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ACS.cpp
00001 #include "ACS.h" 00002 #include "MPU3300.h" 00003 00004 //PwmOut PWM1(PTD4); //Functions used to generate PWM signal 00005 //PWM output comes from pins p6 00006 Serial pc1(USBTX, USBRX); 00007 SPI spi_acs (D11, D12, D13); // mosi, miso, sclk 00008 DigitalOut SSN_MAG (D8); // ssn for magnetometer 00009 DigitalIn DRDY (D9); // drdy for magnetometer 00010 DigitalOut ssn_gyr (D10); //Slave Select pin of gyroscope 00011 InterruptIn dr(D7); //Interrupt pin for gyro 00012 PwmOut PWM1(A0); //Functions used to generate PWM signal 00013 PwmOut PWM2(A1); 00014 PwmOut PWM3(A2); //PWM output comes from pins p6 00015 Ticker tr; //Ticker function to give values for limited amount of time for gyro 00016 Timeout tr_mag; 00017 uint8_t trflag_mag; 00018 uint8_t trFlag; //ticker Flag for gyro 00019 uint8_t drFlag; //data-ready interrupt flag for gyro 00020 00021 //--------------------------------TORQUE ROD--------------------------------------------------------------------------------------------------------------// 00022 00023 void FUNC_ACS_GENPWM(float M[3]) 00024 { 00025 00026 00027 printf("\nEnterd PWMGEN function\n"); 00028 float DCx = 0; //Duty cycle of Moment in x, y, z directions 00029 float ix = 0; //Current sent in x, y, z TR's 00030 float timep = 0.02 ; 00031 float Mx=M[0]; //Time period is set to 0.02s 00032 //Moment in x, y, z directions 00033 00034 00035 ix = Mx * 0.3 ; //Moment and Current always have the linear relationship 00036 00037 if( ix>0&& ix < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100% 00038 { 00039 DCx = 6*1000000*pow(ix,4) - 377291*pow(ix,3) + 4689.6*pow(ix,2) + 149.19*ix - 0.0008; 00040 PWM1.period(timep); 00041 PWM1 = DCx/100 ; 00042 } 00043 else if( ix >= 0.006&& ix < 0.0116) 00044 { 00045 DCx = 1*100000000*pow(ix,4) - 5*1000000*pow(ix,3) + 62603*pow(ix,2) - 199.29*ix + 0.7648; 00046 PWM1.period(timep); 00047 PWM1 = DCx/100 ; 00048 } 00049 else if (ix >= 0.0116&& ix < 0.0624) 00050 { 00051 00052 DCx = 212444*pow(ix,4) - 33244*pow(ix,3) + 1778.4*pow(ix,2) + 120.91*ix + 0.3878; 00053 PWM1.period(timep); 00054 PWM1 = DCx/100 ; 00055 } 00056 else if(ix >= 0.0624&& ix < 0.555) 00057 { 00058 printf("\nACS entered if\n"); 00059 DCx = 331.15*pow(ix,4) - 368.09*pow(ix,3) + 140.43*pow(ix,2) + 158.59*ix + 0.0338; 00060 PWM1.period(timep); 00061 PWM1 = DCx/100 ; 00062 } 00063 else if(ix==0) 00064 { 00065 DCx = 0; 00066 PWM1.period(timep); 00067 PWM1 = DCx/100 ; 00068 } 00069 else 00070 { 00071 // printf("!!!!!!!!!!Error!!!!!!!!!"); 00072 } 00073 float DCy = 0; //Duty cycle of Moment in x, y, z directions 00074 float iy = 0; //Current sent in x, y, z TR's 00075 00076 float My=M[1]; //Time period is set to 0.2s 00077 //Moment in x, y, z directions 00078 00079 00080 iy = My * 0.3 ; //Moment and Current always have the linear relationship 00081 00082 if( iy>0&& iy < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100% 