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4-10-2015 BAE_RTOS_TEST ACS_DATA_ACQ and I2C working
Fork of BAE_RTOS_TEST1 by
ACS.cpp@1:b8c71afbe6e5, 2015-10-04 (annotated)
- Committer:
- gkumar
- Date:
- Sun Oct 04 07:06:22 2015 +0000
- Revision:
- 1:b8c71afbe6e5
4-10-2015 BAE_RTOS_TEST1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gkumar | 1:b8c71afbe6e5 | 1 | #include "ACS.h" |
gkumar | 1:b8c71afbe6e5 | 2 | #include "pin_config.h" |
gkumar | 1:b8c71afbe6e5 | 3 | //....................................ATS......................................................// |
gkumar | 1:b8c71afbe6e5 | 4 | |
gkumar | 1:b8c71afbe6e5 | 5 | I2C i2c (PIN85,PIN84); //PTC2-sda,PTC1-scl |
gkumar | 1:b8c71afbe6e5 | 6 | |
gkumar | 1:b8c71afbe6e5 | 7 | Timeout g_to; //Timeout variable to |
gkumar | 1:b8c71afbe6e5 | 8 | int g_toflag; |
gkumar | 1:b8c71afbe6e5 | 9 | char g_cmd[2]; |
gkumar | 1:b8c71afbe6e5 | 10 | float g_gyro_error[3]= {0,0,0}, g_mag_error[3]= {0,0,0}; |
gkumar | 1:b8c71afbe6e5 | 11 | |
gkumar | 1:b8c71afbe6e5 | 12 | /*------------------------------------------------------------------------------------------------------------------------------------------------------ |
gkumar | 1:b8c71afbe6e5 | 13 | ------------------------------------------- ATS data acquisition------------------------------------------------------------------------------------------*/ |
gkumar | 1:b8c71afbe6e5 | 14 | void FCTN_T_OUT() |
gkumar | 1:b8c71afbe6e5 | 15 | { |
gkumar | 1:b8c71afbe6e5 | 16 | g_toflag=0; //as T_OUT function gets called the while loop gets terminated |
gkumar | 1:b8c71afbe6e5 | 17 | } |
gkumar | 1:b8c71afbe6e5 | 18 | |
gkumar | 1:b8c71afbe6e5 | 19 | void FCTN_ACS_INIT() |
gkumar | 1:b8c71afbe6e5 | 20 | { |
gkumar | 1:b8c71afbe6e5 | 21 | char store; |
gkumar | 1:b8c71afbe6e5 | 22 | g_cmd[0]=RESETREQ; |
gkumar | 1:b8c71afbe6e5 | 23 | g_cmd[1]=BIT_RESREQ; |
gkumar | 1:b8c71afbe6e5 | 24 | i2c.write(SLAVE_ADDR,g_cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up |
gkumar | 1:b8c71afbe6e5 | 25 | wait_ms(2000); //waiting for loading configuration file stored in EEPROM |
gkumar | 1:b8c71afbe6e5 | 26 | g_cmd[0]=SENTRALSTATUS; |
gkumar | 1:b8c71afbe6e5 | 27 | i2c.write(SLAVE_ADDR,g_cmd,1); |
gkumar | 1:b8c71afbe6e5 | 28 | i2c.read(SLAVE_ADDR_READ,&store,1); |
gkumar | 1:b8c71afbe6e5 | 29 | wait_ms(100); |
gkumar | 1:b8c71afbe6e5 | 30 | //to check whether EEPROM is uploaded |
gkumar | 1:b8c71afbe6e5 | 31 | switch((int)store) { |
gkumar | 1:b8c71afbe6e5 | 32 | case(3): { |
gkumar | 1:b8c71afbe6e5 | 33 | break; |
gkumar | 1:b8c71afbe6e5 | 34 | } |
gkumar | 1:b8c71afbe6e5 | 35 | case(11): { |
gkumar | 1:b8c71afbe6e5 | 36 | break; |
gkumar | 1:b8c71afbe6e5 | 37 | } |
gkumar | 1:b8c71afbe6e5 | 38 | default: { |
gkumar | 1:b8c71afbe6e5 | 39 | g_cmd[0]=RESETREQ; |
gkumar | 1:b8c71afbe6e5 | 40 | g_cmd[1]=BIT_RESREQ; |
