Andrew Miller / Mbed 2 deprecated FRDM_Serial

ak;jglif;awjd

Dependencies:   mbed

Sentral.cpp@4:1e5639a2a3ae, 2016-05-20 (annotated)

Committer:
awmiller
Date:
Fri May 20 17:24:57 2016 +0000
Revision:
4:1e5639a2a3ae
sentral tester

Who changed what in which revision?

UserRevisionLine numberNew contents of line
awmiller 4:1e5639a2a3ae 1 //STM32 Tracler ports
awmiller 4:1e5639a2a3ae 2 #include "mbed.h"
awmiller 4:1e5639a2a3ae 3
awmiller 4:1e5639a2a3ae 4 #define SENTRAL_DI02
awmiller 4:1e5639a2a3ae 5
awmiller 4:1e5639a2a3ae 6 #define TRUE 1
awmiller 4:1e5639a2a3ae 7 #define FALSE !TRUE
awmiller 4:1e5639a2a3ae 8
awmiller 4:1e5639a2a3ae 9 #include "Sentral.h"
awmiller 4:1e5639a2a3ae 10
awmiller 4:1e5639a2a3ae 11 DigitalOut SentralPower(PTA5);
awmiller 4:1e5639a2a3ae 12 DigitalOut SA0(PTA4);
awmiller 4:1e5639a2a3ae 13
awmiller 4:1e5639a2a3ae 14 void SA0_init()
awmiller 4:1e5639a2a3ae 15 {
awmiller 4:1e5639a2a3ae 16 // SA0.mode(PullDown);
awmiller 4:1e5639a2a3ae 17 Set_SA0(0);
awmiller 4:1e5639a2a3ae 18 }
awmiller 4:1e5639a2a3ae 19
awmiller 4:1e5639a2a3ae 20 int Set_SA0(int val){
awmiller 4:1e5639a2a3ae 21
awmiller 4:1e5639a2a3ae 22 SA0 = (val > 0);
awmiller 4:1e5639a2a3ae 23 return SA0;
awmiller 4:1e5639a2a3ae 24 }
awmiller 4:1e5639a2a3ae 25
awmiller 4:1e5639a2a3ae 26 int Sentral_Power(int val){
awmiller 4:1e5639a2a3ae 27
awmiller 4:1e5639a2a3ae 28 SentralPower = (val > 0);
awmiller 4:1e5639a2a3ae 29 return SentralPower;
awmiller 4:1e5639a2a3ae 30 }
awmiller 4:1e5639a2a3ae 31
awmiller 4:1e5639a2a3ae 32 void Sentral_Reset(){
awmiller 4:1e5639a2a3ae 33
awmiller 4:1e5639a2a3ae 34 Sentral_Power(0);
awmiller 4:1e5639a2a3ae 35 wait(1);
awmiller 4:1e5639a2a3ae 36 Sentral_Power(1);
awmiller 4:1e5639a2a3ae 37
awmiller 4:1e5639a2a3ae 38 }
awmiller 4:1e5639a2a3ae 39 int Sentral_pass_through(Serial &pc,I2C &master,int recursion)
awmiller 4:1e5639a2a3ae 40 {
awmiller 4:1e5639a2a3ae 41 if(recursion > 20)
awmiller 4:1e5639a2a3ae 42 {
awmiller 4:1e5639a2a3ae 43 pc.printf("Recursion limit reached \r\n");
awmiller 4:1e5639a2a3ae 44 return 0;
awmiller 4:1e5639a2a3ae 45 }
awmiller 4:1e5639a2a3ae 46
awmiller 4:1e5639a2a3ae 47 char cmd[3];
awmiller 4:1e5639a2a3ae 48 char chk[3];
