Add Arduino-ESP32 3.3.11 compatibility

.github/workflows/Arduino-Lint-Check.yml

@@ -1,17 +1,18 @@
 name: Arduino Lint Check
 on:
   push:
-    branches: [ master ]
+    branches: [main, master]
   pull_request:
-    branches: [ master ]
+    branches: [main, master]
+  workflow_dispatch:
 jobs:
   lint:
     name: Lint Check
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: arduino/arduino-lint-action@v1
+      - uses: actions/checkout@v4
+      - uses: arduino/arduino-lint-action@v2
         with:
           library-manager: update
           compliance: strict
-          project-type: all
+          project-type: all

.github/workflows/clang-format-check.yml

@@ -8,14 +8,13 @@ jobs:
       matrix:
         path:
           - check: './'    # path to include
-            exclude: './lib'    # path to exclude
-            exclude: './include'    # path to exclude
+            exclude: '(^|[\\/])(lib|include)([\\/]|$)'    # paths to exclude
           # - check: 'src'
           #   exclude: '(Fonts)' # Exclude file paths containing "Fonts"
           # - check: 'examples'
           #   exclude: ''
     steps:
-    - uses: actions/checkout@v3.1.0
+    - uses: actions/checkout@v4
     - name: Run clang-format style check for C/C++/Protobuf programs.
       uses: jidicula/clang-format-action@v4.9.0
       with:

.github/workflows/platformio.yml

@@ -1,24 +1,37 @@
-name: Build test with platformio
+name: Build test with PlatformIO
 
-on: [push, pull_request]
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
 
 jobs:
   build:
+    name: Build (${{ matrix.environment }})
     runs-on: ubuntu-latest
-
+    timeout-minutes: 30
+    strategy:
+      fail-fast: false
+      matrix:
+        environment:
+          - esp32-s3-devkitc-1
+          - esp32-s3-devkitc-1-arduino3311
+
     steps:
-      - uses: actions/checkout@v3
-      - uses: actions/cache@v3
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v4
         with:
           path: |
             ~/.cache/pip
             ~/.platformio/.cache
-          key: ${{ runner.os }}-pio
-      - uses: actions/setup-python@v4
+          key: ${{ runner.os }}-pio-${{ matrix.environment }}-${{ hashFiles('platformio.ini') }}
+          restore-keys: |
+            ${{ runner.os }}-pio-${{ matrix.environment }}-
+      - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
       - name: Install PlatformIO Core
-        run: pip install --upgrade platformio
+        run: pip install platformio==6.1.19
 
       - name: Build PlatformIO Project
-        run: pio run
+        run: pio run -e ${{ matrix.environment }}

include/arduino_esp32_compat.h

@@ -0,0 +1,53 @@
+#pragma once
+
+#include <stdint.h>
+#include <esp_arduino_version.h>
+#include <esp_idf_version.h>
+
+#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0)
+#define STAMPFLY_ARDUINO_ESP32_V3 1
+#define STAMPFLY_ARDUINO_ESP32_BRANCH_NAME "3.x compatibility branch"
+#else
+#define STAMPFLY_ARDUINO_ESP32_V3 0
+#define STAMPFLY_ARDUINO_ESP32_BRANCH_NAME "legacy compatibility branch"
+#endif
+
+#define STAMPFLY_STRINGIFY_IMPL(value) #value
+#define STAMPFLY_STRINGIFY(value) STAMPFLY_STRINGIFY_IMPL(value)
+#define STAMPFLY_ARDUINO_ESP32_VERSION_STRING \
+    STAMPFLY_STRINGIFY(ESP_ARDUINO_VERSION_MAJOR) "." \
+    STAMPFLY_STRINGIFY(ESP_ARDUINO_VERSION_MINOR) "." \
+    STAMPFLY_STRINGIFY(ESP_ARDUINO_VERSION_PATCH)
+
+#if STAMPFLY_ARDUINO_ESP32_V3
+#include <esp_rom_sys.h>
+
+static inline void stampfly_delay_us(uint32_t us)
+{
+    esp_rom_delay_us(us);
+}
+#else
+#include <rom/ets_sys.h>
+
+static inline void stampfly_delay_us(uint32_t us)
+{
+    ets_delay_us(us);
+}
+#endif
+#ifdef __cplusplus
+#if STAMPFLY_ARDUINO_ESP32_V3
+
+#if !defined(ARDUINO_USB_MODE) || !ARDUINO_USB_MODE
+#error "StampFly HWCDC compatibility requires ARDUINO_USB_MODE=1"
+#endif
+
+#if !defined(ARDUINO_USB_CDC_ON_BOOT) || !ARDUINO_USB_CDC_ON_BOOT
+#error "StampFly HWCDC compatibility requires ARDUINO_USB_CDC_ON_BOOT=1"
+#endif
+
+#include <HWCDC.h>
+
+#define USBSerial HWCDCSerial
+
+#endif
+#endif

