senseshift · leon0399 · Jul 19, 2024 · Jul 19, 2024 · Jul 19, 2024 · Jul 19, 2024
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,68 @@
+name: PlatformIO CI
+
+on:
+  pull_request:
+    branches:
+      - main
+      - master
+      - develop
+    paths-ignore:
+      - "**/*.md"
+  push:
+    branches:
+      - main
+      - master
+      - develop
+    paths-ignore:
+      - "**/*.md"
+
+jobs:
+  platformio:
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      matrix:
+        os: [ ubuntu-latest ]
+        example:
+          - "examples/PCA9685/Servo/Servo.ino"
+          - "examples/PCA9685/VibroPulse/VibroPulse.ino"
+        boards: [ [ uno, esp32dev ] ]
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Cache pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+
+      - name: Cache PlatformIO
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.platformio/.cache
+            ./.pio
+          key: ${{ runner.os }}-pio-${{ hashFiles('**/*.ini') }}
+          restore-keys: |
+            ${{ runner.os }}-pio-
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.9"
+
+      - name: Install PlatformIO
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade platformio
+          pio upgrade --dev
+          pio pkg update --global
+
+      - name: Build example
+        run: |
+          pio ci --lib="." --board=${{ join(matrix.boards, ' --board=') }}
+        env:
+          PLATFORMIO_CI_SRC: ${{ matrix.example }}
diff --git a/examples/PCA9685/Servo/Servo.ino b/examples/PCA9685/Servo/Servo.ino
@@ -23,20 +23,17 @@ void setup() {
     Serial.begin(115200);
     Serial.println("I2CDevLib Example - PCA9685 Test");
 
-    if (!Wire.begin()) {
-        Serial.println("[E] Failed to init Wire!");
-        while(true) {};
-    }
+    Wire.begin();
 
     // auto result = pca9685.setPrescale(100);
     result = pca9685.setFrequency(SERVO_FREQ);
     if (result != I2CDEV_RESULT_OK) {
-        Serial.printf("[E] Failed to set PCA9685 prescale: %i\n", result);
+        Serial.println("[E] Failed to set PCA9685 prescale");
         while(true) {};
     }
     result = pca9685.wakeup();
     if (result != I2CDEV_RESULT_OK) {
-        Serial.printf("[E] Failed wakeup PCA9685: %i\n", result);
+        Serial.println("[E] Failed to wake up PCA9685");
         while(true) {};
     }
 
@@ -46,16 +43,14 @@ void setup() {
 uint8_t currentServo = 0;
 
 void loop() {
-    Serial.printf("Current servo: %i\n", currentServo);
+    Serial.print("Current servo: "); Serial.println(currentServo);
 
     Serial.println("\t > SERVO_PULSE_LEN_MIN => SERVO_PULSE_LEN_MAX");
     for (uint16_t pulseLen = SERVO_PULSE_LEN_MIN; pulseLen < SERVO_PULSE_LEN_MAX; pulseLen++) {
         result = pca9685.setChannel(currentServo, pulseLen);
         if (result != I2CDEV_RESULT_OK) {
-            Serial.printf("[E] Failed to set PCA9685 pin: %i\n", result);
+            Serial.println("[E] Failed to set PCA9685 pin");
         }
-        // delay(5);
-        // Serial.printf("\t > SERVO_PULSE_LEN_MIN => SERVO_PULSE_LEN_MAX: %i\n", pulseLen);
     }
 
     delay(500);
@@ -64,10 +59,8 @@ void loop() {
     for (uint16_t pulseLen = SERVO_PULSE_LEN_MAX; pulseLen > SERVO_PULSE_LEN_MIN; pulseLen--) {
         result = pca9685.setChannel(currentServo, pulseLen);
         if (result != I2CDEV_RESULT_OK) {
-            Serial.printf("[E] Failed to set PCA9685 pin: %i\n", result);
+            Serial.println("[E] Failed to set PCA9685 pin");
         }
-        // delay(5);
-        // Serial.printf("\t > SERVO_PULSE_LEN_MAX => SERVO_PULSE_LEN_MIN: %i\n", pulseLen);
     }
 