00083 { 00084 DCy = 6*1000000*pow(iy,4) - 377291*pow(iy,3) + 4689.6*pow(iy,2) + 149.19*iy - 0.0008; 00085 PWM2.period(timep); 00086 PWM2 = DCy/100 ; 00087 } 00088 else if( iy >= 0.006&& iy < 0.0116) 00089 { 00090 DCy = 1*100000000*pow(iy,4) - 5*1000000*pow(iy,3) + 62603*pow(iy,2) - 199.29*iy + 0.7648; 00091 PWM2.period(timep); 00092 PWM2 = DCy/100 ; 00093 } 00094 else if (iy >= 0.0116&& iy < 0.0624) 00095 { 00096 00097 DCy = 212444*pow(iy,4) - 33244*pow(iy,3) + 1778.4*pow(iy,2) + 120.91*iy + 0.3878; 00098 PWM2.period(timep); 00099 PWM2 = DCy/100 ; 00100 } 00101 else if(iy >= 0.0624&& iy < 0.555) 00102 { 00103 printf("\nACS entered if\n"); 00104 DCy = 331.15*pow(iy,4) - 368.09*pow(iy,3) + 140.43*pow(iy,2) + 158.59*iy + 0.0338; 00105 PWM2.period(timep); 00106 PWM2 = DCy/100 ; 00107 } 00108 else if(iy==0) 00109 { 00110 DCy = 0; 00111 PWM2.period(timep); 00112 PWM2 = DCy/100 ; 00113 } 00114 else 00115 { 00116 // printf("!!!!!!!!!!Error!!!!!!!!!"); 00117 } 00118 float DCz = 0; //Duty cycle of Moment in x, y, z directions 00119 float iz = 0; //Current sent in x, y, z TR's 00120 00121 float Mz=M[2]; //Time period is set to 0.2s 00122 //Moment in x, y, z directions 00123 00124 00125 iz = Mz * 0.3 ; //Moment and Current always have the linear relationship 00126 00127 if( iz>0&& iz < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100% 00128 { 00129 DCz = 6*1000000*pow(iz,4) - 377291*pow(iz,3) + 4689.6*pow(iz,2) + 149.19*iz - 0.0008; 00130 PWM3.period(timep); 00131 PWM3 = DCz/100 ; 00132 } 00133 else if( iz >= 0.006&& iz < 0.0116) 00134 { 00135 DCz = 1*100000000*pow(iz,4) - 5*1000000*pow(iz,3) + 62603*pow(iz,2) - 199.29*iz + 0.7648; 00136 PWM3.period(timep); 00137 PWM3 = DCz/100 ; 00138 } 00139 else if (iz >= 0.0116&& iz < 0.0624) 00140 { 00141 00142 DCz = 212444*pow(iz,4) - 33244*pow(iz,3) + 1778.4*pow(iz,2) + 120.91*iz + 0.3878; 00143 PWM3.period(timep); 00144 PWM3 = DCz/100 ; 00145 } 00146 else if(iz >= 0.0624&& iz < 0.555) 00147 { 00148 printf("\nACS entered if\n"); 00149 DCz = 331.15*pow(iz,4) - 368.09*pow(iz,3) + 140.43*pow(iz,2) + 158.59*iz + 0.0338; 00150 PWM3.period(timep); 00151 PWM3 = DCz/100 ; 00152 } 00153 else if(iz==0) 00154 { 00155 DCz = 0; 00156 PWM3.period(timep); 00157 PWM3 = DCz/100 ; 00158 } 00159 else 00160 { 00161 // printf("!!!!!!!!!!Error!!!!!!!!!"); 00162 } 00163 00164 printf("\nExited PWMGEN function\n"); 00165 } 00166 /*------------------------------------------------------------------------------------------------------------------------------------------------------- 00167 -------------------------------------------MAGNETOMETER-------------------------------------------------------------------------------------------------*/ 00168 00169 void trsub_mag() 00170 { 00171 trflag_mag=0; 00172 } 00173 00174 void FUNC_ACS_MAG_INIT() 00175 { 00176 00177 SSN_MAG=1; //pin is disabled 00178 spi_acs.format(8,0); // 8bits,Mode 0 00179 spi_acs.frequency(100000); //clock frequency 00180 00181 SSN_MAG=0; // Selecting pin 00182 wait_ms(10); //accounts for delay.can be minimised. 