Revision 3:9e595dd5d97e, committed 2019-01-06

Comitter:

pingu_98

Date:

Sun Jan 06 19:13:18 2019 +0000

Parent:

2:8cd0c3c11b48

Commit message:

modified to avoid i2c noncopy violation in mbed5.x

Changed in this revision

--- a/LSM303D.cpp	Mon Feb 08 17:57:22 2016 +0000
+++ b/LSM303D.cpp	Sun Jan 06 19:13:18 2019 +0000
@@ -60,31 +60,12 @@
     CTRL7       = 0x26
 };
 
-bool LSM303D::write_reg(int addr_i2c,int addr_reg, char v)
-{
-    char data[2] = {addr_reg, v}; 
-    return LSM303D::_LSM303.write(addr_i2c, data, 2) == 0;
-}
-
-bool LSM303D::read_reg(int addr_i2c,int addr_reg, char *v)
-{
-    char data = addr_reg; 
-    bool result = false;
-    
-    __disable_irq();
-    if ((_LSM303.write(addr_i2c, &data, 1) == 0) && (_LSM303.read(addr_i2c, &data, 1) == 0)){
-        *v = data;
-        result = true;
-    }
-    __enable_irq();
-    return result;
-}
-
-LSM303D::LSM303D(PinName sda, PinName scl):
-    _LSM303(sda, scl)
+LSM303D::LSM303D(I2C *i2c):
+    i2c_(i2c)
+    //_LSM303(sda, scl)
 {
     char reg_v;
-    _LSM303.frequency(200000);
+    //_LSM303.frequency(200000);
         
     reg_v = 0;
     
@@ -104,20 +85,41 @@
     write_reg(addr_acc_mag,CTRL7,reg_v);
 }
 
+bool LSM303D::write_reg(int addr_i2c,int addr_reg, char v)
+{
+    char data[2] = {addr_reg, v}; 
+    i2c_->write(addr_i2c, data, 2);
+    return 0;
+}
+
+bool LSM303D::read_reg(int addr_i2c,int addr_reg, char *v)
+{
+    char data = addr_reg; 
+    bool result = false;
+    
+    __disable_irq();
+    if ((i2c_->write(addr_i2c, &data, 1) == 0) && (i2c_->write(addr_i2c, &data, 1) == 0)){
+        *v = data;
+        result = true;
+    }
+    __enable_irq();
+    return result;
+}
+
 
 bool LSM303D::read(float *ax, float *ay, float *az, float *mx, float *my, float *mz) {
     char acc[6], mag[6];
  
     if (recv(addr_acc_mag, OUT_X_A, acc, 6) && recv(addr_acc_mag, OUT_X_M, mag, 6)) {
-        *ax = float(short(acc[1] << 8 | acc[0]))*0.061;  //32768/4=8192
-        *ay =  float(short(acc[3] << 8 | acc[2]))*0.061;
-        *az =  float(short(acc[5] << 8 | acc[4]))*0.061;
+        *ax = float(short(acc[1] << 8 | acc[0]))*0.00061f;  //32768/4=8192
+        *ay =  float(short(acc[3] << 8 | acc[2]))*0.00061f;
+        *az =  float(short(acc[5] << 8 | acc[4]))*0.00061f;
         //+-4gauss
-        *mx = float(short(mag[0] << 8 | mag[1]))*0.16;
-        *mz = float(short(mag[2] << 8 | mag[3]))*0.16;
-        *my = float(short(mag[4] << 8 | mag[5]))*0.16;
+        *mx = float(short(mag[0] << 8 | mag[1]))*0.16f;
+        *mz = float(short(mag[2] << 8 | mag[3]))*0.16f;
+        *my = float(short(mag[4] << 8 | mag[5]))*0.16f;
  
-        return true;
+        return 0;
     }
  
     return false;
@@ -127,5 +129,5 @@
 bool LSM303D::recv(char sad, char sub, char *buf, int length) {
     if (length > 1) sub |= 0x80;
  
-    return _LSM303.write(sad, &sub, 1, true) == 0 && _LSM303.read(sad, buf, length) == 0;
+    return i2c_->write(sad, &sub, 1, true) == 0 && i2c_->read(sad, buf, length) == 0;
 }

--- a/LSM303D.h	Mon Feb 08 17:57:22 2016 +0000
+++ b/LSM303D.h	Sun Jan 06 19:13:18 2019 +0000
@@ -12,7 +12,8 @@
          * @param sda is the pin for the I2C SDA line
          * @param scl is the pin for the I2C SCL line
          */
-        LSM303D(PinName sda, PinName scl);
+        LSM303D(I2C *i2c);
+        //Si7020(I2C *i2c);
 
   
         /** read the raw accelerometer and compass values
@@ -24,8 +25,8 @@
 
 
     private:
-        I2C _LSM303;
-
+        //I2C _LSM303;
+        I2C *i2c_;
          
         float ax, ay, az;
         float mx, my, mz;