Matthias Grob / Mbed 2 deprecated FlyBed1

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.

Dependencies:   mbed MODI2C

Files at this revision

API Documentation at this revision

Revision 19:40c252b4a792, committed 2012-11-03

Comitter:
maetugr
Date:
Sat Nov 03 10:48:18 2012 +0000
Parent:
18:c8c09a3913ba
Child:
20:e116e596e540
Commit message:
trotz i2c adress?nderung funktionieren sensoren nicht!

Changed in this revision

InterruptControl/IntCtrl.cpp Show diff for this revision Revisions of this file
InterruptControl/IntCtrl.h Show diff for this revision Revisions of this file
InterruptControl/IntCtrl.lib Show diff for this revision Revisions of this file
Sensors/Acc/ADXL345.cpp Show annotated file Show diff for this revision Revisions of this file
Sensors/Acc/ADXL345.h Show annotated file Show diff for this revision Revisions of this file
Sensors/Comp/HMC5883.cpp Show annotated file Show diff for this revision Revisions of this file
Sensors/Comp/HMC5883.h Show annotated file Show diff for this revision Revisions of this file
Sensors/I2C_Sensor.cpp Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/InterruptControl/IntCtrl.cpp	Sat Nov 03 07:44:07 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,110 +0,0 @@
-// Funktionen zur Interruptkontrolle bei IO-Ports
-//---------------------------------------------------------------------------------------------------------------------------------------
-#include "mbed.h"                       //muss immer geladen werden
-#include "IntCtrl.h"
-
-
-
-// Enable GPIO Interrupt (nur fuer  P0.0..P0.30 und P2.0..P2.13)
-// PortNumber = 0 oder 2, BitPosition = 0..31, RiseFall: 0 = rise, 1 = fall, 2 = rise and fall
-//-------------------------------------------------------------------------------
-void GPIO_IntEnable(char PortNumber, char BitPosition, char RiseFall)
-    {
-    switch ( PortNumber )
-        case 0:
-            {
-            switch ( RiseFall )
-                {
-                case 0:
-                    LPC_GPIOINT->IO0IntEnR |= (0x1<<BitPosition);
-                break;
-                
-                case 1:
-                    LPC_GPIOINT->IO0IntEnF |= (0x1<<BitPosition);
-                break;
-                
-                case 2:
-                    LPC_GPIOINT->IO0IntEnR |= (0x1<<BitPosition);
-                    LPC_GPIOINT->IO0IntEnF |= (0x1<<BitPosition);
-                break;
- 
-                default:
-                break;
-               }
-            
-        case 2:
-            {
-            switch ( RiseFall )
-                {
-                case 0:
-                    LPC_GPIOINT->IO2IntEnR |= (0x1<<BitPosition);
-                break;
-                
-                case 1:
-                    LPC_GPIOINT->IO2IntEnF |= (0x1<<BitPosition);
-                break;
-                
-                case 2:
-                    LPC_GPIOINT->IO2IntEnR |= (0x1<<BitPosition);
-                    LPC_GPIOINT->IO2IntEnF |= (0x1<<BitPosition);
-                break;
-
-                default:
-                break;
-                }
-            }
-        }
-    }
-            
-
-// Disable GPIO Interrupt (nur fuer  P0.0..P0.30 und P2.0..P2.13)
-// PortNumber = 0 oder 2, BitPosition = 0..31, RiseFall: 0 = rise, 1 = fall, 2 = rise and fall
-//-------------------------------------------------------------------------------
-void GPIO_IntDisable(char PortNumber, char BitPosition, char RiseFall)
-    {
-    switch ( PortNumber )
-        case 0:
-            {
-            switch ( RiseFall )
-                {
-                case 0:
-                    LPC_GPIOINT->IO0IntEnR &= ~(0x1<<BitPosition);
-                break;
-                
-                case 1:
-                    LPC_GPIOINT->IO0IntEnF &= ~(0x1<<BitPosition);
-                break;
-                
-                case 2:
-                    LPC_GPIOINT->IO0IntEnR &= ~(0x1<<BitPosition);
-                    LPC_GPIOINT->IO0IntEnF &= ~(0x1<<BitPosition);
-                break;
- 
-                default:
-                break;
-               }
-            
-        case 2:
-            {
-            switch ( RiseFall )
-                {
-                case 0:
-                    LPC_GPIOINT->IO2IntEnR &= ~(0x1<<BitPosition);
-                break;
-                
-                case 1:
-                    LPC_GPIOINT->IO2IntEnF &= ~(0x1<<BitPosition);
-                break;
-                
-                case 2:
-                    LPC_GPIOINT->IO2IntEnR &= ~(0x1<<BitPosition);
-                    LPC_GPIOINT->IO2IntEnF &= ~(0x1<<BitPosition);
-                break;
-
-                default:
-                break;
-                }
-            }
-        }
-    }
-            
\ No newline at end of file