00183 00184 spi_acs.write(0x83); // 00185 00186 wait_ms(10); 00187 00188 unsigned char i; 00189 for(i=0;i<3;i++)//initialising values. 00190 { 00191 spi_acs.write(0x00); //MSB of X,y,Z 00192 spi_acs.write(0xc8); //LSB of X,Y,z;pointer increases automatically. 00193 } 00194 SSN_MAG=1; 00195 00196 } 00197 00198 float* FUNC_ACS_MAG_EXEC() 00199 { 00200 printf("\nEntered magnetometer function\n"); 00201 SSN_MAG=0; //enabling slave to measure the values 00202 wait_ms(10); 00203 spi_acs.write(0x82); //initiates measurement 00204 wait_ms(10); 00205 spi_acs.write(0x01); //selecting x,y and z axes, measurement starts now 00206 SSN_MAG=1; 00207 wait_ms(10); 00208 00209 trflag_mag=1; 00210 tr_mag.attach(&trsub_mag,1); //runs in background,makes trflag_mag=0 after 1s 00211 00212 while(trflag_mag) /*initially flag is 1,so loop is executed,if DRDY is high,then data is retrieved and programme ends,else 00213 loop runs for at the max 1s and if still DRDY is zero,the flag becomes 0 and loop is not executed and 00214 programme is terminated*/ 00215 { 00216 if(DRDY==1) 00217 { 00218 SSN_MAG=0; 00219 spi_acs.write(0xc9); //command byte for retrieving data 00220 00221 unsigned char axis; 00222 float Bnewvalue[3]={0.0,0.0,0.0}; 00223 int32_t Bvalue[3]={0,0,0}; 00224 int32_t a= pow(2.0,24.0); 00225 int32_t b= pow(2.0,23.0); 00226 00227 for(axis=0;axis<3;axis++) 00228 { 00229 Bvalue[axis]=spi_acs.write(0x00)<<16; //MSB 1 is send first 00230 wait_ms(10); 00231 Bvalue[axis]|=spi_acs.write(0x00)<<8; //MSB 2 is send next 00232 wait_ms(10); 00233 Bvalue[axis]|=spi_acs.write(0x00); //LSB is send.....total length is 24 bits(3*8bits)...which are appended to get actual bit configuration 00234 00235 00236 if((Bvalue[axis]&b)==b) 00237 { 00238 Bvalue[axis]=Bvalue[axis]-a; //converting 2s complement to signed decimal 00239 00240 } 00241 Bnewvalue[axis]=(float)Bvalue[axis]*22.0*pow(10.0,-3.0); //1 LSB=(22nT)...final value of field obtained in micro tesla 00242 00243 wait_ms(10); 00244 printf("\t%lf\n",Bnewvalue[axis]); 00245 00246 } 00247 SSN_MAG=1; 00248 00249 return Bnewvalue; //return here? doubt.. 00250 break; 00251 } 00252 00253 } 00254 00255 } 00256 /*------------------------------------------------------------------------------------------------------------------------------------------------------ 00257 -------------------------------------------CONTROL ALGORITHM------------------------------------------------------------------------------------------*/ 00258 00259 float * FUNC_ACS_CNTRLALGO(float b[3],float omega[3]) 00260 { 00261 float db[3]; /// inputs 00262 //initialization 00263 float bb[3] = {0, 0, 0}; 00264 float d[3] = {0, 0, 0}; 00265 float Jm[3][3] = {{0.2730, 0, 0}, {0, 0.3018, 0}, {0, 0, 0.3031}}; 00266 float den = 0; 00267 float den2; 00268 int i, j; //temporary variables 