awmiller 4:1e5639a2a3ae 49
awmiller 4:1e5639a2a3ae 50
awmiller 4:1e5639a2a3ae 51 //Serial_PutString("Sentral Reset Reg", 20);
awmiller 4:1e5639a2a3ae 52 cmd[0] = PASSTHROUGH_CONFIG_REG;
awmiller 4:1e5639a2a3ae 53 cmd[1]=0x01;
awmiller 4:1e5639a2a3ae 54 int check = master.write(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,cmd,2);
awmiller 4:1e5639a2a3ae 55
awmiller 4:1e5639a2a3ae 56 //cmd[0] = 0;
awmiller 4:1e5639a2a3ae 57
awmiller 4:1e5639a2a3ae 58 if(check)
awmiller 4:1e5639a2a3ae 59 pc.printf("Pass through request fail, I2C write fail \r\n",check);
awmiller 4:1e5639a2a3ae 60 else
awmiller 4:1e5639a2a3ae 61 {
awmiller 4:1e5639a2a3ae 62 check = master.write(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,cmd,1);
awmiller 4:1e5639a2a3ae 63 check = master.read(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,chk,1);
awmiller 4:1e5639a2a3ae 64
awmiller 4:1e5639a2a3ae 65 if(check)
awmiller 4:1e5639a2a3ae 66 pc.printf("Pass through register read fail. \r\n");
awmiller 4:1e5639a2a3ae 67 else
awmiller 4:1e5639a2a3ae 68 {
awmiller 4:1e5639a2a3ae 69 if(chk[0] == 0x01)
awmiller 4:1e5639a2a3ae 70 {
awmiller 4:1e5639a2a3ae 71 pc.printf("Pass through Success \r\n");
awmiller 4:1e5639a2a3ae 72 return 1;
awmiller 4:1e5639a2a3ae 73 }
awmiller 4:1e5639a2a3ae 74 else
awmiller 4:1e5639a2a3ae 75 {
awmiller 4:1e5639a2a3ae 76 pc.printf("Recursion %d failed \r\n", recursion);
awmiller 4:1e5639a2a3ae 77 return Sentral_pass_through(pc,master,++recursion);
awmiller 4:1e5639a2a3ae 78 }
awmiller 4:1e5639a2a3ae 79 }
awmiller 4:1e5639a2a3ae 80
awmiller 4:1e5639a2a3ae 81
awmiller 4:1e5639a2a3ae 82
awmiller 4:1e5639a2a3ae 83 }
awmiller 4:1e5639a2a3ae 84 }
awmiller 4:1e5639a2a3ae 85
awmiller 4:1e5639a2a3ae 86
awmiller 4:1e5639a2a3ae 87 //I2C master(p28, p27);
awmiller 4:1e5639a2a3ae 88 //Serial pc(USBTX,USBRX);
awmiller 4:1e5639a2a3ae 89
awmiller 4:1e5639a2a3ae 90
awmiller 4:1e5639a2a3ae 91 /*******************************************************************************
awmiller 4:1e5639a2a3ae 92 * Function Name : SentralSetup
awmiller 4:1e5639a2a3ae 93 * Description : code snippet for setting up sentral
awmiller 4:1e5639a2a3ae 94 * to run.
