
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.
Sensors/I2C_Sensor.cpp
- Committer:
- maetugr
- Date:
- 2013-06-12
- Revision:
- 36:128c55793728
- Parent:
- 34:3aa1cbcde59d
File content as of revision 36:128c55793728:
#include "I2C_Sensor.h" // calculate the 8-Bit write/read I2C-Address from the 7-Bit adress of the device #define GET_I2C_WRITE_ADDRESS(ADR) (ADR << 1&0xFE) // ADR & 1111 1110 #define GET_I2C_READ_ADDRESS(ADR) (ADR << 1|0x01) // ADR | 0000 0001 I2C_Sensor::I2C_Sensor(PinName sda, PinName scl, char i2c_address) : i2c_init(sda, scl), i2c(sda, scl), local("local") { I2C_Sensor::i2c_address = i2c_address; i2c_init.frequency(400000); // standard speed i2c.frequency(400000); // standard speed //i2c.frequency(1500000); // ultrafast! } void I2C_Sensor::saveCalibrationValues(float values[], int size, char * filename) { FILE *fp = fopen(strcat("/local/", filename), "w"); for(int i = 0; i < size; i++) fprintf(fp, "%f\r\n", values[i]); fclose(fp); } void I2C_Sensor::loadCalibrationValues(float values[], int size, char * filename) { FILE *fp = fopen(strcat("/local/", filename), "r"); for(int i = 0; i < size; i++) fscanf(fp, "%f", &values[i]); fclose(fp); } //-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- // 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) // IT DIDN'T WORK STABLE IN OTHER COMBINATIONS (if someone has an idea why please let me know) //-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- char I2C_Sensor::readRegister(char reg) { char value = 0; i2c_init.write(i2c_address, ®, 1); i2c_init.read(i2c_address, &value, 1); return value; } void I2C_Sensor::writeRegister(char reg, char data) { char buffer[2] = {reg, data}; i2c_init.write(i2c_address, buffer, 2); } void I2C_Sensor::readMultiRegister(char reg, char* output, int size) { i2c.write (i2c_address, ®, 1); // tell register address of the MSB get the sensor to do slave-transmit subaddress updating. i2c.read (i2c_address, output, size); // tell it where to store the data read }