Revision 4:1e5639a2a3ae, committed 2016-05-20

Comitter:

awmiller

Date:

Fri May 20 17:24:57 2016 +0000

Parent:

3:eea88312499a

Commit message:

sentral tester

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sentral.cpp	Fri May 20 17:24:57 2016 +0000
@@ -0,0 +1,203 @@
+//STM32 Tracler ports
+#include "mbed.h"
+
+#define SENTRAL_DI02
+
+#define TRUE    1
+#define FALSE   !TRUE
+
+#include "Sentral.h"
+
+DigitalOut SentralPower(PTA5);
+DigitalOut SA0(PTA4);
+
+void SA0_init()
+{
+   // SA0.mode(PullDown);
+   Set_SA0(0);  
+}
+
+int Set_SA0(int val){
+    
+    SA0 = (val > 0);
+    return SA0;   
+}
+
+int Sentral_Power(int val){
+    
+    SentralPower = (val > 0);
+    return SentralPower;
+}
+
+void Sentral_Reset(){
+    
+    Sentral_Power(0);
+    wait(1);
+    Sentral_Power(1);
+    
+}
+int Sentral_pass_through(Serial &pc,I2C &master,int recursion)
+{
+    if(recursion > 20)
+    {
+        pc.printf("Recursion limit reached \r\n");
+        return 0;
+     }
+        
+    char cmd[3];
+    char chk[3];
+    
+  
+    //Serial_PutString("Sentral Reset Reg", 20);
+    cmd[0] = PASSTHROUGH_CONFIG_REG;
+    cmd[1]=0x01;
+    int check = master.write(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,cmd,2); 
+  
+    //cmd[0] = 0;
+  
+    if(check)
+        pc.printf("Pass through request fail, I2C write fail \r\n",check);
+    else
+    {
+        check = master.write(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,cmd,1);
+        check = master.read(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,chk,1);
+        
+        if(check)
+            pc.printf("Pass through register read fail. \r\n");
+        else
+        {
+            if(chk[0] == 0x01)
+            {
+                pc.printf("Pass through Success \r\n");
+                return 1;
+            }
+            else
+            {
+                pc.printf("Recursion %d failed \r\n", recursion);
+                return Sentral_pass_through(pc,master,++recursion);
+            }
+        }
+        
+        
+        
+    }  
+}
+
+
+//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();
+  pc.printf("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(SA0 ? AddrSA0_hi : 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(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS, cmd, 1);
+    if(check)
+        pc.printf("i2c write fail %d \r\n",check);
+    cmd[0] = 0;
+    master.read(SA0 ? AddrSA0_hi : 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(check)
+        pc.printf("[*I2C Bus Failure, try repositioning the module*] \r\n",check);
+  
+  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(SA0 ? AddrSA0_hi : SENTRAL_ADDRESS,cmd,2); 
+  pc.printf("Sentral Startup Success. \r\n");
+  
+  return 1;
+}
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sentral.h	Fri May 20 17:24:57 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef __SENTRAL_H
+#define __SENTRAL_H
+
+#define SENTRAL_DI02
+
+typedef struct {
+  unsigned long AXIS_X;
+  unsigned long AXIS_Y;
+  unsigned long AXIS_Z;
+  unsigned long AXIS_W;
+} QuaternionData;
+
+#define SENTRAL_EEPROM_ADDRESS 0xa0
+#define SENTRAL_ADDRESS 0x50
+#define SENTRAL_ACC_ADDRESS 0x1a
+#define SENTRAL_Q_ADDRESS 0x00
+
+void Setup_Sentral_EEPROM();
+int SentralGetQData(QuaternionData* buff);
+
+#define SentralAddress 0x50
+
+
+#ifdef SENTRAL_DI02
+#define RETURN_SUCCESS 1
+#define RETURN_FAILURE 0
+#define ENABLE_EVENTS_REG 0x33
+#define MAG_RATE_REG 0x55
+#define ACCEL_RATE_REG 0x56
+#define GYRO_RATE_REG 0x57
+#define HOST_CONTROL_REG 0x34
+#define SENTRAL_STATUS_REG 0x37
+#define PASSTHROUGH_CONFIG_REG 0xa0
+#define RESET_REQ_REG 0x9b
+#define REVISION_ID_REG 0x91
+#define HOST_STATUS_REG 0x92
+#define ALGORITHM_CONTROL 0x54
+
+#define DEFAULT_I2C_SPEED_KHZ 100
+
+//M_BED PORTS
+//int ResetSentral(UInt8 NewByte);
+//int Setup_Sentral(void); 
+unsigned int SentralSetup(Serial &pc,I2C &master);
+
+//M_BED ROUTINES
+#define AddrSA0_hi     0x52
+int Sentral_Power(int val =1);
+int Set_SA0(int val =0);
+void Sentral_Reset();
+void SA0_init();
+int Sentral_pass_through(Serial &pc,I2C &master, int recursion =0);
+
+
+
+
+#endif
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Test_Routines.cpp	Fri May 20 17:24:57 2016 +0000
@@ -0,0 +1,274 @@
+#include "mbed.h"
+#include "Sentral.h"
+#include "Test_Routines.h"
+
+BusIn GPIOS(PTE4,PTE3,PTE2,PTB11,PTB10,PTB9,PTB8);
+Timeout escape;
+
+int timeout=0;
+
+void timeit()
+{
+    timeout =1;
+    }
+    
+int EV0_test(Serial &pc,I2C &master)
+{   
+
+    //Set SA0 to 1
+   pc.printf("SA0 set to %d \r\n", Set_SA0(1));
+    wait(0.1);
+    //Startup Sentral at SA0 = 1;
+   if(!SentralSetup(pc,master)){
+        pc.printf("[*{10}Sentral Start-up Failure*] SA1 Failed\r\n");
+        return 0;
+        } 
+     int P=0 , trig =0 ;
+    //Wait for any pin to fire
+    do
+        {
+        P = GPIOS;
+        
+        if(P&&0x40)
+            trig = 0x40;
+        if(P&&0x01)
+            trig = 0x01;
+        if(P&&0x02)
+            trig = 0x02;
+        if(P&&0x04)
+            trig = 0x04;
+        if(P&&0x08)
+            trig = 0x08;
+        if(P&&0x10)
+            trig = 0x10;
+        if(P&&0x20)
+            trig = 0x20;
