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.h@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 | // by MaEtUgR |
maetugr | 8:609a2ad4c30e | 2 | |
maetugr | 8:609a2ad4c30e | 3 | #ifndef I2C_Sensor_H |
maetugr | 8:609a2ad4c30e | 4 | #define I2C_Sensor_H |
maetugr | 8:609a2ad4c30e | 5 | |
maetugr | 8:609a2ad4c30e | 6 | #include "mbed.h" |
maetugr | 8:609a2ad4c30e | 7 | |
maetugr | 8:609a2ad4c30e | 8 | class I2C_Sensor |
maetugr | 8:609a2ad4c30e | 9 | { |
maetugr | 8:609a2ad4c30e | 10 | public: |
maetugr | 8:609a2ad4c30e | 11 | I2C_Sensor(PinName sda, PinName scl, char address); |
maetugr | 8:609a2ad4c30e | 12 | |
maetugr | 8:609a2ad4c30e | 13 | float data[3]; // where the measured data is saved |
maetugr | 8:609a2ad4c30e | 14 | //TODO: virtual void calibrate() = 0; // calibrate the sensor and if desired write calibration values to a file |
maetugr | 8:609a2ad4c30e | 15 | |
maetugr | 8:609a2ad4c30e | 16 | //protected: |
maetugr | 8:609a2ad4c30e | 17 | // Calibration |
maetugr | 8:609a2ad4c30e | 18 | void saveCalibrationValues(float values[], int size, char * filename); |
maetugr | 8:609a2ad4c30e | 19 | void loadCalibrationValues(float values[], int size, char * filename); |
maetugr | 8:609a2ad4c30e | 20 | |
maetugr | 8:609a2ad4c30e | 21 | // I2C functions |
maetugr | 8:609a2ad4c30e | 22 | char readRegister(char reg); |
maetugr | 8:609a2ad4c30e | 23 | void writeRegister(char reg, char data); |
maetugr | 8:609a2ad4c30e | 24 | int readMultiRegister(char reg, char* output, int size); |
maetugr | 8:609a2ad4c30e | 25 | |
maetugr | 8:609a2ad4c30e | 26 | // raw data and function to measure it |
maetugr | 8:609a2ad4c30e | 27 | short raw[3]; |
maetugr | 8:609a2ad4c30e | 28 | |
maetugr | 8:609a2ad4c30e | 29 | private: |
maetugr | 8:609a2ad4c30e | 30 | I2C i2c; // original mbed I2C-library just to initialise the control registers |
maetugr | 8:609a2ad4c30e | 31 | char i2c_address; // address |
maetugr | 8:609a2ad4c30e | 32 | |
maetugr | 8:609a2ad4c30e | 33 | LocalFileSystem local; // file access to save calibration values |
maetugr | 8:609a2ad4c30e | 34 | }; |
maetugr | 8:609a2ad4c30e | 35 | |
maetugr | 8:609a2ad4c30e | 36 | #endif |