     delay(500);
@@ -76,10 +69,8 @@ void loop() {
     for (uint16_t uSec = SERVO_US_MIN; uSec < SERVO_US_MAX; uSec++) {
         result = pca9685.writeMicroseconds(currentServo, uSec);
         if (result != I2CDEV_RESULT_OK) {
-            Serial.printf("[E] Failed to set PCA9685 microseconds: %i\n", result);
+            Serial.println("[E] Failed to set PCA9685 microseconds");
         }
-        // delay(5);
-        // Serial.printf("\t > SERVO_US_MIN => SERVO_US_MAX: %i\n", uSec);
     }
 
     delay(500);
@@ -88,10 +79,8 @@ void loop() {
     for (uint16_t uSec = SERVO_US_MAX; uSec > SERVO_US_MIN; uSec--) {
         result = pca9685.writeMicroseconds(currentServo, uSec);
         if (result != I2CDEV_RESULT_OK) {
-            Serial.printf("[E] Failed to set PCA9685 microseconds: %i\n", result);
+            Serial.println("[E] Failed to set PCA9685 microseconds");
         }
-        // delay(5);
-        // Serial.printf("\t > SERVO_US_MAX => SERVO_US_MIN: %i\n", uSec);
     }
 
     delay(500);

diff --git a/examples/PCA9685/VibroPulse/VibroPulse.ino b/examples/PCA9685/VibroPulse/VibroPulse.ino
@@ -17,20 +17,17 @@ void setup() {
     Serial.begin(115200);
     Serial.println("I2CDevLib Example - PCA9685 Test");
 
-    if (!Wire.begin()) {
-        Serial.println("[E] Failed to init Wire!");
-        while(true) {};
-    }
+    Wire.begin();
 
     // auto result = pca9685.setPrescale(100);
     result = pca9685.setFrequency(PWM_FREQ);
     if (result != I2CDEV_RESULT_OK) {
-        Serial.printf("[E] Failed to set PCA9685 prescale: %i\n", result);
+        Serial.println("[E] Failed to set PCA9685 prescale");
         while(true) {};
     }
     result = pca9685.wakeup();
     if (result != I2CDEV_RESULT_OK) {
-        Serial.printf("[E] Failed wakeup PCA9685: %i\n", result);
+        Serial.println("[E] Failed wakeup PCA9685");
         while(true) {};
     }
 
@@ -46,7 +43,7 @@ void pulse(uint8_t pin) {
 uint8_t currentVibro = 0;
 
 void loop() {
-    Serial.printf("Current vibro: %i\n", currentVibro);
+    Serial.print("Current vibro: "); Serial.println(currentVibro);
 
     pulse(currentVibro);
     delay(100);

diff --git a/src/hal/I2CDevBus_ArduinoWire.hpp b/src/hal/I2CDevBus_ArduinoWire.hpp
@@ -5,18 +5,18 @@
 #include <Wire.h>
 
 class ArduinoI2CDevBus : public I2CDevBus {
-  public:
+public:
     explicit ArduinoI2CDevBus(TwoWire* wire = &Wire) : wire_(wire) {}
 
-  private:
+private:
     TwoWire* wire_;
 
     auto readReg8(
-      std::uint8_t devAddr,
-      std::uint8_t regAddr,
-      std::size_t length,
-      std::uint8_t* data,
-      std::uint16_t timeout = DEFAULT_READ_TIMEOUT_MS
+            uint8_t devAddr,
+            uint8_t regAddr,
+            size_t length,
+            uint8_t* data,
+            uint16_t timeout = DEFAULT_READ_TIMEOUT_MS
     ) -> i2cdev_result_t override
     {
         I2CDEVLIB_LOG_D("readReg8: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length).c_str());
@@ -25,9 +25,13 @@ class ArduinoI2CDevBus : public I2CDevBus {
         this->wire_->write(regAddr);
         this->wire_->endTransmission();
 
+#if defined(ARDUINO_ARCH_AVR)
+        this->wire_->requestFrom(devAddr, static_cast<uint8_t>(length), 1);
+#else
         this->wire_->requestFrom(devAddr, length, true);
+#endif
 
