An fully working IMU-Filter and Sensor drivers for the 10DOF-Board over I2C. All in one simple class. Include, calibrate sensors, call read, get angles. (3D Visualisation code for Python also included) Sensors: L3G4200D, ADXL345, HMC5883, BMP085
IMU/Sensors/I2C_Sensor.cpp@0:3e7450f1a938, 2013-08-27 (annotated)
- Committer:
- maetugr
- Date:
- Tue Aug 27 17:37:06 2013 +0000
- Revision:
- 0:3e7450f1a938
- Child:
- 4:f62337b907e5
before 10DOF class (only files already created)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 0:3e7450f1a938 | 1 | #include "I2C_Sensor.h" |
maetugr | 0:3e7450f1a938 | 2 | |
maetugr | 0:3e7450f1a938 | 3 | // calculate the 8-Bit write/read I2C-Address from the 7-Bit adress of the device |
maetugr | 0:3e7450f1a938 | 4 | #define GET_I2C_WRITE_ADDRESS(ADR) (ADR << 1&0xFE) // ADR & 1111 1110 |
maetugr | 0:3e7450f1a938 | 5 | #define GET_I2C_READ_ADDRESS(ADR) (ADR << 1|0x01) // ADR | 0000 0001 |
maetugr | 0:3e7450f1a938 | 6 | |
maetugr | 0:3e7450f1a938 | 7 | I2C_Sensor::I2C_Sensor(PinName sda, PinName scl, char i2c_address) : i2c(sda, scl), local("local") |
maetugr | 0:3e7450f1a938 | 8 | { |
maetugr | 0:3e7450f1a938 | 9 | I2C_Sensor::i2c_address = i2c_address; |
maetugr | 0:3e7450f1a938 | 10 | //i2c.frequency(400000); // standard speed |
maetugr | 0:3e7450f1a938 | 11 | i2c.frequency(1000000); // ultrafast! |
maetugr | 0:3e7450f1a938 | 12 | } |
maetugr | 0:3e7450f1a938 | 13 | |
maetugr | 0:3e7450f1a938 | 14 | void I2C_Sensor::saveCalibrationValues(float values[], int size, char * filename) |
maetugr | 0:3e7450f1a938 | 15 | { |
maetugr | 0:3e7450f1a938 | 16 | FILE *fp = fopen(strcat("/local/", filename), "w"); |
maetugr | 0:3e7450f1a938 | 17 | for(int i = 0; i < size; i++) |
maetugr | 0:3e7450f1a938 | 18 | fprintf(fp, "%f\r\n", values[i]); |
maetugr | 0:3e7450f1a938 | 19 | fclose(fp); |
maetugr | 0:3e7450f1a938 | 20 | } |
maetugr | 0:3e7450f1a938 | 21 | |
maetugr | 0:3e7450f1a938 | 22 | void I2C_Sensor::loadCalibrationValues(float values[], int size, char * filename) |
maetugr | 0:3e7450f1a938 | 23 | { |
maetugr | 0:3e7450f1a938 | 24 | FILE *fp = fopen(strcat("/local/", filename), "r"); |
maetugr | 0:3e7450f1a938 | 25 | for(int i = 0; i < size; i++) |
maetugr | 0:3e7450f1a938 | 26 | fscanf(fp, "%f", &values[i]); |
maetugr | 0:3e7450f1a938 | 27 | fclose(fp); |
maetugr | 0:3e7450f1a938 | 28 | } |
maetugr | 0:3e7450f1a938 | 29 | |
maetugr | 0:3e7450f1a938 | 30 | //-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
maetugr | 0:3e7450f1a938 | 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 | 0:3e7450f1a938 | 32 | // IT DIDN'T WORK STABLE IN OTHER COMBINATIONS (if someone has an idea why please let me know) |
maetugr | 0:3e7450f1a938 | 33 | //-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
maetugr | 0:3e7450f1a938 | 34 | |
maetugr | 0:3e7450f1a938 | 35 | char I2C_Sensor::readRegister(char reg) |
maetugr | 0:3e7450f1a938 | 36 | { |
maetugr | 0:3e7450f1a938 | 37 | char value = 0; |
maetugr | 0:3e7450f1a938 | 38 | |
maetugr | 0:3e7450f1a938 | 39 | i2c.write(i2c_address, ®, 1); |
maetugr | 0:3e7450f1a938 | 40 | i2c.read(i2c_address, &value, 1); |
maetugr | 0:3e7450f1a938 | 41 | |
maetugr | 0:3e7450f1a938 | 42 | return value; |
maetugr | 0:3e7450f1a938 | 43 | } |
maetugr | 0:3e7450f1a938 | 44 | |
maetugr | 0:3e7450f1a938 | 45 | void I2C_Sensor::writeRegister(char reg, char data) |
maetugr | 0:3e7450f1a938 | 46 | { |
maetugr | 0:3e7450f1a938 | 47 | char buffer[2] = {reg, data}; |
maetugr | 0:3e7450f1a938 | 48 | i2c.write(i2c_address, buffer, 2); |
maetugr | 0:3e7450f1a938 | 49 | } |
maetugr | 0:3e7450f1a938 | 50 | |
maetugr | 0:3e7450f1a938 | 51 | void I2C_Sensor::readMultiRegister(char reg, char* output, int size) |
maetugr | 0:3e7450f1a938 | 52 | { |
maetugr | 0:3e7450f1a938 | 53 | i2c.write (i2c_address, ®, 1); // tell register address of the MSB get the sensor to do slave-transmit subaddress updating. |
maetugr | 0:3e7450f1a938 | 54 | i2c.read (i2c_address, output, size); // tell it where to store the data read |
maetugr | 0:3e7450f1a938 | 55 | } |