Diff: Sentral.cpp

Revision:

0:6834f1402927

diff -r 000000000000 -r 6834f1402927 Sentral.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sentral.cpp	Sat Jan 04 00:33:35 2014 +0000
@@ -0,0 +1,145 @@
+//STM32 Tracler ports
+#include "mbed.h"
+
+#define SENTRAL_DI02
+
+#define TRUE    1
+#define FALSE   !TRUE
+
+#include "Sentral.h"
+
+
+DigitalOut SentralPower(p20);
+DigitalOut SA0(p21);
+
+int Set_SA0(int val){
+    
+    SA0 = (int)(val > 0);
+    return SA0;   
+}
+
+int Sentral_Power(int val){
+    
+    SentralPower = (int)(val > 0);
+    return SentralPower;
+}
+
+void Sentral_Reset(){
+    
+    Sentral_Power(0);
+    wait(1);
+    Sentral_Power(1);
+    
+}
+
+
+//I2C master(p28, p27);
+//Serial pc(USBTX,USBRX);
+
+/*******************************************************************************
+* Function Name  : SentralSetup
+* Description    : code snippet for setting up sentral
+*                  to run.
+* Return         : None
+*******************************************************************************/ 
+unsigned int SentralSetup(Serial &pc,I2C &master){
+  
+
+  Sentral_Reset();
+  
+  unsigned char /*temp[1],*/boot_timeout=0,count=0x00;
+  //unsigned char test = 0, ReturnedByte=0x00;
+  //int ret_status= 0x00;  
+  
+  char cmd[10];
+    
+  
+  //Serial_PutString("Sentral Reset Reg", 20);
+  cmd[0] = RESET_REQ_REG;
+  cmd[1]=0x01;
+  int check = master.write(SENTRAL_ADDRESS,cmd,2); 
+  
+  cmd[0] = 0;
+  
+  if(check)
+    pc.printf("I2C Reset Request Fail, Check pull-ups and Reset \r\n",check);
+  else
+    pc.printf("Reset Request Pass \r\n");
+  
+  pc.printf("Status Check: ");
+  //while(((ReturnedByte & 0x06) != 2)&&(boot_timeout==0)){
+  while(((cmd[0] & 0x06) != 2)&&(boot_timeout==0)){
+    
+    //test=SentralRead(SENTRAL_STATUS_REG,&ReturnedByte);
+    cmd[0] = SENTRAL_STATUS_REG;
+    //cmd[1]= 0x01;
+    check = master.write(SENTRAL_ADDRESS, cmd, 1);
+    if(check)
+        pc.printf("i2c write fail %d \r\n",check);
+    cmd[0] = 0;
+    master.read(SENTRAL_ADDRESS, cmd, 1);
+    if(check)
+        pc.printf("i2c read fail %d \r\n",check);
+    
+    //pc.printf(" %d,%X",count,cmd[0]);
+    
+    count++;
+    if(count==30)
+      boot_timeout=1;
+    
+    wait_ms(100);
+    
+  }
+  
+  if(boot_timeout){
+     //PrintChars("Timeout occured, sentral not present or took too long to boot from the EEPROM\n\r");
+    pc.printf("Timeout occured, sentral not present or took too long to boot from the EEPROM\n\r");
+
+     //SerialPutChars("ReturnByte: 0x");
+     pc.printf("Timeout ReturnByte: %X \r\n", cmd[0]);
+     //char testbuff[5];
+     //snprintf(testbuff, 5, "%x,", ReturnedByte);
+     //SerialPutString(testbuff,5);
+     //SerialPutChars("Force it");
+     //SerialPutChar('\n');
+     //SerialPutChar('\r');
+
+    return RETURN_FAILURE;
+  }
+
+    pc.printf("Success ReturnByte: %X \r\n", cmd[0]);
+    // SerialPutChars("ReturnByte: 0x");
+    // char testbuff[5];
+    // snprintf(testbuff, 5, "%x,", ReturnedByte);
+    // SerialPutString(testbuff,5);
+    // //SerialPutChars("Force it");
+    // SerialPutChar('\n');
+    // SerialPutChar('\r');
+     
+      //force a times out after 3 seconds
+     //count = 0;
+     //boot_timeout = FALSE;
+      //while(boot_timeout==FALSE){
+      //count++;
+      //if(count==30)
+      //  boot_timeout=TRUE;
+      
+      wait(1);
+    //}
+
+  
+  //SentralWrite(ENABLE_EVENTS_REG,0x20); // enable gyro event only (for data logging function)
+  //SentralWrite(MAG_RATE_REG,0x64); //set mag rate
+  //SentralWrite(ACCEL_RATE_REG,0x0a); //set accel rate
+  //SentralWrite(GYRO_RATE_REG,0x46); //set gyro rate
+  //SentralWrite(ALGORITHM_CONTROL,0x02); //update registers with RAW sensor data
+  //SentralWrite(ALGORITHM_CONTROL,0x00); //update registers with Scaled sensor data
+  
+  //SentralWrite(HOST_CONTROL_REG,0x01); //Request CPU to run 
+  cmd[0] = HOST_CONTROL_REG;
+  cmd[1]=0x01;
+  master.write(SENTRAL_ADDRESS,cmd,2); 
+  pc.printf("Sentral Startup Success. \r\n");
+  
+  return 1;
+}
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