Changes required for ESP32 with Arduino IDE

.gitignore

@@ -2,3 +2,9 @@ PIC18/MPU6050/Examples/MPU6050_raw.X/dist/
 PIC18/MPU6050/Examples/MPU6050_raw.X/nbproject/private/
 PIC18/MPU6050/Examples/MPU6050_raw.X/build/
 *~
+/dsPIC30F/I2Cdev/I2CdevdsPic30F.X/nbproject/private/
+/dsPIC30F/I2Cdev/I2CdevdsPic30F.X/dist/default/
+/dsPIC30F/I2Cdev/testMCC.X/nbproject/private/
+/dsPIC30F/MPU6050/Examples/MPU6050_example.X/nbproject/private/
+/dsPIC30F/MPU6050/Examples/MPU6050_example.X/build/default/
+/dsPIC30F/MPU6050/Examples/MPU6050_example.X/dist/default/

Arduino/ADS1115/examples/ADS1115_single/ADS1115_single.ino

@@ -53,7 +53,7 @@ void setup() {
     // Slow things down so that we can see that the "poll for conversion" code works
     adc0.setRate(ADS1115_RATE_8);
 
-    // Set the gain (PGA) +/- 6.144v
+    // Set the gain (PGA) +/- 6.144V
     // Note that any analog input must be higher than –0.3V and less than VDD +0.3
     adc0.setGain(ADS1115_PGA_6P144);
     // ALERT/RDY pin will indicate when conversion is ready

Arduino/AK8975/AK8975.cpp

@@ -148,35 +148,51 @@ void AK8975::disableI2C() {
 
 // ASA* registers
 void AK8975::getAdjustment(int8_t *x, int8_t *y, int8_t *z) {
+    I2Cdev::writeByte(devAddr, AK8975_RA_CNTL, 0x0F); // Enter Fuse ROM access mode
+    delay(10);
     I2Cdev::readBytes(devAddr, AK8975_RA_ASAX, 3, buffer);
     *x = buffer[0];
     *y = buffer[1];
     *z = buffer[2];
 }
 void AK8975::setAdjustment(int8_t x, int8_t y, int8_t z) {
+    I2Cdev::writeByte(devAddr, AK8975_RA_CNTL, 0x0F); // Enter Fuse ROM access mode
+    delay(10);
     buffer[0] = x;
     buffer[1] = y;
     buffer[2] = z;
     I2Cdev::writeBytes(devAddr, AK8975_RA_ASAX, 3, buffer);
 }
 uint8_t AK8975::getAdjustmentX() {
+    I2Cdev::writeByte(devAddr, AK8975_RA_CNTL, 0x0F); // Enter Fuse ROM access mode
+    delay(10);
     I2Cdev::readByte(devAddr, AK8975_RA_ASAX, buffer);
     return buffer[0];
 }
 void AK8975::setAdjustmentX(uint8_t x) {
+    I2Cdev::writeByte(devAddr, AK8975_RA_CNTL, 0x0F); // Enter Fuse ROM access mode
+    delay(10);
     I2Cdev::writeByte(devAddr, AK8975_RA_ASAX, x);
 }
 uint8_t AK8975::getAdjustmentY() {
+    I2Cdev::writeByte(devAddr, AK8975_RA_CNTL, 0x0F); // Enter Fuse ROM access mode
+    delay(10);
     I2Cdev::readByte(devAddr, AK8975_RA_ASAY, buffer);
     return buffer[0];
 }
 void AK8975::setAdjustmentY(uint8_t y) {
+    I2Cdev::writeByte(devAddr, AK8975_RA_CNTL, 0x0F); // Enter Fuse ROM access mode
+    delay(10);
     I2Cdev::writeByte(devAddr, AK8975_RA_ASAY, y);
 }
 uint8_t AK8975::getAdjustmentZ() {
+    I2Cdev::writeByte(devAddr, AK8975_RA_CNTL, 0x0F); // Enter Fuse ROM access mode
+    delay(10);
     I2Cdev::readByte(devAddr, AK8975_RA_ASAZ, buffer);
     return buffer[0];
 }
 void AK8975::setAdjustmentZ(uint8_t z) {
+    I2Cdev::writeByte(devAddr, AK8975_RA_CNTL, 0x0F); // Enter Fuse ROM access mode
+    delay(10);
     I2Cdev::writeByte(devAddr, AK8975_RA_ASAZ, z);
-}
+}