include/arduino_esp32_i2c_compat.h

@@ -0,0 +1,27 @@
+#pragma once
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include "arduino_esp32_compat.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if STAMPFLY_ARDUINO_ESP32_V3
+
+int stampfly_i2c_write(uint8_t i2c_num, uint16_t address, const uint8_t *data, size_t length);
+int stampfly_i2c_read(uint8_t i2c_num, uint16_t address, uint8_t *data, size_t length);
+int stampfly_i2c_write_read(uint8_t i2c_num,
+                            uint16_t address,
+                            const uint8_t *write_data,
+                            size_t write_length,
+                            uint8_t *read_data,
+                            size_t read_length);
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif

lib/bmi270/common.c

@@ -10,6 +10,7 @@
 #include <string.h>
 
 #include "common.h"
+#include "../../include/arduino_esp32_i2c_compat.h"
 //#include "bmi2_defs.h"
 
 //#include "driver/i2c.h"
@@ -39,18 +40,22 @@ static struct coines_intf_config intf_conf;
 struct bmi2_dev Bmi270;
 struct bmi2_dev *pBmi270=&Bmi270;
 
-i2c_cmd_handle_t i2chandle;
+#if !STAMPFLY_ARDUINO_ESP32_V3
+static i2c_cmd_handle_t i2chandle;
+#endif
 
 // SPIデバイスハンドラーを使って通信する
 spi_device_handle_t spidev;
 
 
 
+#if !STAMPFLY_ARDUINO_ESP32_V3
 i2c_port_t i2c_port=1;
+#endif
 
 uint8_t Bmi270_address = 0x69; 
 
-uint8_t _I2CBuffer[256];
+static uint8_t _I2CBuffer[256];
 
 struct bmi2_sens_config config;
 
@@ -65,6 +70,7 @@ void bmi270_dev_init(void)
   Bmi270.gyro_en = 1;
 }
 
+#if !STAMPFLY_ARDUINO_ESP32_V3
 void getI2cBus(void)
 {
     i2chandle = i2c_cmd_link_create();
@@ -98,6 +104,7 @@ int _i2cRead(uint8_t slave_address, uint8_t *pdata, uint32_t count) {
     status = i2c_master_read_byte(i2chandle, pdata+count-1, I2C_MASTER_NACK);
     return status;
 }
+#endif
 
 /******************************************************************************/
 /*!                User interface functions                                   */
@@ -111,6 +118,13 @@ BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_
     int32_t status_int;
 
     _I2CBuffer[0] = reg_addr;
+#if STAMPFLY_ARDUINO_ESP32_V3
+    status_int = stampfly_i2c_write_read(1, Bmi270_address, _I2CBuffer, 1, reg_data, len);
+    if (status_int != 0) {
+        Status = 0x66;
+    }
+    return Status;
+#else
     getI2cBus();
     status_int = _i2cWrite(Bmi270_address, _I2CBuffer, 1);
     if (status_int != 0) {
@@ -124,6 +138,7 @@ BMI2_INTF_RETURN_TYPE bmi2_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32_
 done:
     putI2cBus();
     return Status;
+#endif
 }
 
 /*!
@@ -138,13 +153,21 @@ BMI2_INTF_RETURN_TYPE bmi2_i2c_write(uint8_t reg_addr, const uint8_t *reg_data,
     }
     _I2CBuffer[0] = reg_addr;
     memcpy(&_I2CBuffer[1], reg_data, len);
+#if STAMPFLY_ARDUINO_ESP32_V3
+    status_int = stampfly_i2c_write(1, Bmi270_address, _I2CBuffer, len + 1);
+    if (status_int != 0) {
+        Status = 0x55;
+    }
+    return Status;
+#else
     getI2cBus();
     status_int = _i2cWrite(Bmi270_address, _I2CBuffer, len + 1);
     if (status_int != 0) {
         Status = 0x55;
     }
     putI2cBus();
     return Status;
+#endif
 }
 
 //SPIバスの設定
@@ -256,7 +279,7 @@ BMI2_INTF_RETURN_TYPE bmi2_spi_write(uint8_t reg_addr, const uint8_t *reg_data,
 void bmi2_delay_us(uint32_t period, void *intf_ptr)
 {
     //coines_delay_usec(period);
-    ets_delay_us(period);
+    stampfly_delay_us(period);
 }
 
 /*!

lib/bmi270/common.h

@@ -17,7 +17,10 @@ extern "C" {
 #include <math.h>
 #include "bmi2.h"
 #include "bmi2_defs.h"
+#include "../../include/arduino_esp32_i2c_compat.h"
+#if !STAMPFLY_ARDUINO_ESP32_V3
 #include "driver/i2c.h"
+#endif
 #include <driver/spi_master.h>
 #include "driver/gpio.h"
 #include "sdkconfig.h"