--- a/InterruptControl/IntCtrl.h	Sat Nov 03 07:44:07 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,36 +0,0 @@
-#ifndef __INTCTRL_H
-#define __INTCTRL_H
-
-extern void GPIO_IntEnable(char PortNumber, char BitPosition, char RiseFall);
-extern void GPIO_IntDisable(char PortNumber, char BitPosition, char RiseFall);
-
-
-/* mbed DIP Pin     LPC1768 Pin
-        p5      =   P0_9
-        p6      =   P0_8
-        p7      =   P0_7
-        p8      =   P0_6
-        p9      =   P0_0
-        p10     =   P0_1
-        p11     =   P0_18
-        p12     =   P0_17
-        p13     =   P0_15
-        p14     =   P0_16
-        p15     =   P0_23
-        p16     =   P0_24
-        p17     =   P0_25
-        p18     =   P0_26
-        p21     =   P2_5
-        p22     =   P2_4
-        p23     =   P2_3
-        p24     =   P2_2
-        p25     =   P2_1
-        p26     =   P2_0
-        p27     =   P0_11
-        p28     =   P0_10
-        p29     =   P0_5
-        p30     =   P0_4
-*/
-
-
-#endif
\ No newline at end of file

--- a/InterruptControl/IntCtrl.lib	Sat Nov 03 07:44:07 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-IntCtrl#000000000000

--- a/Sensors/Acc/ADXL345.cpp	Sat Nov 03 07:44:07 2012 +0000
+++ b/Sensors/Acc/ADXL345.cpp	Sat Nov 03 10:48:18 2012 +0000
@@ -25,9 +25,9 @@
     
     readMultiRegister(ADXL345_DATAX0_REG, buffer, 6);   // read axis registers using I2C
     
-    data[0] = (short) (buffer[1] << 8 | buffer[0]);     // join 8-Bit pieces to 16-bit short integers
-    data[1] = (short) (buffer[3] << 8 | buffer[2]);
-    data[2] = (short) (buffer[5] << 8 | buffer[4]);
+    data[0] = (float)(short) (buffer[1] << 8 | buffer[0]);     // join 8-Bit pieces to 16-bit short integers
+    data[1] = (float)(short) (buffer[3] << 8 | buffer[2]);
+    data[2] = (float)(short) (buffer[5] << 8 | buffer[4]);
     
     // calculate the angles for roll and pitch (0,1)
     float R = sqrt(pow((float)data[0],2) + pow((float)data[1],2) + pow((float)data[2],2));  // calculate the absolute of the magnetic field vector

--- a/Sensors/Acc/ADXL345.h	Sat Nov 03 07:44:07 2012 +0000
+++ b/Sensors/Acc/ADXL345.h	Sat Nov 03 10:48:18 2012 +0000
@@ -6,7 +6,7 @@
 #include "mbed.h"
 #include "I2C_Sensor.h"
 
-#define ADXL345_I2C_ADDRESS        0
+#define ADXL345_I2C_ADDRESS         0xA6
 // read or write bytes
 //#define ADXL345_READ    0xA7  
 //#define ADXL345_WRITE   0xA6 

--- a/Sensors/Comp/HMC5883.cpp	Sat Nov 03 07:44:07 2012 +0000
+++ b/Sensors/Comp/HMC5883.cpp	Sat Nov 03 10:48:18 2012 +0000
@@ -3,8 +3,8 @@
 HMC5883::HMC5883(PinName sda, PinName scl) : I2C_Sensor(sda, scl, HMC5883_I2C_ADDRESS)
 {   
     // load calibration values
-    loadCalibrationValues(scale, 3, "COMPASS_SCALE.txt");
-    loadCalibrationValues(offset, 3, "COMPASS_OFFSET.txt");
+    //loadCalibrationValues(scale, 3, "COMPASS_SCALE.txt");
+    //loadCalibrationValues(offset, 3, "COMPASS_OFFSET.txt");
     