Arduino/AK8975/examples/AK8975_MPUEVB_heading/AK8975_MPUEVB_heading.ino

@@ -90,7 +90,7 @@ void setup() {
     Serial.println("Testing device connections...");
     Serial.println(mag.testConnection() ? "AK8975 connection successful" : "AK8975 connection failed");
 
-    // configure Arduino LED for
+    // configure Arduino LED pin for output
     pinMode(LED_PIN, OUTPUT);
 }
 

Arduino/AK8975/examples/AK8975_MPUEVB_raw/AK8975_MPUEVB_raw.ino

@@ -89,7 +89,7 @@ void setup() {
     Serial.println("Testing device connections...");
     Serial.println(mag.testConnection() ? "AK8975 connection successful" : "AK8975 connection failed");
 
-    // configure Arduino LED for
+    // configure Arduino LED pin for output
     pinMode(LED_PIN, OUTPUT);
 }
 

Arduino/AK8975/examples/AK8975_raw/AK8975_raw.ino

@@ -68,7 +68,7 @@ void setup() {
     Serial.println("Testing device connections...");
     Serial.println(mag.testConnection() ? "AK8975 connection successful" : "AK8975 connection failed");
 
-    // configure Arduino LED for
+    // configure Arduino LED pin for output
     pinMode(LED_PIN, OUTPUT);
 }
 

Arduino/BMA150/examples/BMA150_raw/BMA150_raw.ino

@@ -64,7 +64,7 @@ void setup() {
     Serial.println("Testing device connections...");
     Serial.println(accel.testConnection() ? "BMA150 connection successful" : "BMA150 connection failed");
 
-    // configure Arduino LED for
+    // configure Arduino LED pin for output
     pinMode(LED_PIN, OUTPUT);
 }
 

Arduino/BMP085/BMP085.cpp

@@ -31,6 +31,7 @@ THE SOFTWARE.
 */
 
 #include "BMP085.h"
+#include <math.h>
 
 /**
  * Default constructor, uses default I2C device address.
@@ -166,10 +167,14 @@ void BMP085::setControl(uint8_t value) {
 /* measurement register methods */
 
 uint16_t BMP085::getMeasurement2() {
+    // wait for end of conversion
+    while(getControl() & 0x20);
     I2Cdev::readBytes(devAddr, BMP085_RA_MSB, 2, buffer);
     return ((uint16_t)buffer[0] << 8) + buffer[1];
 }
 uint32_t BMP085::getMeasurement3() {
+    // wait for end of conversion
+    while(getControl() & 0x20);
     I2Cdev::readBytes(devAddr, BMP085_RA_MSB, 3, buffer);
     return ((uint32_t)buffer[0] << 16) + ((uint16_t)buffer[1] << 8) + buffer[2];
 }
@@ -207,6 +212,7 @@ float BMP085::getTemperatureC() {
         T = (B5 + 8) / 2^4
     */
     int32_t ut = getRawTemperature();
+    if(ut == 0) return NAN;
     int32_t x1 = ((ut - (int32_t)ac6) * (int32_t)ac5) >> 15;
     int32_t x2 = ((int32_t)mc << 11) / (x1 + md);
     b5 = x1 + x2;
@@ -222,7 +228,7 @@ uint32_t BMP085::getRawPressure() {
     return 0; // wrong measurement mode for pressure request
 }
 
-float BMP085::getPressure() {
+int32_t BMP085::getPressure() {
     /*
     Datasheet forumla
         UP = raw pressure
@@ -244,6 +250,7 @@ float BMP085::getPressure() {
         p = p + (X1 + X2 + 3791) / 2^4
     */
     uint32_t up = getRawPressure();
+    if(up == 0) return NAN;
     uint8_t oss = (measureMode & 0xC0) >> 6;
     int32_t p;
     int32_t b6 = b5 - 4000;
@@ -269,4 +276,4 @@ float BMP085::getPressure() {
 
 float BMP085::getAltitude(float pressure, float seaLevelPressure) {
     return 44330 * (1.0 - pow(pressure / seaLevelPressure, 0.1903));
-}
+}

