Diff: ACS.cpp

Revision:

17:fc782f7548c6

Parent:

16:f9e484dc505e

Child:

18:3662058a7c10

--- a/ACS.cpp	Thu May 12 10:56:44 2016 +0000
+++ b/ACS.cpp	Fri May 13 11:56:49 2016 +0000
@@ -372,26 +372,65 @@
     }
     pc_acs.printf("\n\n\rwait is 1 \n\r");
     pc_acs.printf("Sentral Status is %x\n \r",(int)store);
+    
+    /*ways to make the sensors work even if one sensor cups first making data rate 0x00
+    1>make data rate 0x00 change the enable events register value to 0x0A or 0x22 as suitable
+    2>change the condition for getting the values from the sensors i.e in data_acq function
+    3>check the other register values
+    
+    other method is pass through working in how it works / decoding SENtral algorithms
+    */
+    
     cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
     cmd[1]=BIT_RUN_ENB;
     i2c.write(SLAVE_ADDR,cmd,2);
-    wait_ms(10);
+    wait_ms(100);
     cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
     cmd[1]=BIT_MAGODR;
     i2c.write(SLAVE_ADDR,cmd,2);
-    wait_ms(1);
+    wait_ms(100);
+    //___________________________________________________________________________________________________
+    
+    /*just leave it then see what happens?? the gyro data without inputing anything*/
+    
+    //___________________________________________________________________________________________________
     cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
     cmd[1]=BIT_GYROODR;
     i2c.write(SLAVE_ADDR,cmd,2);
     wait_ms(1);
     cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
-    cmd[1]=0x00;
+    cmd[1]=0x00;//actually 0x00
     i2c.write(SLAVE_ADDR,cmd,2);
     wait_ms(1);
     cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values
-    cmd[1]=BIT_EVT_ENB;
+    cmd[1]=BIT_EVT_ENB;//__________________________________________________________________________________
+    i2c.write(SLAVE_ADDR,cmd,2);
+    wait_ms(1);
+    //_______________________________________________________________________________//
+    
+/*stop as of now this approach i.e pass through state*/
+/*    
+    cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
+    cmd[1]=0x01;//Places sentral in standby state
     i2c.write(SLAVE_ADDR,cmd,2);
     wait_ms(1);
+    
+    
+    cmd[0]=0xA0; //Pass through control register
+    cmd[1]=0x01;//places SENtral in pass through state
+    i2c.write(SLAVE_ADDR,cmd,2);
+    wait_ms(1); 
+    
+    
+    cmd[0]=0x9E;//Pass through status reg
+    i2c.write(SLAVE_ADDR,cmd,1);
+    i2c.read(SLAVE_ADDR_READ,&store,1);
+    wait_ms(1);
+    printf("\n\r the value of the pass through status register is = %x",(int)store);    
+    
+*/
+    //_______________________________________________________________________________//
+    
     ACS_INIT_STATUS = 'c'; //set ACS_INIT_STATUS flag
 }
 
@@ -411,10 +450,17 @@
         wait_ms(100);
         pc_acs.printf("Event Status is %x\n \r",(int)status);
         //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take
-        if(((int)status&40)==40) {
-            cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x 
-            i2c.write(SLAVE_ADDR,cmd,1);
+        if(((int)status&40)==40){ //when both work   
+///          if((int)status==8){  //for just mag
+///         if((int)status == 36){   //for just gyro as status 24(in binary) = 36 in decimal 
+                
+            /*don't ask for info if the gyro cupped as interrupt makes it go haywire that is enables the pins for gyro*/
+           cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x 
+          i2c.write(SLAVE_ADDR,cmd,1);
             i2c.read(SLAVE_ADDR_READ,raw_gyro,6);
+printf("\n\n\n\r here reached");
+/*editing the data*/
+
             cmd[0]=MAG_XOUT_H; //LSB of x
             i2c.write(SLAVE_ADDR,cmd,1);
             i2c.read(SLAVE_ADDR_READ,raw_mag,6);
@@ -427,6 +473,53 @@
                 gyro_data[i]+=gyro_error[i];
                // pc_acs.printf("%f\t",gyro_data[i]);
             }
+            
+/*read the status values to determine the actual condition/registers values for the gyro/mag off case */
+//starts here
+
+        cmd[0]=0x35;//event status
+        i2c.write(SLAVE_ADDR,cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(1);
+        pc_acs.printf("\n\rEvent Status at the end is %x\n \r",(int)status);
+        
+        
+        cmd[0]=0x33;//enable events
+        i2c.write(SLAVE_ADDR,cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(1);
+        pc_acs.printf("\n\rEnable events is %x\n \r",(int)status);
+        
+        
+        cmd[0]=0x57;//gyro rate
+        i2c.write(SLAVE_ADDR,cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(1);
+        pc_acs.printf("\n\rgyro rate is %x\n \r",(int)status);
+        
+         
+        cmd[0]=0x55;//mag rate 0x00 indicate value lost 
+        i2c.write(SLAVE_ADDR,cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(1);
+        pc_acs.printf("\n\rmag rate is %x\n \r",(int)status);
+        
+        
+        cmd[0]=0x36;//sensorstatus
+        i2c.write(SLAVE_ADDR,cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(1);
+        pc_acs.printf("\n\rsensor Status is %x\n \r",(int)status);
+        
+        
+        cmd[0]=0x50;//error register
+        i2c.write(SLAVE_ADDR,cmd,1);
+        i2c.read(SLAVE_ADDR_READ,&status,1);
+        wait_ms(1);
+        pc_acs.printf("\n\rerror register value is %x\n \r",(int)status);
+                   
+//end here            
+            
        //     pc_acs.printf("\nMag Values:\n");
             for(int i=0; i<3; i++) {
                 //concatenating mag LSB and MSB to get 16 bit signed data values