Successful acro and level mode now! Relying on MPU9250 as base sensor. I'm working continuously on tuning and features :) NEWEST VERSION ON: https://github.com/MaEtUgR/FlyBed (CODE 100% compatible/copyable)
IMU/MPU6050/I2C_Sensor.cpp@8:609a2ad4c30e, 2015-11-19 (annotated)
- Committer:
- maetugr
- Date:
- Thu Nov 19 18:47:27 2015 +0000
- Revision:
- 8:609a2ad4c30e
made I2C-Sensors working in parallel, added rolling buffer for PID derivative, played with the PID and frequency parameters in main
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 8:609a2ad4c30e | 1 | #include "I2C_Sensor.h" |
maetugr | 8:609a2ad4c30e | 2 | |
maetugr | 8:609a2ad4c30e | 3 | // calculate the 8-Bit write/read I2C-Address from the 7-Bit adress of the device |
maetugr | 8:609a2ad4c30e | 4 | #define GET_I2C_WRITE_ADDRESS(ADR) (ADR << 1&0xFE) // ADR & 1111 1110 |
maetugr | 8:609a2ad4c30e | 5 | #define GET_I2C_READ_ADDRESS(ADR) (ADR << 1|0x01) // ADR | 0000 0001 |
maetugr | 8:609a2ad4c30e | 6 | |
maetugr | 8:609a2ad4c30e | 7 | I2C_Sensor::I2C_Sensor(PinName sda, PinName scl, char i2c_address) : i2c(sda, scl), local("local") |
maetugr | 8:609a2ad4c30e | 8 | { |
maetugr | 8:609a2ad4c30e | 9 | I2C_Sensor::i2c_address = i2c_address; |
maetugr | 8:609a2ad4c30e | 10 | i2c.frequency(400000); // standard speed |
maetugr | 8:609a2ad4c30e | 11 | //i2c.frequency(1000000); // ultrafast! |
maetugr | 8:609a2ad4c30e | 12 | } |
maetugr | 8:609a2ad4c30e | 13 | |
maetugr | 8:609a2ad4c30e | 14 | void I2C_Sensor::saveCalibrationValues(float values[], int size, char * filename) |
maetugr | 8:609a2ad4c30e | 15 | { |
maetugr | 8:609a2ad4c30e | 16 | FILE *fp = fopen(strcat("/local/", filename), "w"); |
maetugr | 8:609a2ad4c30e | 17 | for(int i = 0; i < size; i++) |
maetugr | 8:609a2ad4c30e | 18 | fprintf(fp, "%f\r\n", values[i]); |
maetugr | 8:609a2ad4c30e | 19 | fclose(fp); |
maetugr | 8:609a2ad4c30e | 20 | } |
maetugr | 8:609a2ad4c30e | 21 | |
maetugr | 8:609a2ad4c30e | 22 | void I2C_Sensor::loadCalibrationValues(float values[], int size, char * filename) |
maetugr | 8:609a2ad4c30e | 23 | { |
maetugr | 8:609a2ad4c30e | 24 | FILE *fp = fopen(strcat("/local/", filename), "r"); |
maetugr | 8:609a2ad4c30e | 25 | for(int i = 0; i < size; i++) |
maetugr | 8:609a2ad4c30e | 26 | fscanf(fp, "%f", &values[i]); |
maetugr | 8:609a2ad4c30e | 27 | fclose(fp); |
maetugr | 8:609a2ad4c30e | 28 | } |
maetugr | 8:609a2ad4c30e | 29 | |
maetugr | 8:609a2ad4c30e | 30 | // I2C functions -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
maetugr | 8:609a2ad4c30e | 31 | |
maetugr | 8:609a2ad4c30e | 32 | |
maetugr | 8:609a2ad4c30e | 33 | char I2C_Sensor::readRegister(char reg) |
maetugr | 8:609a2ad4c30e | 34 | { |
maetugr | 8:609a2ad4c30e | 35 | char value = 0; |
maetugr | 8:609a2ad4c30e | 36 | |
maetugr | 8:609a2ad4c30e | 37 | i2c.write(i2c_address, ®, 1); |
maetugr | 8:609a2ad4c30e | 38 | i2c.read(i2c_address, &value, 1); |
maetugr | 8:609a2ad4c30e | 39 | |
maetugr | 8:609a2ad4c30e | 40 | return value; |
maetugr | 8:609a2ad4c30e | 41 | } |
maetugr | 8:609a2ad4c30e | 42 | |
maetugr | 8:609a2ad4c30e | 43 | void I2C_Sensor::writeRegister(char reg, char data) |
maetugr | 8:609a2ad4c30e | 44 | { |
maetugr | 8:609a2ad4c30e | 45 | char buffer[2] = {reg, data}; |
maetugr | 8:609a2ad4c30e | 46 | i2c.write(i2c_address, buffer, 2); |
maetugr | 8:609a2ad4c30e | 47 | } |
maetugr | 8:609a2ad4c30e | 48 | |
maetugr | 8:609a2ad4c30e | 49 | int I2C_Sensor::readMultiRegister(char reg, char* output, int size) |
maetugr | 8:609a2ad4c30e | 50 | { |
maetugr | 8:609a2ad4c30e | 51 | if (0 != i2c.write (i2c_address, ®, 1)) return 1; // tell register address of the MSB get the sensor to do slave-transmit subaddress updating. |
maetugr | 8:609a2ad4c30e | 52 | if (0 != i2c.read (i2c_address, output, size)) return 1; // tell it where to store the data read |
maetugr | 8:609a2ad4c30e | 53 | return 0; |
maetugr | 8:609a2ad4c30e | 54 | } |