Matthias Grob / Mbed 2 deprecated FlyBed2

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Dependents:   fluy343

IMU/Sensors/I2C_Sensor.cpp@0:12950aa67f2a, 2013-09-02 (annotated)

Committer:
maetugr
Date:
Mon Sep 02 15:04:22 2013 +0000
Revision:
0:12950aa67f2a
Child:
1:5e2b81f2d0b4
first commit of new version (only one axis for test until now); note: no more Ticker! (made problems because of interrupts)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
maetugr 0:12950aa67f2a 1 #include "I2C_Sensor.h"
maetugr 0:12950aa67f2a 2
maetugr 0:12950aa67f2a 3 // calculate the 8-Bit write/read I2C-Address from the 7-Bit adress of the device
maetugr 0:12950aa67f2a 4 #define GET_I2C_WRITE_ADDRESS(ADR) (ADR << 1&0xFE) // ADR & 1111 1110
maetugr 0:12950aa67f2a 5 #define GET_I2C_READ_ADDRESS(ADR) (ADR << 1|0x01) // ADR | 0000 0001
maetugr 0:12950aa67f2a 6
maetugr 0:12950aa67f2a 7 I2C_Sensor::I2C_Sensor(PinName sda, PinName scl, char i2c_address) : i2c(sda, scl), local("local")
maetugr 0:12950aa67f2a 8 {
maetugr 0:12950aa67f2a 9 I2C_Sensor::i2c_address = i2c_address;
maetugr 0:12950aa67f2a 10 //i2c.frequency(400000); // standard speed
maetugr 0:12950aa67f2a 11 i2c.frequency(1000000); // ultrafast!
maetugr 0:12950aa67f2a 12 }
maetugr 0:12950aa67f2a 13
maetugr 0:12950aa67f2a 14 void I2C_Sensor::saveCalibrationValues(float values[], int size, char * filename)
maetugr 0:12950aa67f2a 15 {
maetugr 0:12950aa67f2a 16 FILE *fp = fopen(strcat("/local/", filename), "w");
maetugr 0:12950aa67f2a 17 for(int i = 0; i < size; i++)
maetugr 0:12950aa67f2a 18 fprintf(fp, "%f\r\n", values[i]);
maetugr 0:12950aa67f2a 19 fclose(fp);
maetugr 0:12950aa67f2a 20 }
maetugr 0:12950aa67f2a 21
maetugr 0:12950aa67f2a 22 void I2C_Sensor::loadCalibrationValues(float values[], int size, char * filename)
maetugr 0:12950aa67f2a 23 {
maetugr 0:12950aa67f2a 24 FILE *fp = fopen(strcat("/local/", filename), "r");
maetugr 0:12950aa67f2a 25 for(int i = 0; i < size; i++)
maetugr 0:12950aa67f2a 26 fscanf(fp, "%f", &values[i]);
maetugr 0:12950aa67f2a 27 fclose(fp);
maetugr 0:12950aa67f2a 28 }
maetugr 0:12950aa67f2a 29
maetugr 0:12950aa67f2a 30 // TODO TODO TODO--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
maetugr 0:12950aa67f2a 31 // 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 0:12950aa67f2a 32 // IT DIDN'T WORK STABLE IN OTHER COMBINATIONS (if someone has an idea why please let me know)
maetugr 0:12950aa67f2a 33 //--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
maetugr 0:12950aa67f2a 34
maetugr 0:12950aa67f2a 35 char I2C_Sensor::readRegister(char reg)
maetugr 0:12950aa67f2a 36 {
maetugr 0:12950aa67f2a 37 char value = 0;
maetugr 0:12950aa67f2a 38
maetugr 0:12950aa67f2a 39 i2c.write(i2c_address, &reg, 1);
maetugr 0:12950aa67f2a 40 i2c.read(i2c_address, &value, 1);
maetugr 0:12950aa67f2a 41
maetugr 0:12950aa67f2a 42 return value;
maetugr 0:12950aa67f2a 43 }
maetugr 0:12950aa67f2a 44
maetugr 0:12950aa67f2a 45 void I2C_Sensor::writeRegister(char reg, char data)
maetugr 0:12950aa67f2a 46 {
maetugr 0:12950aa67f2a 47 char buffer[2] = {reg, data};
maetugr 0:12950aa67f2a 48 i2c.write(i2c_address, buffer, 2);
maetugr 0:12950aa67f2a 49 }
maetugr 0:12950aa67f2a 50
maetugr 0:12950aa67f2a 51 void I2C_Sensor::readMultiRegister(char reg, char* output, int size)
maetugr 0:12950aa67f2a 52 {
maetugr 0:12950aa67f2a 53 i2c.write (i2c_address, &reg, 1); // tell register address of the MSB get the sensor to do slave-transmit subaddress updating.
maetugr 0:12950aa67f2a 54 i2c.read (i2c_address, output, size); // tell it where to store the data read
maetugr 0:12950aa67f2a 55 }