     // initialize HMC5883
     writeRegister(HMC5883_CONF_REG_A, 0x78);                // 8 samples, 75Hz output, normal mode

--- a/Sensors/Comp/HMC5883.h	Sat Nov 03 07:44:07 2012 +0000
+++ b/Sensors/Comp/HMC5883.h	Sat Nov 03 10:48:18 2012 +0000
@@ -6,7 +6,7 @@
 #include "mbed.h"
 #include "I2C_Sensor.h"
 
-#define HMC5883_I2C_ADDRESS 0x1E
+#define HMC5883_I2C_ADDRESS     0x3C
 
 #define HMC5883_CONF_REG_A      0x00
 #define HMC5883_CONF_REG_B      0x01

--- a/Sensors/I2C_Sensor.cpp	Sat Nov 03 07:44:07 2012 +0000
+++ b/Sensors/I2C_Sensor.cpp	Sat Nov 03 10:48:18 2012 +0000
@@ -35,8 +35,8 @@
 {
     char value = 0;
     
-    i2c.write(GET_I2C_WRITE_ADDRESS(i2c_address), &reg, 1, true);
-    i2c.read(GET_I2C_READ_ADDRESS(i2c_address), &value, 1, true);
+    i2c.write(i2c_address, &reg, 1, true);
+    i2c.read(i2c_address, &value, 1, true);
 
     return value;
 }
@@ -44,11 +44,11 @@
 void I2C_Sensor::writeRegister(char reg, char data)
 { 
     char buffer[2] = {reg, data};
-    i2c.write(GET_I2C_WRITE_ADDRESS(i2c_address), buffer, 2, true);
+    i2c.write(i2c_address, buffer, 2, true);
 }
 
 void I2C_Sensor::readMultiRegister(char reg, char* output, int size)
 {
-    i2c.write (GET_I2C_WRITE_ADDRESS(i2c_address), &reg, 1, true); // tell register address of the MSB get the sensor to do slave-transmit subaddress updating.
-    i2c.read  (GET_I2C_READ_ADDRESS(i2c_address), output, size, true); // tell it where to store the data read
+    i2c.write (i2c_address, &reg, 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
 }
\ No newline at end of file

--- a/main.cpp	Sat Nov 03 07:44:07 2012 +0000
+++ b/main.cpp	Sat Nov 03 10:48:18 2012 +0000
@@ -8,7 +8,6 @@
 #include "RC_Channel.h" // RemoteControl Chnnels with PPM
 #include "Servo_PWM.h"  // Motor PPM using PwmOut
 #include "PID.h"        // PID Library by Aaron Berk
-#include "IntCtrl.h"    // Interrupt Control by Roland Elmiger
 
 #define PI              3.1415926535897932384626433832795   // ratio of a circle's circumference to its diameter
 #define RAD2DEG         57.295779513082320876798154814105   // ratio between radians and degree (360/2Pi)
@@ -25,7 +24,7 @@
 
 // initialisation of hardware (see includes for more info)
 LED         LEDs;
-PC          pc(USBTX, USBRX, 57600); // TODO: Testen ?!!! 115.200
+PC          pc(USBTX, USBRX, 115200);
 L3G4200D    Gyro(p28, p27);
 ADXL345     Acc(p28, p27);
 HMC5883     Comp(p28, p27);
@@ -132,6 +131,12 @@
         //pc.printf("Comp_scale: %6.4f %6.4f %6.4f   ", Comp.scale[0], Comp.scale[1], Comp.scale[2]); no more accessible its private
         pc.locate(10,15);
         pc.printf("PID Test: %6.1f", co);
+        pc.locate(10,16);
+        pc.printf("Gyro_data: X:%6.1f  Y:%6.1f  Z:%6.1f", Gyro.data[0], Gyro.data[1], Gyro.data[2]);
+        pc.locate(10,17);
+        pc.printf("Acc_data: X:%6.1f  Y:%6.1f  Z:%6.1f", Acc.data[0], Acc.data[1], Acc.data[2]);
+        pc.locate(10,18);
+        pc.printf("Comp_data: %6.1f %6.1f %6.1f |||| %6.1f ", Comp.data[0], Comp.data[1], Comp.data[2], Comp.get_angle());
         
         pc.locate(10,19);
         pc.printf("RC0: %4d :[", RC[0].read());