Revision 36:128c55793728, committed 2013-06-12
- Comitter:
- maetugr
- Date:
- Wed Jun 12 10:26:18 2013 +0000
- Parent:
- 35:2a9465fedb99
- Child:
- 37:34917f7c10ae
- Commit message:
- after inserting MODI2C to get an undisturbed I2C-communication
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MODI2C.lib Wed Jun 12 10:26:18 2013 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/Sissors/code/MODI2C/#ff579e7e8efa
--- a/Sensors/I2C_Sensor.cpp Mon Jun 10 20:47:01 2013 +0000
+++ b/Sensors/I2C_Sensor.cpp Wed Jun 12 10:26:18 2013 +0000
@@ -4,9 +4,10 @@
#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_Sensor(PinName sda, PinName scl, char i2c_address) : i2c_init(sda, scl), i2c(sda, scl), local("local")
{
I2C_Sensor::i2c_address = i2c_address;
+ i2c_init.frequency(400000); // standard speed
i2c.frequency(400000); // standard speed
//i2c.frequency(1500000); // ultrafast!
}
@@ -27,16 +28,17 @@
fclose(fp);
}
-//--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-// 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/)
-//--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+//--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+// 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)
+// IT DIDN'T WORK STABLE IN OTHER COMBINATIONS (if someone has an idea why please let me know)
+//--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
char I2C_Sensor::readRegister(char reg)
{
char value = 0;
- i2c.write(i2c_address, ®, 1, true);
- i2c.read(i2c_address, &value, 1, true);
+ i2c_init.write(i2c_address, ®, 1);
+ i2c_init.read(i2c_address, &value, 1);
return value;
}
@@ -44,11 +46,11 @@
void I2C_Sensor::writeRegister(char reg, char data)
{
char buffer[2] = {reg, data};
- i2c.write(i2c_address, buffer, 2, true);
+ i2c_init.write(i2c_address, buffer, 2);
}
void I2C_Sensor::readMultiRegister(char reg, char* output, int size)
{
- i2c.write (i2c_address, ®, 1, true); // tell register address of the MSB get the sensor to do slave-transmit subaddress updating.
- i2c.read (i2c_address, output, size, true); // tell it where to store the data read
+ i2c.write (i2c_address, ®, 1); // tell register address of the MSB get the sensor to do slave-transmit subaddress updating.
+ i2c.read (i2c_address, output, size); // tell it where to store the data read
}
\ No newline at end of file
--- a/Sensors/I2C_Sensor.h Mon Jun 10 20:47:01 2013 +0000
+++ b/Sensors/I2C_Sensor.h Wed Jun 12 10:26:18 2013 +0000
@@ -4,6 +4,7 @@
#define I2C_Sensor_H
#include "mbed.h"
+#include "MODI2C.h"
class I2C_Sensor
{
@@ -29,7 +30,8 @@
virtual void readraw() = 0;
private:
- I2C i2c; // I2C-Bus
+ I2C i2c_init; // original mbed I2C-library just to initialise the control registers
+ MODI2C i2c; // I2C-Bus
char i2c_address; // address
LocalFileSystem local; // file access to save calibration values
--- a/main.cpp Mon Jun 10 20:47:01 2013 +0000
+++ b/main.cpp Wed Jun 12 10:26:18 2013 +0000
@@ -14,7 +14,7 @@
#define RATE 0.002 // speed of the interrupt for Sensors and PID
#define PPM_FREQU 495 // Hz Frequency of PPM Signal for ESCs (maximum <500Hz)
#define RC_SENSITIVITY 30 // maximal angle from horizontal that the PID is aming for
-#define YAWSPEED 2 // maximal speed of yaw rotation in degree per Rate
+#define YAWSPEED 0.2 // maximal speed of yaw rotation in degree per Rate
// RC
#define AILERON 0
--- a/mbed.bld Mon Jun 10 20:47:01 2013 +0000
+++ b/mbed.bld Wed Jun 12 10:26:18 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/cd19af002ccc
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/b3110cd2dd17
\ No newline at end of file
Matthias Grob