-        std::uint8_t received = 0;
+        uint8_t received = 0;
         const auto start = millis();
 
         while (this->wire_->available() && (timeout == 0 || millis() - start < timeout)) {
@@ -47,11 +51,11 @@ class ArduinoI2CDevBus : public I2CDevBus {
     }
 
     auto readReg16(
-      std::uint8_t devAddr,
-      std::uint8_t regAddr,
-      std::size_t length,
-      std::uint16_t* data,
-      std::uint16_t timeout = DEFAULT_READ_TIMEOUT_MS
+            uint8_t devAddr,
+            uint8_t regAddr,
+            size_t length,
+            uint16_t* data,
+            uint16_t timeout = DEFAULT_READ_TIMEOUT_MS
     ) -> i2cdev_result_t override
     {
         I2CDEVLIB_LOG_D("readReg16: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length).c_str());
@@ -60,9 +64,13 @@ class ArduinoI2CDevBus : public I2CDevBus {
         this->wire_->write(regAddr);
         this->wire_->endTransmission();
 
+#if defined(ARDUINO_ARCH_AVR)
+        this->wire_->requestFrom(devAddr, static_cast<uint8_t>(length * 2), 1);
+#else
         this->wire_->requestFrom(devAddr, length * 2, true);
+#endif
 
-        std::uint8_t received = 0;
+        uint8_t received = 0;
         const auto start = millis();
 
         while (this->wire_->available() >= 2 && (timeout == 0 || millis() - start < timeout)) {
@@ -81,8 +89,8 @@ class ArduinoI2CDevBus : public I2CDevBus {
         return I2CDEV_RESULT_OK;
     }
 
-    auto writeReg8(std::uint8_t devAddr, std::uint8_t regAddr, std::size_t length, const std::uint8_t* data)
-      -> i2cdev_result_t override
+    auto writeReg8(uint8_t devAddr, uint8_t regAddr, size_t length, const uint8_t* data)
+    -> i2cdev_result_t override
     {
         I2CDEVLIB_LOG_D("writeReg8: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length).c_str());
 
@@ -105,8 +113,8 @@ class ArduinoI2CDevBus : public I2CDevBus {
         return I2CDEV_RESULT_OK;
     }
 
-    auto writeReg16(std::uint8_t devAddr, std::uint8_t regAddr, std::size_t length, const std::uint16_t* data)
-      -> i2cdev_result_t override
+    auto writeReg16(uint8_t devAddr, uint8_t regAddr, size_t length, const uint16_t* data)
+    -> i2cdev_result_t override
     {
         I2CDEVLIB_LOG_D("writeReg16: devAddr=0x%02X, regAddr=0x%02X, data=%s", devAddr, regAddr, i2cdevlib::hexdump(data, length).c_str());
 
@@ -118,14 +126,14 @@ class ArduinoI2CDevBus : public I2CDevBus {
         }
 
         // Send data
-        for (std::size_t i = 0; i < length; i++) {
+        for (size_t i = 0; i < length; i++) {
             // Send MSB
-            if (this->wire_->write(static_cast<std::uint8_t>(data[i] >> 8)) != 1) {
+            if (this->wire_->write(static_cast<uint8_t>(data[i] >> 8)) != 1) {
                 return I2CDEV_RESULT_ERROR;
             }
 
             // Send LSB
-            if (this->wire_->write(static_cast<std::uint8_t>(data[i] & 0xFF)) != 1) {
+            if (this->wire_->write(static_cast<uint8_t>(data[i] & 0xFF)) != 1) {
                 return I2CDEV_RESULT_ERROR;
             }
         }

diff --git a/src/i2cdevbus.h b/src/i2cdevbus.h
@@ -1,7 +1,11 @@
 #ifndef __I2CDEVBUS_H__
 #define __I2CDEVBUS_H__
 
+#ifdef ARDUINO
+#include "Arduino.h"
+#else // !ARDUINO
 #include "stdint.h"
+#endif // ARDUINO
 
 /// 1000ms default read timeout (modify with `I2CDevBus::DEFAULT_READ_TIMEOUT_MS = [ms];`)
 #ifndef I2CDEV_DEFAULT_READ_TIMEOUT_MS