Diff: ACS.cpp

Revision:

1:b8c71afbe6e5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ACS.cpp	Sun Oct 04 07:06:22 2015 +0000
@@ -0,0 +1,133 @@
+#include "ACS.h"
+#include "pin_config.h"
+//....................................ATS......................................................//
+
+I2C i2c (PIN85,PIN84); //PTC2-sda,PTC1-scl
+
+Timeout g_to; //Timeout variable to
+int g_toflag; 
+char g_cmd[2];
+float g_gyro_error[3]= {0,0,0}, g_mag_error[3]= {0,0,0};
+
+/*------------------------------------------------------------------------------------------------------------------------------------------------------
+------------------------------------------- ATS data acquisition------------------------------------------------------------------------------------------*/
+void FCTN_T_OUT()
+{
+    g_toflag=0; //as T_OUT function gets called the while loop gets terminated
+}
+
+void  FCTN_ACS_INIT()
+{
+    char store;
+    g_cmd[0]=RESETREQ;
+    g_cmd[1]=BIT_RESREQ;
+    i2c.write(SLAVE_ADDR,g_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
+    g_cmd[0]=SENTRALSTATUS;
+    i2c.write(SLAVE_ADDR,g_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: {
+            g_cmd[0]=RESETREQ;
+            g_cmd[1]=BIT_RESREQ;
+            i2c.write(SLAVE_ADDR,g_cmd,2);
+            wait_ms(2000);
+        }
+    }
+    //pc.printf("Sentral Status is %x\n",(int)store);
+    g_cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
+    g_cmd[1]=BIT_RUN_ENB;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+    g_cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
+    g_cmd[1]=BIT_MAGODR;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+    g_cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
+    g_cmd[1]=BIT_GYROODR;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+    g_cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
+    g_cmd[1]=0x00;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+    g_cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values
+    g_cmd[1]=BIT_EVT_ENB;
+    i2c.write(SLAVE_ADDR,g_cmd,2);
+    wait_ms(100);
+}
+
+void FCTN_ATS_DATA_ACQ(float g_gyro_data[3],float g_mag_data[3])
+{
+    char status;
+    g_toflag=1; //toFlag is set to 1 so that it enters while loop
+    g_to.attach(&FCTN_T_OUT,2); //after 2 seconds the while loop gets terminated 
+    
+        g_cmd[0]=EVT_STATUS;
+        i2c.write(SLAVE_ADDR,g_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) 
+        {
+            FCTN_GET_DATA(g_gyro_data,g_mag_data);
+            printf("\n\r data received \n");
+             for(int i=0; i<3; i++) 
+            {
+            printf("%f\t",g_gyro_data[i]);
+            }
+            for(int i=0; i<3; i++) 
+            {
+            printf("%f\t",g_mag_data[i]);
+            }
+        }
+       //checking for the error
+        else if (((int)status&2)==2) 
+        {
+            FCTN_ACS_INIT(); //when there is any error then Again inilization is done to remove error
+        }
+    
+}
+
+void FCTN_GET_DATA(float g_gyro_data[3],float g_mag_data[3])
+{
+    char raw_gyro[6];
+    char raw_mag[6];
+    int16_t bit_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
+    g_cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x 
+    i2c.write(SLAVE_ADDR,g_cmd,1);
+    i2c.read(SLAVE_ADDR_READ,raw_gyro,6);
+    g_cmd[0]=MAG_XOUT_H; //LSB of x
+    i2c.write(SLAVE_ADDR,g_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]; 
+                g_gyro_data[i]=(float)bit_data;
+                g_gyro_data[i]=g_gyro_data[i]/senstivity_gyro;
+                g_gyro_data[i]+=g_gyro_error[i];
+                //pc.printf("%f\t",gyro_data[i]);
+            }
+            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];
+                g_mag_data[i]=(float)bit_data;
+                g_mag_data[i]=g_mag_data[i]/senstivity_mag;
+                g_mag_data[i]+=g_mag_error[i];
+                //pc.printf("%f\t",mag_data[i]);
+            }
+            
+}