gkumar | 1:b8c71afbe6e5 | 41 | i2c.write(SLAVE_ADDR,g_cmd,2); |
gkumar | 1:b8c71afbe6e5 | 42 | wait_ms(2000); |
gkumar | 1:b8c71afbe6e5 | 43 | } |
gkumar | 1:b8c71afbe6e5 | 44 | } |
gkumar | 1:b8c71afbe6e5 | 45 | //pc.printf("Sentral Status is %x\n",(int)store); |
gkumar | 1:b8c71afbe6e5 | 46 | g_cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors |
gkumar | 1:b8c71afbe6e5 | 47 | g_cmd[1]=BIT_RUN_ENB; |
gkumar | 1:b8c71afbe6e5 | 48 | i2c.write(SLAVE_ADDR,g_cmd,2); |
gkumar | 1:b8c71afbe6e5 | 49 | wait_ms(100); |
gkumar | 1:b8c71afbe6e5 | 50 | g_cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer |
gkumar | 1:b8c71afbe6e5 | 51 | g_cmd[1]=BIT_MAGODR; |
gkumar | 1:b8c71afbe6e5 | 52 | i2c.write(SLAVE_ADDR,g_cmd,2); |
gkumar | 1:b8c71afbe6e5 | 53 | wait_ms(100); |
gkumar | 1:b8c71afbe6e5 | 54 | g_cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope |
gkumar | 1:b8c71afbe6e5 | 55 | g_cmd[1]=BIT_GYROODR; |
gkumar | 1:b8c71afbe6e5 | 56 | i2c.write(SLAVE_ADDR,g_cmd,2); |
gkumar | 1:b8c71afbe6e5 | 57 | wait_ms(100); |
gkumar | 1:b8c71afbe6e5 | 58 | g_cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values |
gkumar | 1:b8c71afbe6e5 | 59 | g_cmd[1]=0x00; |
gkumar | 1:b8c71afbe6e5 | 60 | i2c.write(SLAVE_ADDR,g_cmd,2); |
gkumar | 1:b8c71afbe6e5 | 61 | wait_ms(100); |
gkumar | 1:b8c71afbe6e5 | 62 | g_cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values |
gkumar | 1:b8c71afbe6e5 | 63 | g_cmd[1]=BIT_EVT_ENB; |
gkumar | 1:b8c71afbe6e5 | 64 | i2c.write(SLAVE_ADDR,g_cmd,2); |
gkumar | 1:b8c71afbe6e5 | 65 | wait_ms(100); |
gkumar | 1:b8c71afbe6e5 | 66 | } |
gkumar | 1:b8c71afbe6e5 | 67 | |
gkumar | 1:b8c71afbe6e5 | 68 | void FCTN_ATS_DATA_ACQ(float g_gyro_data[3],float g_mag_data[3]) |
gkumar | 1:b8c71afbe6e5 | 69 | { |
gkumar | 1:b8c71afbe6e5 | 70 | char status; |
gkumar | 1:b8c71afbe6e5 | 71 | g_toflag=1; //toFlag is set to 1 so that it enters while loop |
gkumar | 1:b8c71afbe6e5 | 72 | g_to.attach(&FCTN_T_OUT,2); //after 2 seconds the while loop gets terminated |
gkumar | 1:b8c71afbe6e5 | 73 | |
gkumar | 1:b8c71afbe6e5 | 74 | g_cmd[0]=EVT_STATUS; |
gkumar | 1:b8c71afbe6e5 | 75 | i2c.write(SLAVE_ADDR,g_cmd,1); |
gkumar | 1:b8c71afbe6e5 | 76 | i2c.read(SLAVE_ADDR_READ,&status,1); |
gkumar | 1:b8c71afbe6e5 | 77 | wait_ms(100); |
gkumar | 1:b8c71afbe6e5 | 78 | //pc.printf("\nEvent Status is %x\n",(int)status); |
gkumar | 1:b8c71afbe6e5 | 79 | //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take |
gkumar | 1:b8c71afbe6e5 | 80 | if(((int)status&40)==40) |
gkumar | 1:b8c71afbe6e5 | 81 | { |
gkumar | 1:b8c71afbe6e5 | 82 | FCTN_GET_DATA(g_gyro_data,g_mag_data); |
gkumar | 1:b8c71afbe6e5 | 83 | printf("\n\r data received \n"); |
gkumar | 1:b8c71afbe6e5 | 84 | for(int i=0; i<3; i++) |
gkumar | 1:b8c71afbe6e5 | 85 | { |
gkumar | 1:b8c71afbe6e5 | 86 | printf("%f\t",g_gyro_data[i]); |
gkumar | 1:b8c71afbe6e5 | 87 | } |
