Discussions

Hi,

I saw a few posts on this group describing how to integrate some sensors but was unable to find how to actually port lets say the Wire.h library from older Arduino distributions. I want to know how to do this for Pixhawk and for the older ArduPilot boards.

Particularly, I'm trying to integrate a heart rate monitor to the quad in order to measure pilots excitement and perhaps switch to autopilot based on how nervous the guy is :) Full code to translate con be found here: heart sensor

Technically what I want to know the equivalent instructions to the following:

• Wire.begin();
• Wire.requestFrom(addr,numberOfBytes);

And if the following methods are equivalent to write() and read() from AP_HAL_AVR/I2CDriver.cpp.

from AP_HAL_AVR/I2CDriver.cpp : 

• uint8_t AVRI2CDriver::write(uint8_t addr, uint8_t len, uint8_t* data), main differente with writeRegister() is that here I can choose to send 1 or many values.
• int8_t AVRI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data), seems to be pretty much the same as GetData()

void writeRegister(int deviceAddress, byte address, byte val) {
     //I2C command to send data to a specific address on the device
     Wire.beginTransmission(deviceAddress); // start transmission to device
     Wire.write(address); // send register address
     Wire.write(val); // send value to write
     Wire.endTransmission(); // end transmission
}

boolean GetData(byte addr, byte numBytes, byte* dataArray){
     //Get data from sensor and fill dataArray byte with responce
     //Returns true if it was able to get it, false if not
     Wire.requestFrom(addr, numBytes);
     if (Wire.available()) {

          for (int i=0; i<numBytes; i++){
               dataArray[i] = Wire.read();
          }

          return true;
     }else{
          return false;
     }
}

Thanks for your support! :) And I'm sure this'll help others also trying to get their old arduino sensors to work with the next generation of APMs.