 0; }   uint8_t twii_WaitForDone(uint16_t timeout) { uint32_t endMillis = millis() + timeout; while (!twi_Done && (timeout == 0 || millis() < endMillis)) continue; return twi_Return_Value; }   void twii_SetState(uint8_t ucState) { twi_state = ucState; }   void twii_SetError(uint8_t ucError) { twi_error = ucError ; }   void twii_InitBuffer(uint8_t ucPos, uint8_t ucLength) { twi_masterBufferIndex = 0; twi_masterBufferLength = ucLength; }   void twii_CopyToBuf(uint8_t* pData, uint8_t ucLength) { uint8_t i; for (i = 0; i < ucLength; ++i) { twi_masterBuffer[i] = pData[i]; } }   void twii_CopyFromBuf(uint8_t *pData, uint8_t ucLength) { uint8_t i; for (i = 0; i < ucLength; ++i) { pData[i] = twi_masterBuffer[i]; } }   void twii_SetSlaRW(uint8_t ucSlaRW) { twi_slarw = ucSlaRW; }   void twii_SetStart() { TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); }   void twi_write01() { if (TWI_MTX == twi_state) return; // blocking test twi_transmitting = 0 ; if (twi_error == 0xFF) twi_Finish (0); // success else if (twi_error == TW_MT_SLA_NACK) twi_Finish (2); // error: address send, nack received else if (twi_error == TW_MT_DATA_NACK) twi_Finish (3); // error: data send, nack received else twi_Finish (4); // other twi error if (twi_cbendTransmissionDone) return twi_cbendTransmissionDone(twi_Return_Value); return; }     void twi_write00() { if (TWI_READY != twi_state) return; // blocking test if (TWI_BUFFER_LENGTH < ptwv -> length) { twi_Finish(1); // end write with error 1 return; } twi_Done = 0x00; // show as working twii_SetState(TWI_MTX); // to transmitting twii_SetError(0xFF); // to No Error twii_InitBuffer(0, ptwv -> length); // pointer and length twii_CopyToBuf(ptwv -> data, ptwv -> length); // get the data twii_SetSlaRW((ptwv -> address << 1) | TW_WRITE); // write command twii_SetStart(); // start the cycle fNextInterruptFunction = twi_write01; // next routine return twi_write01(); }   void twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait) { uint8_t i; ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars)); ptwv -> address = address; ptwv -> data = data; ptwv -> length = length; ptwv -> wait = wait; fNextInterruptFunction = twi_write00; return twi_write00(); }   void twi_read01() { if (TWI_MRX == twi_state) return; // blocking test if (twi_masterBufferIndex < ptwv -> length) ptwv -> length = twi_masterBufferIndex; twii_CopyFromBuf(ptwv -> data, ptwv -> length); twi_Finish(ptwv -> length); if (twi_cbreadFromDone) return twi_cbreadFromDone(twi_Return_Value); return; }   void twi_read00() { if (TWI_READY != twi_state) return; // blocking test if (TWI_BUFFER_LENGTH < ptwv -> length) twi_Finish(0); // error return twi_Done = 0x00; // show as working twii_SetState(TWI_MRX); // reading twii_SetError(0xFF); // reset error twii_InitBuffer(0, ptwv -> length - 1); // init to one less than length twii_SetSlaRW((ptwv -> address << 1) | TW_READ); // read command twii_SetStart(); // start cycle fNextInterruptFunction = twi_read01; return twi_read01(); }   void twi_readFrom(uint8_t address, uint8_t* data, uint8_t length) { uint8_t i;   ptwv = (twi_Write_Vars *)malloc(sizeof(twi_Write_Vars)); ptwv -> address = address; ptwv -> data = data; ptwv -> length = length; fNextInterruptFunction = twi_read00; return twi_read00(); }   void twi_reply(uint8_t ack) { // transmit master read ready signal, with or without ack if (ack){ TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); } else { TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); } }   void twi_stop(void) { // send stop condition TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO);   // wait for stop condition to be exectued on bus // TWINT is not set after a stop condition! while (TWCR & _BV(TWSTO)) { continue; }   // update twi state twi_state = TWI_READY; }   void twi_releaseBus(void) { // release bus TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT);   // update twi state twi_state = TWI_READY; }   SIGNAL(TWI_vect) { switch (TW_STATUS) { // All Master case TW_START: // sent start condition case TW_REP_START: // sent repeated start condition // copy device address and r/w bit to output register and ack TWDR = twi_slarw; twi_reply(1); break;   // Master Transmitter case TW_MT_SLA_ACK: // slave receiver acked address case TW_MT_DATA_ACK: // slave receiver acked data // if there is data to send, send