awmiller 4:1e5639a2a3ae 95 * Return : None
awmiller 4:1e5639a2a3ae 96 *******************************************************************************/
awmiller 4:1e5639a2a3ae 97 unsigned int SentralSetup(Serial &pc,I2C &master){
awmiller 4:1e5639a2a3ae 98
awmiller 4:1e5639a2a3ae 99
awmiller 4:1e5639a2a3ae 100 Sentral_Reset();
awmiller 4:1e5639a2a3ae 101 pc.printf("Reset");
awmiller 4:1e5639a2a3ae 102
awmiller 4:1e5639a2a3ae 103 unsigned char /*temp[1],*/boot_timeout=0,count=0x00;
awmiller 4:1e5639a2a3ae 104 //unsigned char test = 0, ReturnedByte=0x00;
awmiller 4:1e5639a2a3ae 105 //int ret_status= 0x00;
awmiller 4:1e5639a2a3ae 106
awmiller 4:1e5639a2a3ae 107 char cmd[10];
awmiller 4:1e5639a2a3ae 108
awmiller 4:1e5639a2a3ae 109
awmiller 4:1e5639a2a3ae 110 //Serial_PutString("Sentral Reset Reg", 20);
awmiller 4:1e5639a2a3ae 111 cmd[0] = RESET_REQ_REG;
awmiller 4:1e5639a2a3ae 112 cmd[1]=0x01;
awmiller 4:1e5639a2a3ae 113 int check = master.write(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,cmd,2);
awmiller 4:1e5639a2a3ae 114
awmiller 4:1e5639a2a3ae 115 cmd[0] = 0;
awmiller 4:1e5639a2a3ae 116
awmiller 4:1e5639a2a3ae 117 if(check)
awmiller 4:1e5639a2a3ae 118 pc.printf("I2C Reset Request Fail, Check pull-ups and Reset \r\n",check);
awmiller 4:1e5639a2a3ae 119 else
awmiller 4:1e5639a2a3ae 120 pc.printf("Reset Request Pass \r\n");
awmiller 4:1e5639a2a3ae 121
awmiller 4:1e5639a2a3ae 122 pc.printf("Status Check: ");
awmiller 4:1e5639a2a3ae 123 //while(((ReturnedByte & 0x06) != 2)&&(boot_timeout==0)){
awmiller 4:1e5639a2a3ae 124 while(((cmd[0] & 0x06) != 2)&&(boot_timeout==0)){
awmiller 4:1e5639a2a3ae 125
awmiller 4:1e5639a2a3ae 126 //test=SentralRead(SENTRAL_STATUS_REG,&ReturnedByte);
awmiller 4:1e5639a2a3ae 127 cmd[0] = SENTRAL_STATUS_REG;
awmiller 4:1e5639a2a3ae 128 //cmd[1]= 0x01;
awmiller 4:1e5639a2a3ae 129 check = master.write(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS, cmd, 1);
awmiller 4:1e5639a2a3ae 130 if(check)
awmiller 4:1e5639a2a3ae 131 pc.printf("i2c write fail %d \r\n",check);
awmiller 4:1e5639a2a3ae 132 cmd[0] = 0;
awmiller 4:1e5639a2a3ae 133 master.read(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS, cmd, 1);
awmiller 4:1e5639a2a3ae 134 if(check)
awmiller 4:1e5639a2a3ae 135 pc.printf("i2c read fail %d \r\n",check);
awmiller 4:1e5639a2a3ae 136
awmiller 4:1e5639a2a3ae 137 //pc.printf(" %d,%X",count,cmd[0]);
awmiller 4:1e5639a2a3ae 138
awmiller 4:1e5639a2a3ae 139 count++;
awmiller 4:1e5639a2a3ae 140 if(count==30)
awmiller 4:1e5639a2a3ae 141 boot_timeout=1;
awmiller 4:1e5639a2a3ae 142
awmiller 4:1e5639a2a3ae 143 wait_ms(100);
awmiller 4:1e5639a2a3ae 144
awmiller 4:1e5639a2a3ae 145 }
awmiller 4:1e5639a2a3ae 146 if(check)
awmiller 4:1e5639a2a3ae 147 pc.printf("[*I2C Bus Failure, try repositioning the module*] \r\n",check);
awmiller 4:1e5639a2a3ae 148
awmiller 4:1e5639a2a3ae 149 if(boot_timeout){
awmiller 4:1e5639a2a3ae 150 //PrintChars("Timeout occured, sentral not present or took too long to boot from the EEPROM\n\r");
