NOT FINISHED YET!!! My first try to get a self built fully working Quadrocopter based on an mbed, a self built frame and some other more or less cheap parts.
Sensors/I2C_Sensor.cpp@15:753c5d6a63b3, 2012-10-29 (annotated)
- Committer:
- maetugr
- Date:
- Mon Oct 29 16:43:10 2012 +0000
- Revision:
- 15:753c5d6a63b3
- Parent:
- 14:cf260677ecde
- Child:
- 16:74a6531350b5
I2C/Interrupt-Problem gel?st!! erste Versuche an gespannter schnur, falsche PID werte mitten im umschreiben auf I2C_Sensor mutterklasse
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
maetugr | 14:cf260677ecde | 1 | #include "mbed.h" |
maetugr | 14:cf260677ecde | 2 | #include "I2C_Sensor.h" |
maetugr | 14:cf260677ecde | 3 | |
maetugr | 14:cf260677ecde | 4 | // calculate the 8-Bit write/read I2C-Address from the 7-Bit adress of the device |
maetugr | 14:cf260677ecde | 5 | #define GET_I2C_WRITE_ADDRESS(ADR) (ADR << 1&0xFE) // ADR & 1111 1110 |
maetugr | 14:cf260677ecde | 6 | #define GET_I2C_READ_ADDRESS(ADR) (ADR << 1|0x01) // ADR | 0000 0001 |
maetugr | 14:cf260677ecde | 7 | |
maetugr | 14:cf260677ecde | 8 | I2C_Sensor::I2C_Sensor(PinName sda, PinName scl, int8_t i2c_address) : i2c(sda, scl), local("local") |
maetugr | 14:cf260677ecde | 9 | { |
maetugr | 14:cf260677ecde | 10 | I2C_Sensor::i2c_address = i2c_address; |
maetugr | 14:cf260677ecde | 11 | //i2c.frequency(400000); // standard speed |
maetugr | 14:cf260677ecde | 12 | i2c.frequency(1500000); // ultrafast! |
maetugr | 14:cf260677ecde | 13 | } |
maetugr | 14:cf260677ecde | 14 | |
maetugr | 15:753c5d6a63b3 | 15 | void I2C_Sensor::saveCalibrationValues(float values[], int size, char * filename) |
maetugr | 14:cf260677ecde | 16 | { |
maetugr | 14:cf260677ecde | 17 | FILE *fp = fopen(strcat("/local/", filename), "w"); |
maetugr | 14:cf260677ecde | 18 | for(int i = 0; i < size; i++) |
maetugr | 14:cf260677ecde | 19 | fprintf(fp, "%f\r\n", values[i]); |
maetugr | 14:cf260677ecde | 20 | fclose(fp); |
maetugr | 14:cf260677ecde | 21 | } |
maetugr | 14:cf260677ecde | 22 | |
maetugr | 15:753c5d6a63b3 | 23 | void I2C_Sensor::loadCalibrationValues(float values[], int size, char * filename) |
maetugr | 14:cf260677ecde | 24 | { |
maetugr | 14:cf260677ecde | 25 | FILE *fp = fopen(strcat("/local/", filename), "r"); |
maetugr | 14:cf260677ecde | 26 | for(int i = 0; i < size; i++) |
maetugr | 14:cf260677ecde | 27 | fscanf(fp, "%f", &values[i]); |
maetugr | 14:cf260677ecde | 28 | fclose(fp); |
maetugr | 14:cf260677ecde | 29 | } |
maetugr | 14:cf260677ecde | 30 | |
maetugr | 15:753c5d6a63b3 | 31 | char I2C_Sensor::readRegister(char reg) |
maetugr | 15:753c5d6a63b3 | 32 | { |
maetugr | 15:753c5d6a63b3 | 33 | char value = 0; |
maetugr | 15:753c5d6a63b3 | 34 | |
maetugr | 15:753c5d6a63b3 | 35 | i2c.write(L3G4200D_I2C_ADDRESS, ®, 1, true); |
maetugr | 15:753c5d6a63b3 | 36 | i2c.read(L3G4200D_I2C_ADDRESS, &value, 1, true); |
maetugr | 15:753c5d6a63b3 | 37 | |
maetugr | 15:753c5d6a63b3 | 38 | return value; |
maetugr | 14:cf260677ecde | 39 | } |
maetugr | 14:cf260677ecde | 40 | |
maetugr | 15:753c5d6a63b3 | 41 | void I2C_Sensor::writeRegister(char reg, char data) |
maetugr | 15:753c5d6a63b3 | 42 | { |
maetugr | 15:753c5d6a63b3 | 43 | char buffer[2]; // TODO: Arraykonstruktion in eine Zeile |
maetugr | 15:753c5d6a63b3 | 44 | buffer[0] = reg; |
maetugr | 15:753c5d6a63b3 | 45 | buffer[1] = data; |
maetugr | 15:753c5d6a63b3 | 46 | i2c.write(GET_I2C_WRITE_ADDRESS(i2c_address), tx, 2, true); |
maetugr | 15:753c5d6a63b3 | 47 | } |
maetugr | 15:753c5d6a63b3 | 48 | |
maetugr | 15:753c5d6a63b3 | 49 | void I2C_Sensor::readMultiRegister(char reg, char* output, int size) |
maetugr | 15:753c5d6a63b3 | 50 | { // ATTENTION! the I2C option repeated true is important because otherwise interrupts while bus communications cause crashes (see http://www.i2c-bus.org/repeated-start-condition/) |
maetugr | 15:753c5d6a63b3 | 51 | i2c.write (GET_I2C_WRITE_ADDRESS(i2c_address), ®, 1, true); //tell it from which register to read |
maetugr | 15:753c5d6a63b3 | 52 | i2c.read (GET_I2C_READ_ADDRESS(i2c_address), output, size, true); //tell it where to store the data read |
maetugr | 14:cf260677ecde | 53 | } |