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4-10-2015 BAE_RTOS_TEST ACS_DATA_ACQ and I2C working
Fork of BAE_RTOS_TEST1 by
ACS.cpp
- Committer:
- gkumar
- Date:
- 2015-10-04
- Revision:
- 1:b8c71afbe6e5
File content as of revision 1:b8c71afbe6e5:
#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]); } }