gkumar | 1:b8c71afbe6e5 | 88 | for(int i=0; i<3; i++) |
gkumar | 1:b8c71afbe6e5 | 89 | { |
gkumar | 1:b8c71afbe6e5 | 90 | printf("%f\t",g_mag_data[i]); |
gkumar | 1:b8c71afbe6e5 | 91 | } |
gkumar | 1:b8c71afbe6e5 | 92 | } |
gkumar | 1:b8c71afbe6e5 | 93 | //checking for the error |
gkumar | 1:b8c71afbe6e5 | 94 | else if (((int)status&2)==2) |
gkumar | 1:b8c71afbe6e5 | 95 | { |
gkumar | 1:b8c71afbe6e5 | 96 | FCTN_ACS_INIT(); //when there is any error then Again inilization is done to remove error |
gkumar | 1:b8c71afbe6e5 | 97 | } |
gkumar | 1:b8c71afbe6e5 | 98 | |
gkumar | 1:b8c71afbe6e5 | 99 | } |
gkumar | 1:b8c71afbe6e5 | 100 | |
gkumar | 1:b8c71afbe6e5 | 101 | void FCTN_GET_DATA(float g_gyro_data[3],float g_mag_data[3]) |
gkumar | 1:b8c71afbe6e5 | 102 | { |
gkumar | 1:b8c71afbe6e5 | 103 | char raw_gyro[6]; |
gkumar | 1:b8c71afbe6e5 | 104 | char raw_mag[6]; |
gkumar | 1:b8c71afbe6e5 | 105 | int16_t bit_data; |
gkumar | 1:b8c71afbe6e5 | 106 | |
gkumar | 1:b8c71afbe6e5 | 107 | float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps |
gkumar | 1:b8c71afbe6e5 | 108 | float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla |
gkumar | 1:b8c71afbe6e5 | 109 | g_cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x |
gkumar | 1:b8c71afbe6e5 | 110 | i2c.write(SLAVE_ADDR,g_cmd,1); |
gkumar | 1:b8c71afbe6e5 | 111 | i2c.read(SLAVE_ADDR_READ,raw_gyro,6); |
gkumar | 1:b8c71afbe6e5 | 112 | g_cmd[0]=MAG_XOUT_H; //LSB of x |
gkumar | 1:b8c71afbe6e5 | 113 | i2c.write(SLAVE_ADDR,g_cmd,1); |
gkumar | 1:b8c71afbe6e5 | 114 | i2c.read(SLAVE_ADDR_READ,raw_mag,6); |
gkumar | 1:b8c71afbe6e5 | 115 | //pc.printf("\nGyro Values:\n"); |
gkumar | 1:b8c71afbe6e5 | 116 | for(int i=0; i<3; i++) { |
gkumar | 1:b8c71afbe6e5 | 117 | //concatenating gyro LSB and MSB to get 16 bit signed data values |
gkumar | 1:b8c71afbe6e5 | 118 | bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i]; |
gkumar | 1:b8c71afbe6e5 | 119 | g_gyro_data[i]=(float)bit_data; |
gkumar | 1:b8c71afbe6e5 | 120 | g_gyro_data[i]=g_gyro_data[i]/senstivity_gyro; |
gkumar | 1:b8c71afbe6e5 | 121 | g_gyro_data[i]+=g_gyro_error[i]; |
gkumar | 1:b8c71afbe6e5 | 122 | //pc.printf("%f\t",gyro_data[i]); |
gkumar | 1:b8c71afbe6e5 | 123 | } |
gkumar | 1:b8c71afbe6e5 | 124 | for(int i=0; i<3; i++) { |
gkumar | 1:b8c71afbe6e5 | 125 | //concatenating mag LSB and MSB to get 16 bit signed data values |
gkumar | 1:b8c71afbe6e5 | 126 | bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i]; |
gkumar | 1:b8c71afbe6e5 | 127 | g_mag_data[i]=(float)bit_data; |
gkumar | 1:b8c71afbe6e5 | 128 | g_mag_data[i]=g_mag_data[i]/senstivity_mag; |
gkumar | 1:b8c71afbe6e5 | 129 | g_mag_data[i]+=g_mag_error[i]; |
gkumar | 1:b8c71afbe6e5 | 130 | //pc.printf("%f\t",mag_data[i]); |
gkumar | 1:b8c71afbe6e5 | 131 | } |
gkumar | 1:b8c71afbe6e5 | 132 | |
gkumar | 1:b8c71afbe6e5 | 133 | } |