it, otherwise stop if (twi_masterBufferIndex < twi_masterBufferLength) { // copy data to output register and ack TWDR = twi_masterBuffer[twi_masterBufferIndex++]; twi_reply(1); } else { twi_stop(); } break;   case TW_MT_SLA_NACK: // address sent, nack received twi_error = TW_MT_SLA_NACK; twi_stop(); break;   case TW_MT_DATA_NACK: // data sent, nack received twi_error = TW_MT_DATA_NACK; twi_stop(); break;   case TW_MT_ARB_LOST: // lost bus arbitration twi_error = TW_MT_ARB_LOST; twi_releaseBus(); break;   // Master Receiver case TW_MR_DATA_ACK: // data received, ack sent // put byte into buffer twi_masterBuffer[twi_masterBufferIndex++] = TWDR;   case TW_MR_SLA_ACK: // address sent, ack received // ack if more bytes are expected, otherwise nack if (twi_masterBufferIndex < twi_masterBufferLength) { twi_reply(1); } else { twi_reply(0); } break;   case TW_MR_DATA_NACK: // data received, nack sent // put final byte into buffer twi_masterBuffer[twi_masterBufferIndex++] = TWDR;   case TW_MR_SLA_NACK: // address sent, nack received twi_stop(); break;   // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case   // Slave Receiver (NOT IMPLEMENTED YET) /*   case TW_SR_SLA_ACK: // addressed, returned ack   case TW_SR_GCALL_ACK: // addressed generally, returned ack   case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack   case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack   // enter slave receiver mode   twi_state = TWI_SRX;     // indicate that rx buffer can be overwritten and ack   twi_rxBufferIndex = 0;   twi_reply(1);   break;     case TW_SR_DATA_ACK: // data received, returned ack   case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack   // if there is still room in the rx buffer   if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {   // put byte in buffer and ack   twi_rxBuffer[twi_rxBufferIndex++] = TWDR;   twi_reply(1);   } else {   // otherwise nack   twi_reply(0);   }   break;     case TW_SR_STOP: // stop or repeated start condition received   // put a null char after data if there's room   if (twi_rxBufferIndex < TWI_BUFFER_LENGTH) {   twi_rxBuffer[twi_rxBufferIndex] = 0;   }     // sends ack and stops interface for clock stretching   twi_stop();     // callback to user defined callback   twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex);     // since we submit rx buffer to "wire" library, we can reset it   twi_rxBufferIndex = 0;     // ack future responses and leave slave receiver state   twi_releaseBus();   break;     case TW_SR_DATA_NACK: // data received, returned nack   case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack   // nack back at master   twi_reply(0);   break;     // Slave Transmitter   case TW_ST_SLA_ACK: // addressed, returned ack   case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack   // enter slave transmitter mode   twi_state = TWI_STX;     // ready the tx buffer index for iteration   twi_txBufferIndex = 0;     // set tx buffer length to be zero, to verify if user changes it   twi_txBufferLength = 0;     // request for txBuffer to be filled and length to be set   // note: user must call twi_transmit(bytes, length) to do this   twi_onSlaveTransmit();     // if they didn't change buffer & length, initialize it   if (0 == twi_txBufferLength) {   twi_txBufferLength = 1;   twi_txBuffer[0] = 0x00;   }     // transmit first byte from buffer, fall through     case TW_ST_DATA_ACK: // byte sent, ack returned   // copy data to output register   TWDR = twi_txBuffer[twi_txBufferIndex++];     // if there is more to send, ack, otherwise nack   if (twi_txBufferIndex < twi_txBufferLength) {   twi_reply(1);   } else {   twi_reply(0);   }   break;     case TW_ST_DATA_NACK: // received nack, we are done   case TW_ST_LAST_DATA: // received ack, but we are done already!   // ack future responses   twi_reply(1);   // leave slave receiver state   twi_state = TWI_READY;   break;   */   // all case TW_NO_INFO: // no state information break;   case TW_BUS_ERROR: // bus error, illegal stop/start twi_error = TW_BUS_ERROR; twi_stop(); break; }   if (fNextInterruptFunction) return fNextInterruptFunction(); }   TwoWire::TwoWire() { }   void TwoWire::begin(void) { rxBufferIndex = 0; rxBufferLength = 0;   txBufferIndex = 0; txBufferLength = 0;   twi_init(); }   void TwoWire::beginTransmission(uint8_t address) { //beginTransmission((uint8_t)address);   // indicate that we are transmitting twi_transmitting = 1;   // set address of targeted slave txAddress = address;   // reset tx buffer iterator vars txBufferIndex = 0; txBufferLength = 0; }   uint8_t TwoWire::endTransmission(uint16_t timeout) { // transmit buffer (blocking) //int8_t ret = twi_cbendTransmissionDone = NULL; twi_writeTo(txAddress, txBuffer, txBufferLength, 1); int8_t ret = twii_WaitForDone(timeout);   // reset tx buffer iterator vars txBufferIndex = 0; txBufferLength = 0;   // indicate that we are done transmitting // twi_transmitting = 0; return ret; }   void TwoWire::nbendTransmission(void (*function)(int)) { twi_cbendTransmissionDone = function; twi_writeTo(txAddress, txBuffer, txBufferLength, 1); return; }   void TwoWire::send(uint8_t data) { if (twi_transmitting) { // in master transmitter mode // don't bother if buffer is full if (txBufferLength >= NBWIRE_BUFFER_LENGTH) { return; }   // put byte in tx buffer txBuffer[txBufferIndex] = data; ++txBufferIndex;   // update amount in buffer txBufferLength = txBufferIndex; } else { // in slave send mode // reply to master //twi_transmit(&data, 1); } }   uint8_t TwoWire::receive(void) { // default to returning null char // for people using with char strings uint8_t value = 0;   // get each successive byte on each call if (rxBufferIndex < rxBufferLength) { value = rxBuffer[rxBufferIndex]; ++rxBufferIndex; }   return value; }   uint8_t TwoWire::requestFrom(uint8_t address, int quantity, uint16_t timeout) { // clamp to buffer length if (quantity > NBWIRE_BUFFER_LENGTH) { quantity = NBWIRE_BUFFER_LENGTH; }   // perform blocking read into buffer twi_cbreadFromDone = NULL; twi_readFrom(address, rxBuffer, quantity); uint8_t read = twii_WaitForDone(timeout);   // set rx buffer iterator vars rxBufferIndex = 0; rxBufferLength = read;   return read; }   void TwoWire::nbrequestFrom(uint8_t address, int quantity, void (*function)(int)) { // clamp to buffer length if (quantity > NBWIRE_BUFFER_LENGTH) { quantity = NBWIRE_BUFFER_LENGTH; }   // perform blocking read into buffer twi_cbreadFromDone = function; twi_readFrom(address, rxBuffer, quantity); //uint8_t read = twii_WaitForDone();   // set rx buffer iterator vars //rxBufferIndex = 0; //rxBufferLength = read;   rxBufferIndex = 0; rxBufferLength = quantity; // this is a hack   return; //read; }   uint8_t TwoWire::available(void) { return rxBufferLength - rxBufferIndex; }   #endif

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I2Cdev.h :

Code:

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#ifndef _I2CDEV_H_ #define _I2CDEV_H_ #define I2CDEV_IMPLEMENTATION I2CDEV_ARDUINO_WIRE #define I2CDEV_IMPLEMENTATION_WARNINGS #define I2CDEV_ARDUINO_WIRE 1 #define I2CDEV_BUILTIN_NBWIRE 2 #define I2CDEV_BUILTIN_FASTWIRE 3 #define I2CDEV_I2CMASTER_LIBRARY 4 #ifdef ARDUINO #if ARDUINO < 100 #include "WProgram.h" #else #include "Arduino.h" #endif #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE #include <Wire.h> #endif #if I2CDEV_IMPLEMENTATION == I2CDEV_I2CMASTER_LIBRARY #include <I2C.h> #endif #endif #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 #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_OK 0 #define TW_ERROR 1 class Fastwire { private: static boolean waitInt(); public: static void setup(int khz, boolean pullup); static byte beginTransmission(byte device); static byte write(byte value); static byte writeBuf(byte device, byte address, byte *data, byte num); static byte readBuf(byte device, byte address, byte *data, byte num); static void reset(); static byte stop(); }; #endif #if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_NBWIRE #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 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); uint8_t endTransmission(uint16_t timeout=0); void nbendTransmission(void (*function)(int)) ; uint8_t requestFrom(uint8_t, int, uint16_t timeout=0); void nbrequestFrom(uint8_t, int, void (*function)(int)); void send(uint8_t); void send(uint8_t*, uint8_t); 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 #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 #ifndef sbi #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) #endif #ifndef cbi #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) #endif extern TwoWire Wire; #endif #endif

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