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
- Committer:
- maetugr
- Date:
- 2015-11-19
- Revision:
- 8:609a2ad4c30e
File content as of revision 8:609a2ad4c30e:
#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(sda, scl), local("local") { I2C_Sensor::i2c_address = i2c_address; i2c.frequency(400000); // standard speed //i2c.frequency(1000000); // 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); } // I2C functions -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- char I2C_Sensor::readRegister(char reg) { char value = 0; i2c.write(i2c_address, ®, 1); i2c.read(i2c_address, &value, 1); return value; } void I2C_Sensor::writeRegister(char reg, char data) { char buffer[2] = {reg, data}; i2c.write(i2c_address, buffer, 2); } int I2C_Sensor::readMultiRegister(char reg, char* output, int size) { if (0 != i2c.write (i2c_address, ®, 1)) return 1; // tell register address of the MSB get the sensor to do slave-transmit subaddress updating. if (0 != i2c.read (i2c_address, output, size)) return 1; // tell it where to store the data read return 0; }