+        } while((!(GPIOS) && (timeout++ < 1000)));
+    
+    //Wait for pin to go low again
+    while(GPIOS & trig);
+        
+    if(timeout < 1000)
+        pc.printf("Trigger: Pin %d \r\n",trig);
+    else
+        {
+        pc.printf("[*{10}GPIO Timeout*] \r\n");
+        return 0;
+        }
+        
+    //reset timeout
+    timeout=0;
+    
+    //Check for simultaneity 
+    while( ( GPIOS < 0x7F ) && (timeout < 1000) )
+        timeout++;
+    
+    if(timeout < 100)
+        pc.printf("Notice: Pins are simultaneous, check continuity \r\n");
+    
+    //reset triger and timeout
+    timeout=0;
+    trig =0;
+    
+    //start a timer
+    escape.attach(&timeit, 10.0);
+    
+    //wait for each pin to fire**********
+    while(!(GPIOS&&0x40))//6
+        if(timeout) { trig = -7; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x01))//0
+        if(timeout) { trig = -1; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x02))//1
+        if(timeout) { trig = -2; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x04))//2
+        if(timeout) { trig = -3; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x08))//3
+        if(timeout){ trig = -4; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x10))//4
+        if(timeout) { trig = -5; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x20))//5
+        if(timeout) { trig = -6; break; }
+    //END SINGLE PIN TEST
+    
+    if(!timeout){
+        pc.printf("All Pins Fired\r\n");
+        //return 1;
+        }
+    else
+    {
+        pc.printf("Timeout on %d, [*{10}Test FAILED*] \r\n GPIO Failure at SA0 = 1 \r\n", ( trig * (-1) ) - 1 );
+        return 0;
+    }
+    
+    
+    //Set SA0 to 0
+   pc.printf("SA0 set to %d \r\n", Set_SA0(0));
+   wait(0.1);
+   //Startup Sentral at SA0 = 0;
+   if(!SentralSetup(pc,master)){
+        pc.printf("[*{10}Sentral Start-up Failure*] SA0 Failed\r\n");
+        return 0;
+        }                
+    
+    //Wait for any pin to fire
+    do
+        {
+        P = GPIOS;
+        
+        if(P&&0x40)
+            trig = 0x40;
+        if(P&&0x01)
+            trig = 0x01;
+        if(P&&0x02)
+            trig = 0x02;
+        if(P&&0x04)
+            trig = 0x04;
+        if(P&&0x08)
+            trig = 0x08;
+        if(P&&0x10)
+            trig = 0x10;
+        if(P&&0x20)
+            trig = 0x20;
+        } while((!(GPIOS) && (timeout++ < 1000)));
+    
+    //Wait for pin to go low again
+    while(GPIOS & trig);
+        
+    if(timeout < 1000)
+        pc.printf("Trigger: Pin%d \r\n",trig);
+    else
+        {
+        pc.printf("[*{10}GPIO Timeout*] \r\n");
+        return 0;
+        }
+        
+    //reset timeout
+    timeout=0;
+    
+    //Check for simultaneity 
+    while( ( GPIOS < 0x7F ) && (timeout < 1000) )
+        timeout++;
+    
+    if(timeout < 100)
+        pc.printf("Notice: Pins are simultaneous, check continuity \r\n");
+    
+    //reset triger and timeout
+    timeout=0;
+    trig =0;
+    
+    //start a timer
+    escape.attach(&timeit, 10.0);
+    
+    //wait for each pin to fire**********
+    while(!(GPIOS&&0x40))//6
+        if(timeout) { trig = -7; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x01))//0
+        if(timeout) { trig = -1; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x02))//1
+        if(timeout) { trig = -2; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x04))//2
+        if(timeout) { trig = -3; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x08))//3
+        if(timeout){ trig = -4; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x10))//4
+        if(timeout) { trig = -5; break; }
+    escape.detach();
+    escape.attach(&timeit, 10.0);
+    
+    while(!(GPIOS&&0x20))//5
+        if(timeout) { trig = -6; break; }
+    //END SINGLE PIN TEST
+    
+    if(!timeout){
+        pc.printf("All Pins Fired\r\n");
+        //return 1;
+        }
+    else
+    {
+        pc.printf("Timeout on %d, [*{10}Test FAILED*] \r\n GPIO Failure at SA0 = 0 \r\n", ( trig * (-1) ) - 1 );
+        return 0;
+        }
+    
+
+    
+    
+    //FINALLY, Test pass through mode
+    
+        
+    return 1;
+    
+    
+    
+}
+
+int PassThroughTest(Serial &pc,I2C &master)
+{
+    if( !Sentral_pass_through(pc,master) )
+    {
+        return 0;
+    }
+    
+    char cmd[3];
+    char chk[3];
+    
+    cmd[0] = 0x00;
+    cmd[1] = 0x00;
+    cmd[2] = 0x00;
+    for(int i = 0xA0; i < 0xB0; i += 2)
+    {    
+        int check = master.write(i,cmd,2);
+    
+        if(check)
+            pc.printf(".");
+            //break;//return 0;
+        else
+        {
+            check = master.read(i,chk,3);
+    
+            if(check)
+                pc.printf(".");//break;//return 0;
+            else
+            {
+                pc.printf("\r\n%X,%X,%X \r\n",chk[0],chk[1],chk[2]);
+                return 1;
+            }
+        }
+    }
+    return 0;    
+}
+
+//EOF
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Test_Routines.h	Fri May 20 17:24:57 2016 +0000
@@ -0,0 +1,12 @@
+#ifndef TESTH
+#define TESTH  
+
+#define EEPROM_A 0xA0
+
+void timeit();
+int EV0_test(Serial &pc,I2C &master);
+int PassThroughTest(Serial &pc,I2C &master);
+
+#endif
+//EOF
+