awmiller 4:1e5639a2a3ae 151 pc.printf("Timeout occured, sentral not present or took too long to boot from the EEPROM\n\r");
awmiller 4:1e5639a2a3ae 152
awmiller 4:1e5639a2a3ae 153 //SerialPutChars("ReturnByte: 0x");
awmiller 4:1e5639a2a3ae 154 pc.printf("Timeout ReturnByte: %X \r\n", cmd[0]);
awmiller 4:1e5639a2a3ae 155 //char testbuff[5];
awmiller 4:1e5639a2a3ae 156 //snprintf(testbuff, 5, "%x,", ReturnedByte);
awmiller 4:1e5639a2a3ae 157 //SerialPutString(testbuff,5);
awmiller 4:1e5639a2a3ae 158 //SerialPutChars("Force it");
awmiller 4:1e5639a2a3ae 159 //SerialPutChar('\n');
awmiller 4:1e5639a2a3ae 160 //SerialPutChar('\r');
awmiller 4:1e5639a2a3ae 161
awmiller 4:1e5639a2a3ae 162 return RETURN_FAILURE;
awmiller 4:1e5639a2a3ae 163 }
awmiller 4:1e5639a2a3ae 164
awmiller 4:1e5639a2a3ae 165 pc.printf("Success ReturnByte: %X \r\n", cmd[0]);
awmiller 4:1e5639a2a3ae 166 // SerialPutChars("ReturnByte: 0x");
awmiller 4:1e5639a2a3ae 167 // char testbuff[5];
awmiller 4:1e5639a2a3ae 168 // snprintf(testbuff, 5, "%x,", ReturnedByte);
awmiller 4:1e5639a2a3ae 169 // SerialPutString(testbuff,5);
awmiller 4:1e5639a2a3ae 170 // //SerialPutChars("Force it");
awmiller 4:1e5639a2a3ae 171 // SerialPutChar('\n');
awmiller 4:1e5639a2a3ae 172 // SerialPutChar('\r');
awmiller 4:1e5639a2a3ae 173
awmiller 4:1e5639a2a3ae 174 //force a times out after 3 seconds
awmiller 4:1e5639a2a3ae 175 //count = 0;
awmiller 4:1e5639a2a3ae 176 //boot_timeout = FALSE;
awmiller 4:1e5639a2a3ae 177 //while(boot_timeout==FALSE){
awmiller 4:1e5639a2a3ae 178 //count++;
awmiller 4:1e5639a2a3ae 179 //if(count==30)
awmiller 4:1e5639a2a3ae 180 // boot_timeout=TRUE;
awmiller 4:1e5639a2a3ae 181
awmiller 4:1e5639a2a3ae 182 wait(1);
awmiller 4:1e5639a2a3ae 183 //}
awmiller 4:1e5639a2a3ae 184
awmiller 4:1e5639a2a3ae 185
awmiller 4:1e5639a2a3ae 186 //SentralWrite(ENABLE_EVENTS_REG,0x20); // enable gyro event only (for data logging function)
awmiller 4:1e5639a2a3ae 187 //SentralWrite(MAG_RATE_REG,0x64); //set mag rate
awmiller 4:1e5639a2a3ae 188 //SentralWrite(ACCEL_RATE_REG,0x0a); //set accel rate
awmiller 4:1e5639a2a3ae 189 //SentralWrite(GYRO_RATE_REG,0x46); //set gyro rate
awmiller 4:1e5639a2a3ae 190 //SentralWrite(ALGORITHM_CONTROL,0x02); //update registers with RAW sensor data
awmiller 4:1e5639a2a3ae 191 //SentralWrite(ALGORITHM_CONTROL,0x00); //update registers with Scaled sensor data
awmiller 4:1e5639a2a3ae 192
awmiller 4:1e5639a2a3ae 193 //SentralWrite(HOST_CONTROL_REG,0x01); //Request CPU to run
awmiller 4:1e5639a2a3ae 194 cmd[0] = HOST_CONTROL_REG;
awmiller 4:1e5639a2a3ae 195 cmd[1]=0x01;
awmiller 4:1e5639a2a3ae 196 master.write(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,cmd,2);
awmiller 4:1e5639a2a3ae 197 pc.printf("Sentral Startup Success. \r\n");
awmiller 4:1e5639a2a3ae 198
awmiller 4:1e5639a2a3ae 199 return 1;
awmiller 4:1e5639a2a3ae 200 }
awmiller 4:1e5639a2a3ae 201
awmiller 4:1e5639a2a3ae 202
awmiller 4:1e5639a2a3ae 203