File content as of revision 2:f26706e0d779:

#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]);
            }
            
}