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@20:e116e596e540, 2012-11-05 (annotated)

Committer:
maetugr
Date:
Mon Nov 05 09:19:01 2012 +0000
Revision:
20:e116e596e540
Parent:
19:40c252b4a792
Child:
21:c2a2e7cbabdd
Eine Achse stabil! bereits abgehoben an Schnur! (erst Gyro im I2C_Sensor)(acos nan abgefangen)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 14:cf260677ecde 1 #include "I2C_Sensor.h"
maetugr 14:cf260677ecde 2
maetugr 14:cf260677ecde 3 // calculate the 8-Bit write/read I2C-Address from the 7-Bit adress of the device
maetugr 14:cf260677ecde 4 #define GET_I2C_WRITE_ADDRESS(ADR) (ADR << 1&0xFE) // ADR & 1111 1110
maetugr 14:cf260677ecde 5 #define GET_I2C_READ_ADDRESS(ADR) (ADR << 1|0x01) // ADR | 0000 0001
maetugr 14:cf260677ecde 6
maetugr 14:cf260677ecde 7 I2C_Sensor::I2C_Sensor(PinName sda, PinName scl, int8_t i2c_address) : i2c(sda, scl), local("local")
maetugr 14:cf260677ecde 8 {
maetugr 14:cf260677ecde 9 I2C_Sensor::i2c_address = i2c_address;
maetugr 20:e116e596e540 10 i2c.frequency(400000); // standard speed
maetugr 20:e116e596e540 11 //i2c.frequency(1500000); // ultrafast!
maetugr 14:cf260677ecde 12 }
maetugr 14:cf260677ecde 13
maetugr 15:753c5d6a63b3 14 void I2C_Sensor::saveCalibrationValues(float values[], int size, char * filename)
maetugr 14:cf260677ecde 15 {
maetugr 14:cf260677ecde 16 FILE *fp = fopen(strcat("/local/", filename), "w");
maetugr 14:cf260677ecde 17 for(int i = 0; i < size; i++)
maetugr 14:cf260677ecde 18 fprintf(fp, "%f\r\n", values[i]);
maetugr 14:cf260677ecde 19 fclose(fp);
maetugr 14:cf260677ecde 20 }
maetugr 14:cf260677ecde 21
maetugr 15:753c5d6a63b3 22 void I2C_Sensor::loadCalibrationValues(float values[], int size, char * filename)
maetugr 14:cf260677ecde 23 {
maetugr 14:cf260677ecde 24 FILE *fp = fopen(strcat("/local/", filename), "r");
maetugr 14:cf260677ecde 25 for(int i = 0; i < size; i++)
maetugr 14:cf260677ecde 26 fscanf(fp, "%f", &values[i]);
maetugr 14:cf260677ecde 27 fclose(fp);
maetugr 14:cf260677ecde 28 }
maetugr 14:cf260677ecde 29
maetugr 16:74a6531350b5 30 //--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
maetugr 16:74a6531350b5 31 // ATTENTION!!! the I2C option "repeated" = true is important because otherwise interrupts while bus communications cause crashes (see http://www.i2c-bus.org/repeated-start-condition/)
maetugr 16:74a6531350b5 32 //--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
maetugr 16:74a6531350b5 33
maetugr 15:753c5d6a63b3 34 char I2C_Sensor::readRegister(char reg)
maetugr 15:753c5d6a63b3 35 {
maetugr 15:753c5d6a63b3 36 char value = 0;
maetugr 15:753c5d6a63b3 37
maetugr 19:40c252b4a792 38 i2c.write(i2c_address, &reg, 1, true);
maetugr 19:40c252b4a792 39 i2c.read(i2c_address, &value, 1, true);
maetugr 15:753c5d6a63b3 40
maetugr 15:753c5d6a63b3 41 return value;
maetugr 14:cf260677ecde 42 }
maetugr 14:cf260677ecde 43
maetugr 15:753c5d6a63b3 44 void I2C_Sensor::writeRegister(char reg, char data)
maetugr 15:753c5d6a63b3 45 {
maetugr 16:74a6531350b5 46 char buffer[2] = {reg, data};
maetugr 19:40c252b4a792 47 i2c.write(i2c_address, buffer, 2, true);
maetugr 15:753c5d6a63b3 48 }
maetugr 15:753c5d6a63b3 49
maetugr 15:753c5d6a63b3 50 void I2C_Sensor::readMultiRegister(char reg, char* output, int size)
maetugr 16:74a6531350b5 51 {
maetugr 19:40c252b4a792 52 i2c.write (i2c_address, &reg, 1, true); // tell register address of the MSB get the sensor to do slave-transmit subaddress updating.
maetugr 19:40c252b4a792 53 i2c.read (i2c_address, output, size, true); // tell it where to store the data read
maetugr 14:cf260677ecde 54 }