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.h@34:3aa1cbcde59d, 2013-06-10 (annotated)

Committer:
maetugr
Date:
Mon Jun 10 13:22:46 2013 +0000
Revision:
34:3aa1cbcde59d
Child:
36:128c55793728
First version with new ESCs (they are working with the KK Board); some strange kicks in the behaviour of balancing, next step a logger

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 34:3aa1cbcde59d 1 // by MaEtUgR
maetugr 34:3aa1cbcde59d 2
maetugr 34:3aa1cbcde59d 3 #ifndef I2C_Sensor_H
maetugr 34:3aa1cbcde59d 4 #define I2C_Sensor_H
maetugr 34:3aa1cbcde59d 5
maetugr 34:3aa1cbcde59d 6 #include "mbed.h"
maetugr 34:3aa1cbcde59d 7
maetugr 34:3aa1cbcde59d 8 class I2C_Sensor
maetugr 34:3aa1cbcde59d 9 {
maetugr 34:3aa1cbcde59d 10 public:
maetugr 34:3aa1cbcde59d 11 I2C_Sensor(PinName sda, PinName scl, char address);
maetugr 34:3aa1cbcde59d 12
maetugr 34:3aa1cbcde59d 13 float data[3]; // where the measured data is saved
maetugr 34:3aa1cbcde59d 14 virtual void read() = 0; // read all axis from register to array data
maetugr 34:3aa1cbcde59d 15 //TODO: virtual void calibrate() = 0; // calibrate the sensor and if desired write calibration values to a file
maetugr 34:3aa1cbcde59d 16
maetugr 34:3aa1cbcde59d 17 protected:
maetugr 34:3aa1cbcde59d 18 // Calibration
maetugr 34:3aa1cbcde59d 19 void saveCalibrationValues(float values[], int size, char * filename);
maetugr 34:3aa1cbcde59d 20 void loadCalibrationValues(float values[], int size, char * filename);
maetugr 34:3aa1cbcde59d 21
maetugr 34:3aa1cbcde59d 22 // I2C functions
maetugr 34:3aa1cbcde59d 23 char readRegister(char reg);
maetugr 34:3aa1cbcde59d 24 void writeRegister(char reg, char data);
maetugr 34:3aa1cbcde59d 25 void readMultiRegister(char reg, char* output, int size);
maetugr 34:3aa1cbcde59d 26
maetugr 34:3aa1cbcde59d 27 // raw data and function to measure it
maetugr 34:3aa1cbcde59d 28 int raw[3];
maetugr 34:3aa1cbcde59d 29 virtual void readraw() = 0;
maetugr 34:3aa1cbcde59d 30
maetugr 34:3aa1cbcde59d 31 private:
maetugr 34:3aa1cbcde59d 32 I2C i2c; // I2C-Bus
maetugr 34:3aa1cbcde59d 33 char i2c_address; // address
maetugr 34:3aa1cbcde59d 34
maetugr 34:3aa1cbcde59d 35 LocalFileSystem local; // file access to save calibration values
maetugr 34:3aa1cbcde59d 36 };
maetugr 34:3aa1cbcde59d 37
maetugr 34:3aa1cbcde59d 38 #endif