Arduino/BMP085/BMP085.h

@@ -111,7 +111,7 @@ class BMP085 {
         float       getTemperatureC();
         float       getTemperatureF();
         uint32_t    getRawPressure();
-        float       getPressure();
+        int32_t     getPressure();
         float       getAltitude(float pressure, float seaLevelPressure=101325);
 
    private:

Arduino/BMP085/examples/BMP085_basic/BMP085_basic.ino

@@ -46,8 +46,7 @@ BMP085 barometer;
 
 float temperature;
 float pressure;
-float altitude;
-int32_t lastMicros;
+int32_t altitude;
 
 #define LED_PIN 13 // (Arduino is 13, Teensy is 11, Teensy++ is 6)
 bool blinkState = false;
@@ -77,16 +76,11 @@ void loop() {
     // request temperature
     barometer.setControl(BMP085_MODE_TEMPERATURE);
 
-    // wait appropriate time for conversion (4.5ms delay)
-    lastMicros = micros();
-    while (micros() - lastMicros < barometer.getMeasureDelayMicroseconds());
-
     // read calibrated temperature value in degrees Celsius
     temperature = barometer.getTemperatureC();
 
     // request pressure (3x oversampling mode, high detail, 23.5ms delay)
     barometer.setControl(BMP085_MODE_PRESSURE_3);
-    while (micros() - lastMicros < barometer.getMeasureDelayMicroseconds());
 
     // read calibrated pressure value in Pascals (Pa)
     pressure = barometer.getPressure();

Arduino/DS1307/DS1307.cpp

@@ -360,7 +360,7 @@ void DS1307::setDateTime24(uint16_t year, uint8_t month, uint8_t day, uint8_t ho
     ////////////////////////////////////////////////////////////////////////////////
     // utility code, some of this could be exposed in the DateTime API if needed
 
-    static uint8_t daysInMonth [] PROGMEM = { 31,28,31,30,31,30,31,31,30,31,30,31 };
+    static const uint8_t daysInMonth [] PROGMEM = { 31,28,31,30,31,30,31,31,30,31,30,31 };
 
     // number of days since 2000/01/01, valid for 2001..2099
     static uint16_t date2days(uint16_t y, uint8_t m, uint8_t d) {
@@ -435,7 +435,7 @@ void DS1307::setDateTime24(uint16_t year, uint8_t month, uint8_t day, uint8_t ho
         yOff = conv2d(date + 9);
         // Jan Feb Mar Apr May Jun Jul Aug Sep Oct Nov Dec 
         switch (date[0]) {
-            case 'J': m = date[1] == 'a' ? 1 : m = date[2] == 'n' ? 6 : 7; break;
+            case 'J': m = (date[1] == 'a' ? 1 : (date[2] == 'n' ? 6 : 7)); break;
             case 'F': m = 2; break;
             case 'A': m = date[2] == 'r' ? 4 : 8; break;
             case 'M': m = date[2] == 'r' ? 3 : 5; break;

Arduino/HMC5843/examples/HMC5843_raw/HMC5843_raw.ino

@@ -65,7 +65,7 @@ void setup() {
     Serial.println("Testing device connections...");
     Serial.println(mag.testConnection() ? "HMC5843 connection successful" : "HMC5843 connection failed");
 
-    // configure Arduino LED for
+    // configure Arduino LED pin for output
     pinMode(LED_PIN, OUTPUT);
 }
 

Arduino/HMC5883L/examples/HMC5883L_raw/HMC5883L_raw.ino

@@ -66,7 +66,7 @@ void setup() {
     Serial.println("Testing device connections...");
     Serial.println(mag.testConnection() ? "HMC5883L connection successful" : "HMC5883L connection failed");
 
-    // configure Arduino LED for
+    // configure Arduino LED pin for output
     pinMode(LED_PIN, OUTPUT);
 }
 

Arduino/I2Cdev/I2Cdev.cpp

@@ -45,7 +45,7 @@ THE SOFTWARE.
 
 #include "I2Cdev.h"
 
-#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
+#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE
 
     #ifdef I2CDEV_IMPLEMENTATION_WARNINGS
         #if ARDUINO < 100
@@ -87,6 +87,11 @@ THE SOFTWARE.
 
