GOPA KUMAR K C / Mbed 2 deprecated magnetomete_new

mm_rm3000

Dependencies:   mbed

main.cpp@0:ac874e417fac, 2015-02-13 (annotated)

Committer:
gkumar
Date:
Fri Feb 13 16:11:47 2015 +0000
Revision:
0:ac874e417fac
MM_RM3000_new

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gkumar 0:ac874e417fac 1
gkumar 0:ac874e417fac 2 //magnetometer V1.3
gkumar 0:ac874e417fac 3
gkumar 0:ac874e417fac 4 #include "mbed.h"
gkumar 0:ac874e417fac 5 #include "SPI.h"
gkumar 0:ac874e417fac 6 #include "math.h"
gkumar 0:ac874e417fac 7 #include "stdlib.h"
gkumar 0:ac874e417fac 8 Serial pc(USBTX,USBRX);
gkumar 0:ac874e417fac 9 SPI spi(PTD6,PTD7,PTD5); //MOSI,MISO,SCLK
gkumar 0:ac874e417fac 10 DigitalOut SSN_MAG(PTD4); //SLAVE SELECT
gkumar 0:ac874e417fac 11 InterruptIn DRDY(PTD2);
gkumar 0:ac874e417fac 12 Timeout tr_mag;
gkumar 0:ac874e417fac 13 uint8_t trflag_mag;
gkumar 0:ac874e417fac 14 void trsub_mag();
gkumar 0:ac874e417fac 15 int a;
gkumar 0:ac874e417fac 16 //void end();
gkumar 0:ac874e417fac 17
gkumar 0:ac874e417fac 18 void trsub_mag()
gkumar 0:ac874e417fac 19 {
gkumar 0:ac874e417fac 20 trflag_mag=0;
gkumar 0:ac874e417fac 21 }
gkumar 0:ac874e417fac 22
gkumar 0:ac874e417fac 23 void func()
gkumar 0:ac874e417fac 24 {
gkumar 0:ac874e417fac 25 // a=1;
gkumar 0:ac874e417fac 26 //wait_ms(100);
gkumar 0:ac874e417fac 27 SSN_MAG=0;
gkumar 0:ac874e417fac 28 spi.write(0xc9); //command byte for retrieving data
gkumar 0:ac874e417fac 29 //printf("\n\rahoy\n\r");
gkumar 0:ac874e417fac 30 unsigned char axis;
gkumar 0:ac874e417fac 31 float Bnewvalue[3]={0.0,0.0,0.0};
gkumar 0:ac874e417fac 32 int32_t Bvalue[3]={0,0,0};
gkumar 0:ac874e417fac 33 int32_t a= pow(2.0,24.0);
gkumar 0:ac874e417fac 34 int32_t b= pow(2.0,23.0);
gkumar 0:ac874e417fac 35
gkumar 0:ac874e417fac 36 for(axis=0;axis<3;axis++)
gkumar 0:ac874e417fac 37 {
gkumar 0:ac874e417fac 38 Bvalue[axis]=spi.write(0x00)<<16; //MSB 1 is send first
gkumar 0:ac874e417fac 39 wait_ms(100);
gkumar 0:ac874e417fac 40 Bvalue[axis]|=spi.write(0x00)<<8; //MSB 2 is send next
gkumar 0:ac874e417fac 41 wait_ms(100);
gkumar 0:ac874e417fac 42 Bvalue[axis]|=spi.write(0x00); //LSB is send.....total length is 24 bits(3*8bits)...which are appended to get actual bit configuration
gkumar 0:ac874e417fac 43
gkumar 0:ac874e417fac 44
gkumar 0:ac874e417fac 45 if((Bvalue[axis]&b)==b)
gkumar 0:ac874e417fac 46 {
gkumar 0:ac874e417fac 47 Bvalue[axis]=Bvalue[axis]-a; //converting 2s complement to signed decimal
gkumar 0:ac874e417fac 48
gkumar 0:ac874e417fac 49 }
gkumar 0:ac874e417fac 50 Bnewvalue[axis]=(float)Bvalue[axis]*22.0*pow(10.0,-3.0); //1 LSB=(22nT)...final value of field obtained in micro tesla
gkumar 0:ac874e417fac 51
gkumar 0:ac874e417fac 52 wait_ms(100);
gkumar 0:ac874e417fac 53 pc.printf("\t%f\n",Bnewvalue[axis]);
