team10 team10 / AIviate1

imu rev1

Dependencies:   IMUfilter mbed

Fork of AIviate by UCLA IEEE

sensor.cpp@0:0c627ff4c5ed, 2013-10-30 (annotated)

Committer:
teamgoat
Date:
Wed Oct 30 02:31:43 2013 +0000
Revision:
0:0c627ff4c5ed
Child:
2:452dd766d212
First compiled version (reads sensors, I think)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
teamgoat 0:0c627ff4c5ed 1 #include "sensor.h"
teamgoat 0:0c627ff4c5ed 2
teamgoat 0:0c627ff4c5ed 3 I2C i2c(PTE1, PTE0);
teamgoat 0:0c627ff4c5ed 4
teamgoat 0:0c627ff4c5ed 5 char set_i2c_pointer(char addr, char reg)
teamgoat 0:0c627ff4c5ed 6 {
teamgoat 0:0c627ff4c5ed 7 if (i2c.write(addr) == 0)
teamgoat 0:0c627ff4c5ed 8 {
teamgoat 0:0c627ff4c5ed 9 return 0;
teamgoat 0:0c627ff4c5ed 10 }
teamgoat 0:0c627ff4c5ed 11 if (i2c.write(reg) == 0)
teamgoat 0:0c627ff4c5ed 12 {
teamgoat 0:0c627ff4c5ed 13 return 0;
teamgoat 0:0c627ff4c5ed 14 }
teamgoat 0:0c627ff4c5ed 15 return 1;
teamgoat 0:0c627ff4c5ed 16 }
teamgoat 0:0c627ff4c5ed 17
teamgoat 0:0c627ff4c5ed 18 int read(char addr, char reg, char *buf, int n)
teamgoat 0:0c627ff4c5ed 19 {
teamgoat 0:0c627ff4c5ed 20 i2c.start();
teamgoat 0:0c627ff4c5ed 21 if (set_i2c_pointer(addr, reg) == 0)
teamgoat 0:0c627ff4c5ed 22 return 0;
teamgoat 0:0c627ff4c5ed 23 if (i2c.read(addr|1, buf, n, true) != 0)
teamgoat 0:0c627ff4c5ed 24 return 0;
teamgoat 0:0c627ff4c5ed 25 i2c.stop();
teamgoat 0:0c627ff4c5ed 26 return n;
teamgoat 0:0c627ff4c5ed 27 }
teamgoat 0:0c627ff4c5ed 28
teamgoat 0:0c627ff4c5ed 29 int write(char addr, char reg, char *buf, int n)
teamgoat 0:0c627ff4c5ed 30 {
teamgoat 0:0c627ff4c5ed 31 i2c.start();
teamgoat 0:0c627ff4c5ed 32 if (set_i2c_pointer(addr, reg) == 0)
teamgoat 0:0c627ff4c5ed 33 return 0;
teamgoat 0:0c627ff4c5ed 34 for (int i=0; i<n; i++)
teamgoat 0:0c627ff4c5ed 35 {
teamgoat 0:0c627ff4c5ed 36 if (i2c.write(buf[i]) == 0)
teamgoat 0:0c627ff4c5ed 37 {
teamgoat 0:0c627ff4c5ed 38 i2c.stop();
teamgoat 0:0c627ff4c5ed 39 return i;
teamgoat 0:0c627ff4c5ed 40 }
teamgoat 0:0c627ff4c5ed 41 }
teamgoat 0:0c627ff4c5ed 42 i2c.stop();
teamgoat 0:0c627ff4c5ed 43 return n;
teamgoat 0:0c627ff4c5ed 44
teamgoat 0:0c627ff4c5ed 45 }
teamgoat 0:0c627ff4c5ed 46
teamgoat 0:0c627ff4c5ed 47 int read_accelerometer(struct accel* s)
teamgoat 0:0c627ff4c5ed 48 {
teamgoat 0:0c627ff4c5ed 49 int ret = read(accel_w, ACCEL_X, s->raw_data, 6);
teamgoat 0:0c627ff4c5ed 50 if (ret == 0)
teamgoat 0:0c627ff4c5ed 51 {
teamgoat 0:0c627ff4c5ed 52 return 0;
teamgoat 0:0c627ff4c5ed 53 }
teamgoat 0:0c627ff4c5ed 54 int axlsb = (int) s->raw_data[0];
teamgoat 0:0c627ff4c5ed 55 int axmsb = (int) s->raw_data[1];
teamgoat 0:0c627ff4c5ed 56 int aylsb = (int) s->raw_data[2];
teamgoat 0:0c627ff4c5ed 57 int aymsb = (int) s->raw_data[3];
teamgoat 0:0c627ff4c5ed 58 int azlsb = (int) s->raw_data[4];
teamgoat 0:0c627ff4c5ed 59 int azmsb = (int) s->raw_data[5];
teamgoat 0:0c627ff4c5ed 60
teamgoat 0:0c627ff4c5ed 61 s->ax = (axmsb << 8) + axlsb;
teamgoat 0:0c627ff4c5ed 62 s->ay = (aymsb << 8) + aylsb;
teamgoat 0:0c627ff4c5ed 63 s->az = (azmsb << 8) + azlsb;
teamgoat 0:0c627ff4c5ed 64 return 1;
teamgoat 0:0c627ff4c5ed 65 }
teamgoat 0:0c627ff4c5ed 66
teamgoat 0:0c627ff4c5ed 67 void read_gyro(struct gyro* s){}
teamgoat 0:0c627ff4c5ed 68 int read_compass(void){return 0;}
teamgoat 0:0c627ff4c5ed 69 int read_barometer(void){return 0;}
teamgoat 0:0c627ff4c5ed 70
teamgoat 0:0c627ff4c5ed 71 void config_accelerometer(void){}
teamgoat 0:0c627ff4c5ed 72 void config_gyro(void){}
teamgoat 0:0c627ff4c5ed 73 void config_compass(void){}
teamgoat 0:0c627ff4c5ed 74 void config_barometer(void){}
teamgoat 0:0c627ff4c5ed 75
teamgoat 0:0c627ff4c5ed 76 void config_gy80(struct config *c)
teamgoat 0:0c627ff4c5ed 77 {
teamgoat 0:0c627ff4c5ed 78 i2c.frequency(c->frequency);
teamgoat 0:0c627ff4c5ed 79 config_accelerometer();
teamgoat 0:0c627ff4c5ed 80 config_gyro();
teamgoat 0:0c627ff4c5ed 81 config_compass();
teamgoat 0:0c627ff4c5ed 82 }