Matthias Grob / Mbed 2 deprecated FlyBed1

NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.

Dependencies:   mbed MODI2C

Sensors/I2C_Sensor.cpp@36:128c55793728, 2013-06-12 (annotated)

Committer:
maetugr
Date:
Wed Jun 12 10:26:18 2013 +0000
Revision:
36:128c55793728
Parent:
34:3aa1cbcde59d 
after inserting MODI2C to get an undisturbed I2C-communication

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 34:3aa1cbcde59d 1 #include "I2C_Sensor.h"
maetugr 34:3aa1cbcde59d 2
maetugr 34:3aa1cbcde59d 3 // calculate the 8-Bit write/read I2C-Address from the 7-Bit adress of the device
maetugr 34:3aa1cbcde59d 4 #define GET_I2C_WRITE_ADDRESS(ADR) (ADR << 1&0xFE) // ADR & 1111 1110
maetugr 34:3aa1cbcde59d 5 #define GET_I2C_READ_ADDRESS(ADR) (ADR << 1|0x01) // ADR | 0000 0001
maetugr 34:3aa1cbcde59d 6
maetugr 36:128c55793728 7 I2C_Sensor::I2C_Sensor(PinName sda, PinName scl, char i2c_address) : i2c_init(sda, scl), i2c(sda, scl), local("local")
maetugr 34:3aa1cbcde59d 8 {
maetugr 34:3aa1cbcde59d 9 I2C_Sensor::i2c_address = i2c_address;
maetugr 36:128c55793728 10 i2c_init.frequency(400000); // standard speed
maetugr 34:3aa1cbcde59d 11 i2c.frequency(400000); // standard speed
maetugr 34:3aa1cbcde59d 12 //i2c.frequency(1500000); // ultrafast!
maetugr 34:3aa1cbcde59d 13 }
maetugr 34:3aa1cbcde59d 14
maetugr 34:3aa1cbcde59d 15 void I2C_Sensor::saveCalibrationValues(float values[], int size, char * filename)
maetugr 34:3aa1cbcde59d 16 {
maetugr 34:3aa1cbcde59d 17 FILE *fp = fopen(strcat("/local/", filename), "w");
maetugr 34:3aa1cbcde59d 18 for(int i = 0; i < size; i++)
maetugr 34:3aa1cbcde59d 19 fprintf(fp, "%f\r\n", values[i]);
maetugr 34:3aa1cbcde59d 20 fclose(fp);
maetugr 34:3aa1cbcde59d 21 }
maetugr 34:3aa1cbcde59d 22
maetugr 34:3aa1cbcde59d 23 void I2C_Sensor::loadCalibrationValues(float values[], int size, char * filename)
maetugr 34:3aa1cbcde59d 24 {
maetugr 34:3aa1cbcde59d 25 FILE *fp = fopen(strcat("/local/", filename), "r");
maetugr 34:3aa1cbcde59d 26 for(int i = 0; i < size; i++)
maetugr 34:3aa1cbcde59d 27 fscanf(fp, "%f", &values[i]);
maetugr 34:3aa1cbcde59d 28 fclose(fp);
maetugr 34:3aa1cbcde59d 29 }
maetugr 34:3aa1cbcde59d 30
maetugr 36:128c55793728 31 //--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
maetugr 36:128c55793728 32 // ATTENTION!!! there was a problem with other interrupts disturbing the i2c communication of the chip... that's why I use I2C to initialise the sonsors and MODI2C to get the data (only made with readMultiRegister)
maetugr 36:128c55793728 33 // IT DIDN'T WORK STABLE IN OTHER COMBINATIONS (if someone has an idea why please let me know)
maetugr 36:128c55793728 34 //--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
maetugr 34:3aa1cbcde59d 35
maetugr 34:3aa1cbcde59d 36 char I2C_Sensor::readRegister(char reg)
maetugr 34:3aa1cbcde59d 37 {
maetugr 34:3aa1cbcde59d 38 char value = 0;
maetugr 34:3aa1cbcde59d 39
maetugr 36:128c55793728 40 i2c_init.write(i2c_address, &reg, 1);
maetugr 36:128c55793728 41 i2c_init.read(i2c_address, &value, 1);
maetugr 34:3aa1cbcde59d 42
maetugr 34:3aa1cbcde59d 43 return value;
maetugr 34:3aa1cbcde59d 44 }
maetugr 34:3aa1cbcde59d 45
maetugr 34:3aa1cbcde59d 46 void I2C_Sensor::writeRegister(char reg, char data)
maetugr 34:3aa1cbcde59d 47 {
maetugr 34:3aa1cbcde59d 48 char buffer[2] = {reg, data};
maetugr 36:128c55793728 49 i2c_init.write(i2c_address, buffer, 2);
maetugr 34:3aa1cbcde59d 50 }
maetugr 34:3aa1cbcde59d 51
maetugr 34:3aa1cbcde59d 52 void I2C_Sensor::readMultiRegister(char reg, char* output, int size)
maetugr 34:3aa1cbcde59d 53 {
maetugr 36:128c55793728 54 i2c.write (i2c_address, &reg, 1); // tell register address of the MSB get the sensor to do slave-transmit subaddress updating.
maetugr 36:128c55793728 55 i2c.read (i2c_address, output, size); // tell it where to store the data read
maetugr 34:3aa1cbcde59d 56 }