saikiran cholleti
PNI CODE
Revision 0:b2d4134279d4, committed 2015-02-04
- Comitter:
- cholletisaik777
- Date:
- Wed Feb 04 15:55:52 2015 +0000
- Commit message:
- PNI code(integrated GYRO and MAGNETOMETER)
Changed in this revision
diff -r 000000000000 -r b2d4134279d4 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Feb 04 15:55:52 2015 +0000
@@ -0,0 +1,136 @@
+#include<mbed.h>
+#include "pni.h" //pni header file
+Serial pc(USBTX,USBRX); //for usb communication
+I2C i2c (PTC2,PTC1); //PTC2-sda,PTC1-scl
+void INIT_PNI(void); //initialization of registers happens
+float *EXECUTE_PNI(); //data is obtained
+void T_OUT(); //timeout function to stop infinite loop
+Timeout to; //Timeout variable to
+int toFlag;
+void T_OUT()
+{
+ toFlag=0; //as T_OUT function gets called the while loop gets terminated
+}
+
+//DEFINING VARIABLES
+char cmd[2];
+char raw_gyro[6];
+char raw_mag[6];
+char store,status;
+int16_t bit_data;
+float gyro_data[3], mag_data[3],combined_values[6],*data;
+float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps
+float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla
+float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0};
+
+int main(void)
+{
+
+ INIT_PNI();
+ data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
+ pc.printf("gyro values\n"); //printing the angular velocity and magnetic field values
+ for(int i=0; i<3; i++) {
+ pc.printf("%f\t",data[i]);
+ }
+ pc.printf("mag values\n");
+ for(int i=3; i<6; i++) {
+ pc.printf("%f\t",data[i]);
+ }
+}
+
+void INIT_PNI()
+{
+ cmd[0]=RESETREQ;
+ cmd[1]=BIT_RESREQ;
+ i2c.write(SLAVE_ADDR,cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up
+ wait_ms(2000); //waiting for loading configuration file stored in EEPROM
+ cmd[0]=SENTRALSTATUS;
+ i2c.write(SLAVE_ADDR,cmd,1);
+ i2c.read(SLAVE_ADDR_READ,&store,1);
+ wait_ms(100);
+ //to check whether EEPROM is uploaded
+ switch((int)store) {
+ case(3): {
+ break;
+ }
+ case(11): {
+ break;
+ }
+ default: {
+ cmd[0]=RESETREQ;
+ cmd[1]=BIT_RESREQ;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(2000);
+ }
+ }
+ //pc.printf("Sentral Status is %x\n",(int)store);
+ 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(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(100);
+ cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
+ cmd[1]=BIT_GYROODR;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(100);
+ cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
+ cmd[1]=0x00;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(100);
+ cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values
+ cmd[1]=BIT_EVT_ENB;
+ i2c.write(SLAVE_ADDR,cmd,2);
+ wait_ms(100);
+}
+
+float *EXECUTE_PNI()
+{
+ toFlag=1; //toFlag is set to 1 so that it enters while loop
+ to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated
+ while(toFlag) {
+ cmd[0]=EVT_STATUS;
+ i2c.write(SLAVE_ADDR,cmd,1);
+ i2c.read(SLAVE_ADDR_READ,&status,1);
+ wait_ms(100);
+ //pc.printf("\nEvent Status is %x\n",(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);
+ i2c.read(SLAVE_ADDR_READ,raw_gyro,6);
+ cmd[0]=MAG_XOUT_H; //LSB of x
+ i2c.write(SLAVE_ADDR,cmd,1);
+ i2c.read(SLAVE_ADDR_READ,raw_mag,6);
+ //pc.printf("\nGyro Values:\n");
+ for(int i=0; i<3; i++) {
+ //concatenating gyro LSB and MSB to get 16 bit signed data values
+ bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i];
+ gyro_data[i]=(float)bit_data;
+ gyro_data[i]=gyro_data[i]/senstivity_gyro;
+ gyro_data[i]+=gyro_error[i];
+ //pc.printf("%f\t",gyro_data[i]);
+ }
+ //pc.printf("\nMag Values:\n");
+ for(int i=0; i<3; i++) {
+ //concatenating mag LSB and MSB to get 16 bit signed data values
+ bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i];
+ mag_data[i]=(float)bit_data;
+ mag_data[i]=mag_data[i]/senstivity_mag;
+ mag_data[i]+=mag_error[i];
+ //pc.printf("%f\t",mag_data[i]);
+ }
+ for(int i=0; i<3; i++) {
+ combined_values[i]=gyro_data[i];
+ combined_values[i+3]=mag_data[i];
+ }
+ return(combined_values); //returning poiter combined values
+ }
+ //checking for the error
+ else if (((int)status&2)==2) {
+ INIT_PNI(); //when there is any error then Again inilization is done to remove error
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r b2d4134279d4 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Feb 04 15:55:52 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e188a91d3eaa \ No newline at end of file
diff -r 000000000000 -r b2d4134279d4 pni.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pni.h Wed Feb 04 15:55:52 2015 +0000 @@ -0,0 +1,37 @@ +#define SLAVE_ADDR 0x50 +#define SLAVE_ADDR_READ 0x51 +#define SENTRALSTATUS 0x37 +#define RESETREQ 0x9B +#define MAGRATE 0x55 +#define ACCERATE 0x56 +#define GYRORATE 0x57 +#define QRATE_DIV 0x32 +#define ALGO_CTRL 0x54 +#define ENB_EVT 0x33 +#define HOST_CTRL 0x34 +#define EVT_STATUS 0x35 +#define ALGO_STATUS 0x38 +#define GYRO_XOUT_H 0x22 +#define MAG_XOUT_H 0X12 + +//Configaration bits +#define BIT_RESREQ 0x01 +#define BIT_EEP_DET 0x01 +#define BIT_EEP_UPDN 0x02 +#define BIT_EEP_UPERR 0x04 +#define BIT_EEP_IDLE 0x08 +#define BIT_EEP_NODET 0x10 +#define BIT_STBY 0x01 +#define BIT_RAW_ENB 0x02 +#define BIT_HPR_OUT 0x04 +#define BIT_CPU_RES 0x01 +#define BIT_ERR 0x02 +#define BIT_QRES 0x04 +#define BIT_MAG_RES 0x08 +#define BIT_ACC_RES 0x10 +#define BIT_GYRO_RES 0x20 +#define BIT_GYROODR 0x0F +#define BIT_MAGODR 0x64 +#define BIT_RUN_ENB 0x01 +#define BIT_ALGO_RAW 0x02 +#define BIT_EVT_ENB 0X2A \ No newline at end of file