在 2014年1月24日星期五UTC-5下午5时55分44秒，Ping li写道： > > Hi Ytai > > I am using IOIO V2 to read MPU9150, a 9DOF motion sensor: > https://www.sparkfun.com/products/11486 > > The problem I encountered is that I can not read out the register by > I2C. I modified the code base on https://github.com/twyatt/ioio-adxl345, > from SPI to I2C, it works for ADXL345 > > > > I list down the code: > > ////////////////////////////////////code from > here//////////////////////////////////////////////// > > *public* *byte* getDeviceId() *throws* ConnectionLostException, > InterruptedException { > > read(*WHO_AM_I*, 1, readBuffer); > > *return* readBuffer[0]; > > } > > *private* *void* setupDevice() *throws* InterruptedException, > ConnectionLostException { > > write(*PWR_MGMT_1*, (*byte*) 0x80); // reset > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > write(*PWR_MGMT_1*, (*byte*) 0x00); > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > read(*WHO_AM_I*, 1, readBuffer); > > System.*out*.println("device ID is "+readBuffer[0]); > > *byte* id = readBuffer[0]; > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > /* > > write(SMPLRT_DIV, (byte) 0x00); > > Thread.sleep(REGISTER_WRITE_DELAY); > > read(SMPLRT_DIV, 1, readBuffer); > > Thread.sleep(REGISTER_WRITE_DELAY); > > System.out.println("The first SMPLRT_DIV is "+readBuffer[0]); > > */ > > write(*SMPLRT_DIV*, (*byte*) 0x07); // *Gyro* sample rate, 0x07=125Hz > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > read(*SMPLRT_DIV*, 1, readBuffer); > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > System.*out*.println("The second SMPLRT_DIV is "+readBuffer[0]); > > write(*CONFIG*, (*byte*) 0x06); //0x06=5Hz > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > write(*GYRO_CONFIG*, (*byte*) 0x18); //2000degree/s > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > write(*ACCEL_CONFIG*, (*byte*) 0x01); // 2G, 5Hz > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > *if* (id == *WHO_AM_I_default*) { > > deviceId = id; > > System.*out*.println("afjskldfjklasdjfklasfjaklsdfjsdklf The id is "+id); > > } *else* { > > onError("Invalid device ID, expected " + (*WHO_AM_I_default* & 0xFF) + " > but got " + (id & 0xFF)); > > System.*out*.println("afjskldfjklasdjfklasfjaklsdfjsdklf The id is wrong " > +id); > > } > > *if* (listener != *null*) { > > listener.onDeviceId(deviceId); > > } > > //setRange(2); // +/- 16 G > > > } > > *protected* *void* write(*byte* register, *byte* value) > *throws*ConnectionLostException, InterruptedException { > > writeBuffer[0] = register; > > writeBuffer[1] = value; > > flush(2); > > } > > *protected* *void* write(*byte* register, *byte*[] values) > *throws*ConnectionLostException, InterruptedException { > > writeBuffer[0] = register; > > System.*arraycopy*(values, 0, writeBuffer, 1, values.length); > > flush(1 + values.length); > > } > > /** > > * Writes the write buffer to the I2C. > > * > > * *@param* length Number of bytes of the buffer to write. > > * *@throws* ConnectionLostException > > * *@throws* InterruptedException > > */ > > *protected* *void* flush(*int* length) *throws* ConnectionLostException, > InterruptedException { > > *boolean* tenBitAddr = *false*; > > *int* readSize = 0; > > i2c.writeRead(*ADDRESS_AD0_LOW*, tenBitAddr, writeBuffer, length, > readBuffer, readSize); > > *if* (*REGISTER_WRITE_DELAY* > 0) > > Thread.*sleep*(*REGISTER_WRITE_DELAY*); > > } > > *protected* *void* read(*byte* register, *int* length, *byte*[] values) > *throws* ConnectionLostException, InterruptedException { > > *boolean* tenBitAddr = *false*; > > writeBuffer[0] = register; > > i2c.writeRead(*ADDRESS_AD0_LOW*, tenBitAddr, writeBuffer, 1, readBuffer, > length); > > } > > *private* *void* onError(String message) { > > *if* (listener != *null*) { > > listener.onError(message); > > } > > } > > /* > > * IOIOLooper interface methods. > > */ > > @Override > > *public* *void* setup(IOIO ioio) *throws* ConnectionLostException, > InterruptedException { > > i2c = ioio.openTwiMaster(twiNum, rate, *false* /* *smbus* */); > > setupDevice(); > > } > > @Override > > *public* *void* loop() *throws* ConnectionLostException, > InterruptedException { > > *if* (listener != *null*) { > > read(*GYRO_XOUT_H*, 6, readBuffer); > > x = (readBuffer[0] << 8) | readBuffer[1]; > > y = (readBuffer[2] << 8) | readBuffer[3]; > > z = (readBuffer[4] << 8) | readBuffer[5]; > > listener.onData(x, y, z); > > } > > } >
-- You received this message because you are subscribed to the Google Groups "ioio-users" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To post to this group, send email to [email protected]. Visit this group at http://groups.google.com/group/ioio-users. For more options, visit https://groups.google.com/groups/opt_out.