--- a/main.cpp	Tue Feb 19 23:48:41 2013 +0000
+++ b/main.cpp	Fri May 20 17:24:57 2016 +0000
@@ -1,16 +1,214 @@
 #include "mbed.h"
+#include <math.h>
+#include <stdio.h>
+#include "Sentral.h"
+#include "Test_Routines.h"
+
+Timeout escapez;
+
+int timeoutz=0;
+
+
+extern DigitalOut SA0;
+
+typedef char* string;
+
+#define PI 3.14159f
+
+PwmOut g(LED_GREEN);
+PwmOut r(LED_RED);
+PwmOut b(LED_BLUE);
+
+Serial pc(USBTX,USBRX);
+I2C master(PTC9,PTC8);
+
+AnalogIn VDD_Check(PTE30);
+
+DigitalIn POWER(PTE29);
+
+void VDD_read_request()     {pc.printf("[*Moudle Voltage: %f *] \r\n",(VDD_Check.read()*3.3f));}
+
 
-DigitalOut myled(LED_GREEN);
-Serial pc(USBTX,USBRX);
+    
+void find_sentral(){
+    char inbuff[2],obuff[2];
+    obuff[0] = 0x37;
+    int check[2];
+    int addr = SA0 ? AddrSA0_hi : SENTRAL_ADDRESS;
+    escapez.attach(&timeit, 10.0);
+    pc.printf("Check1\n");
+    check[0] = master.write(addr, obuff, 1);
+    
+    pc.printf("Check2\n");
+    check[1] = master.read(addr, inbuff, 1);
+    pc.printf("finding sentral... \r\nwrite %s \r\n",check[0] ? "Fail" : "Pass" );
+    
+    pc.printf("read %s \r\n reading back: %X \r\n",check[1] ? "Fail" : "Pass" , inbuff[0]);
+//continue_z:
+
+    if(!check[0] && !check[1]){
+    pc.printf("[*{01}Sentral Status: \r\n");
+    pc.printf("NEEPROM:   %d \r\n", (int)((inbuff[0] & 16)>0));
+    pc.printf("StbyState: %d \r\n", (int)((inbuff[0] & 8)>0));
+    pc.printf("UploadErr: %d \r\n", (int)((inbuff[0] & 4)>0));
+    pc.printf("UploadCPT: %d \r\n", (int)((inbuff[0] & 2)>0));
+    pc.printf("EEPROMDTC: %d*] \r\n", (int)((inbuff[0] & 1)>0));}
+    
+
+    
+    else pc.printf("[*{00}No Sentral Detected*]");
+    escapez.detach();
+    //pc.printf("Sentral Status: %X",cmd[0]);
+}
+
+void timeitz()
+{
+    master.stop();
+    //goto continue_z;
+    //timeoutz =1;
+    }
+
+
+    
+void RX_int_cb();
 