 #endif
 
+#ifndef BUFFER_LENGTH
+// band-aid fix for platforms without Wire-defined BUFFER_LENGTH (removed from some official implementations)
+#define BUFFER_LENGTH 32
+#endif
+
 /** Default constructor.
  */
 I2Cdev::I2Cdev() {
@@ -217,15 +222,15 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
     int8_t count = 0;
     uint32_t t1 = millis();
 
-    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
+    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE)
 
         #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)) {
+            for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) {
                 Wire.beginTransmission(devAddr);
                 Wire.send(regAddr);
                 Wire.endTransmission();
@@ -249,7 +254,7 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
             // 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)) {
+            for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) {
                 Wire.beginTransmission(devAddr);
                 Wire.write(regAddr);
                 Wire.endTransmission();
@@ -273,7 +278,7 @@ int8_t I2Cdev::readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8
             // 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)) {
+            for (uint8_t k = 0; k < length; k += min((int)length, BUFFER_LENGTH)) {
                 Wire.beginTransmission(devAddr);
                 Wire.write(regAddr);
                 Wire.endTransmission();
@@ -337,7 +342,7 @@ int8_t I2Cdev::readWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint1
     int8_t count = 0;
     uint32_t t1 = millis();
 
-    #if (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE)
+#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE || I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE
 
         #if (ARDUINO < 100)
             // Arduino v00xx (before v1.0), Wire library
@@ -594,7 +599,8 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
     #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)
+	#elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100 \
+			|| I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100)
         Wire.beginTransmission(devAddr);
         Wire.write((uint8_t) regAddr); // send address
     #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
@@ -608,16 +614,18 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
         #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_ARDUINO_WIRE && ARDUINO >= 100 \
+			|| I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && 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_ARDUINO_WIRE && ARDUINO >= 100 \
+			|| I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100)
+	status = Wire.endTransmission();
     #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
         Fastwire::stop();
         //status = Fastwire::endTransmission();
@@ -649,8 +657,9 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16
     #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);
+	#elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100 \
+			|| I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100)
+	Wire.beginTransmission(devAddr);
         Wire.write(regAddr); // send address
     #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
         Fastwire::beginTransmission(devAddr);
@@ -664,8 +673,9 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16
         #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
+		#elif (I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE && ARDUINO >= 100 \
+			|| I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && 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
@@ -675,8 +685,9 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16
     }
     #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_ARDUINO_WIRE && ARDUINO >= 100 \
+			|| I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE && ARDUINO >= 100)
+	status = Wire.endTransmission();
     #elif (I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE)
         Fastwire::stop();
         //status = Fastwire::endTransmission();

Arduino/I2Cdev/I2Cdev.h

@@ -52,6 +52,7 @@ THE SOFTWARE.
 // -----------------------------------------------------------------------------
 #ifndef I2CDEV_IMPLEMENTATION
 #define I2CDEV_IMPLEMENTATION       I2CDEV_ARDUINO_WIRE
+//#define I2CDEV_IMPLEMENTATION       I2CDEV_BUILTIN_SBWIRE
 //#define I2CDEV_IMPLEMENTATION       I2CDEV_BUILTIN_FASTWIRE
 #endif // I2CDEV_IMPLEMENTATION
 
@@ -67,6 +68,7 @@ THE SOFTWARE.
                                       // ^^^ NBWire implementation is still buggy w/some interrupts!
 #define I2CDEV_BUILTIN_FASTWIRE     3 // FastWire object from Francesco Ferrara's project
 #define I2CDEV_I2CMASTER_LIBRARY    4 // I2C object from DSSCircuits I2C-Master Library at https://github.com/DSSCircuits/I2C-Master-Library
+#define I2CDEV_BUILTIN_SBWIRE	    5 // I2C object from Shuning (Steve) Bian's SBWire Library at https://github.com/freespace/SBWire 
 
 // -----------------------------------------------------------------------------
 // Arduino-style "Serial.print" debug constant (uncomment to enable)
@@ -85,6 +87,9 @@ THE SOFTWARE.
     #if I2CDEV_IMPLEMENTATION == I2CDEV_I2CMASTER_LIBRARY
         #include <I2C.h>
     #endif
+	#if I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_SBWIRE
+		#include "SBWire.h"
+	#endif
 #endif
 
 #ifdef SPARK