gkumar 0:ac874e417fac 54
gkumar 0:ac874e417fac 55 }
gkumar 0:ac874e417fac 56 SSN_MAG=1;
gkumar 0:ac874e417fac 57 }
gkumar 0:ac874e417fac 58
gkumar 0:ac874e417fac 59
gkumar 0:ac874e417fac 60 void FUNC_ACS_MAGNETOMETER_INIT();
gkumar 0:ac874e417fac 61 void FUNC_ACS_MAGNETOMETER_EXECUTE();
gkumar 0:ac874e417fac 62
gkumar 0:ac874e417fac 63 void main()
gkumar 0:ac874e417fac 64 {
gkumar 0:ac874e417fac 65
gkumar 0:ac874e417fac 66 DRDY.rise(&func);
gkumar 0:ac874e417fac 67 FUNC_ACS_MAGNETOMETER_INIT();
gkumar 0:ac874e417fac 68 while(1)
gkumar 0:ac874e417fac 69 {
gkumar 0:ac874e417fac 70
gkumar 0:ac874e417fac 71 pc.printf("start\n");
gkumar 0:ac874e417fac 72 wait(2);
gkumar 0:ac874e417fac 73 FUNC_ACS_MAGNETOMETER_EXECUTE();
gkumar 0:ac874e417fac 74
gkumar 0:ac874e417fac 75 }
gkumar 0:ac874e417fac 76 }
gkumar 0:ac874e417fac 77
gkumar 0:ac874e417fac 78 void FUNC_ACS_MAGNETOMETER_INIT()
gkumar 0:ac874e417fac 79 {
gkumar 0:ac874e417fac 80
gkumar 0:ac874e417fac 81 SSN_MAG=1; //pin is disabled
gkumar 0:ac874e417fac 82 spi.format(8,0); // 8bits,Mode 0
gkumar 0:ac874e417fac 83 spi.frequency(100000); //clock frequency
gkumar 0:ac874e417fac 84
gkumar 0:ac874e417fac 85 SSN_MAG=0; // Selecting pin
gkumar 0:ac874e417fac 86 wait_ms(100); //accounts for delay.can be minimised.
gkumar 0:ac874e417fac 87
gkumar 0:ac874e417fac 88 spi.write(0x83); //
gkumar 0:ac874e417fac 89
gkumar 0:ac874e417fac 90 wait_ms(100);
gkumar 0:ac874e417fac 91
gkumar 0:ac874e417fac 92 unsigned char i;
gkumar 0:ac874e417fac 93 for(i=0;i<3;i++)//initialising values.
gkumar 0:ac874e417fac 94 {
gkumar 0:ac874e417fac 95 spi.write(0x00); //MSB of X,y,Z
gkumar 0:ac874e417fac 96 spi.write(0xc8); //LSB of X,Y,z;pointer increases automatically.
gkumar 0:ac874e417fac 97 }
gkumar 0:ac874e417fac 98 SSN_MAG=1;
gkumar 0:ac874e417fac 99
gkumar 0:ac874e417fac 100 }
gkumar 0:ac874e417fac 101
gkumar 0:ac874e417fac 102 void FUNC_ACS_MAGNETOMETER_EXECUTE()
gkumar 0:ac874e417fac 103 {
gkumar 0:ac874e417fac 104 SSN_MAG=0; //enabling slave to measure the values
gkumar 0:ac874e417fac 105 wait_ms(100);
gkumar 0:ac874e417fac 106 spi.write(0x82); //initiates measurement
gkumar 0:ac874e417fac 107 wait_ms(100);
gkumar 0:ac874e417fac 108 spi.write(0x01); //selecting x,y and z axes, measurement starts now
gkumar 0:ac874e417fac 109 SSN_MAG=1;
gkumar 0:ac874e417fac 110
gkumar 0:ac874e417fac 111
gkumar 0:ac874e417fac 112 trflag_mag=1;
gkumar 0:ac874e417fac 113 tr_mag.attach(&trsub_mag,1);
gkumar 0:ac874e417fac 114 //a=0;
gkumar 0:ac874e417fac 115 // while(trflag_mag)
gkumar 0:ac874e417fac 116 //{
gkumar 0:ac874e417fac 117
gkumar 0:ac874e417fac 118 //if(a==1)
gkumar 0:ac874e417fac 119
gkumar 0:ac874e417fac 120 // }
gkumar 0:ac874e417fac 121 pc.printf("exit");
gkumar 0:ac874e417fac 122
gkumar 0:ac874e417fac 123 }