 int main() {
-    int i=0;
-    pc.printf("\nHello World!\n");
+    
+    wait(2);
+    //RST =0;
+    pc.attach(&RX_int_cb);
+    pc.baud(115200);
+    pc.printf("\nEV0 Test Fixture v1.0\n");
+    
+    r.period(0.020);
+    g.period(0.020);
+    b.period(0.020);
+    
+    r = 0.990;
+    b = 0.950;
+    g = 0.895;
+    
+    
+    SA0_init();
+    
+    pc.printf("SAO Set to %d \r\n",Set_SA0());
+    Sentral_Power(0);
+    wait(0.01);
+    //VDD_read_request();
+    Sentral_Power();
+    pc.printf("Sentral Powered on\r\n");
+    
+    //VDD_read_request();
+    
+    //find_sentral();
+    
+   // SentralSetup();
     
-    while (true) {
-        wait(0.5);
-        pc.printf("%d\n",i);
-        i++;
-        myled = !myled;
+    //VDD_read_request();
+    
+    while (true){
+        
+        if(POWER==0)
+        {
+            //pc.printf("bus init\n");
+            //BusOut GPIOS(PTE4,PTE3,PTE2,PTB11,PTB10,PTB9,PTB8);
+            //pc.printf("i2c remap\n");
+            //DigitalOut x(PTC9),y(PTC8);
+            //pc.printf("delegating\n");
+            //x=y=0;
+            //GPIOS = 0;
+            //pc.printf("SA0\n");
+            Set_SA0(0);
+            wait_ms(10); 
+            pc.attach(NULL);
+            while(Sentral_Power(0));
+            pc.printf("[*{21}MODULE POWER DISABLED \r\n");
+            //VDD_read_request();
+            wait_ms(10);
+            pc.printf("ENABLE POWER TO CONTINUE*] \r\n");
+            while(!POWER);
+            while(!Sentral_Power(1));  
+            pc.attach(&RX_int_cb);
+            pc.printf("[*{20}MODULE POWER ENABLED*] \r\n");
+            wait(1);
+            VDD_read_request();
+            
+        }
+        
     }
 }
+
+
+void RX_int_cb() {
+    
+    switch(pc.getc()) {
+        
+        case 'r':
+        VDD_read_request();
+        break;
+        /*
+        case 'l':
+        if(reading){
+            if(!hex_read_line(FILE *hexfile)){
+                reading =0;
+                pc.printf("EOF\r\n");}
+                }else pc.printf("no file open\r\n");
+        break;
+        
+        case 'h':
+        if(reading)
+        {
+            readhex = 1;
+            
+            }
+            break;
+            */
+        case 'f':
+            find_sentral();
+            break;
+            
+        case 's':
+            pc.printf("Sentral Starting up. \r\n");
+            //find_sentral();
+            if(!SentralSetup(pc,master))
+                //pc.printf("returning to loop\r\n");
+                //else 
+                pc.printf("Sentral Start exit failure\r\n");
+            break;
+            
+        case 't':
+             pc.printf("Begginng module test...\r\n");
+            // pc.printf("Sentral Starting up. \r\n");
+            //find_sentral();
+    //if(!SentralSetup(pc,master))
+        //pc.printf("returning to loop\r\n");
+        //else 
+        //pc.printf("Sentral exit failure\r\n");
+      //  return 0;
+        //}   
+        //else
+            if(EV0_test(pc,master)) pc.printf("[*{11}Module PASS*] \r\n");
+            break;
+            
+        //case '!':
+        //    DigitalOut RST(PTE5);
+        //    RST =0;
+        //    break;
+        
+        case '0':
+            int i = SA0;
+            pc.printf("SA0: %d",i);
+            break;
+            
+        case 'p':
+            pc.printf(/*Sentral_pass_through(pc,master)*/ PassThroughTest(pc,master) ? "Passthrough enabled \r\n" : "Passthrough Failure \r\n");
+            break;
+            
+        default:
+        pc.printf("[*undefined command*] \r\n");
+        break;
+        }
+    
+    }
+    
+    
\ No newline at end of file