00269 float Mu[2], z[2], dv[2], v[2], u[2], tauc[3] = {0, 0, 0}; //outputs 00270 float invJm[3][3]; 00271 float kmu2 = 0.07, gamma2 = 1.9e4, kz2 = 0.4e-2, kmu = 0.003, gamma = 5.6e4, kz = 0.1e-4; 00272 printf("Entered cntrl algo\n"); 00273 //structure parameters 00274 00275 void inverse (float mat[3][3], float inv[3][3]); 00276 void getInput (float x[9]); 00277 //functions 00278 00279 ////////// Input from Matlab ////////////// 00280 while(1) 00281 { 00282 00283 /*getInput(inputs); 00284 //while(1) 00285 b[0] = inputs[0]; 00286 b[1] = inputs[1]; 00287 b[2] = inputs[2]; 00288 db[0] = inputs[3]; 00289 db[1] = inputs[4]; 00290 db[2] = inputs[5]; 00291 omega[0] = inputs[6]; 00292 omega[1] = inputs[7]; 00293 omega[2] = inputs[8];*/ 00294 /////////// Control Algorithm ////////////////////// 00295 // calculate norm b, norm db 00296 den = sqrt((b[0]*b[0]) + (b[1]*b[1]) + (b[2]*b[2])); 00297 den2 = (b[0]*db[0]) + (b[1]*db[1]) + (b[2]*db[2]); 00298 00299 for(i=0;i<3;i++) 00300 { 00301 db[i] = (db[i]*den*den-b[i]*den2) / (pow(den,3)); 00302 //db[i]/=den*den*den; 00303 } 00304 00305 for(i=0;i<3;i++) 00306 { 00307 printf("\nreached here\n"); 00308 if(den!=0) 00309 b[i]=b[i]/den; //there is a problem here. The code gets stuck here 00310 00311 } 00312 00313 // select kz, kmu, gamma 00314 if(b[0]>0.9 || b[0]<-0.9) 00315 { 00316 kz = kz2; 00317 kmu = kmu2; 00318 gamma = gamma2; 00319 } 00320 // calculate Mu, v, dv, z, u 00321 for(i=0;i<2;i++) 00322 { 00323 Mu[i] = b[i+1]; 00324 v[i] = -kmu*Mu[i]; 00325 dv[i] = -kmu*db[i+1]; 00326 z[i] = db[i+1] - v[i]; 00327 u[i] = -kz*z[i] + dv[i]-(Mu[i] / gamma); 00328 } 00329 inverse(Jm, invJm); 00330 // calculate cross(omega,J*omega)for(i=0;i<3;i++) 00331 00332 for(j=0;j<3;j++) 00333 bb[i] += omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j] - omega[(i+2)%3]*Jm[(i+1)%3][j]); 00334 00335 // calculate invJm*cross(omega,J*omega) store in d 00336 for(i=0;i<3;i++) 00337 { 00338 for(j=0;j<3;j++) 00339 d[i] += bb[j]*invJm[i][j]; 00340 } 00341 // calculate d = cross(invJm*cross(omega,J*omega),b) -cross(omega,db) 00342 // bb =[0;u-d(2:3)] 00343 // store in bb 00344 bb[1] = u[0] + (d[0]*b[2])-(d[2]*b[0])-(omega[0]*db[2]) + (omega[2]*db[0]); 00345 bb[2] = u[1]-(d[0]*b[1]) + (d[1]*b[0]) + (omega[0]*db[1])-(omega[1]*db[0]); 00346 bb[0] = 0; 00347 // calculate N 00348 // reusing invJm as N 00349 00350 for(i=0;i<3;i++) 00351 { 00352 d[i] = invJm[1][i]; 00353 invJm[ 1][i] = b[2]*invJm[0][i] - b[0]*invJm[2][i]; 00354 invJm[2][i] = -b[1]*invJm[0][i] + b[0]*d[i]; 00355 invJm[0][i] = b[i]; 00356 } 00357 // calculate inv(N) store in Jm 00358 inverse(invJm, Jm); 00359 // calculate tauc 00360 for(i=0;i<3;i++) 00361 { 00362 for(j=0;j<3;j++) 00363 tauc[i] += Jm[i][j]*bb[j]; 00364 } 00365 00366 return(tauc); 00367 } 00368 } 00369 /////////// Output to Matlab ////////////////// 00370 /* for(i=0;i<3;i++) { 00371 printf("%f\n",tauc[i]*10000000); 00372 wait_ms(10); 00373 } 00374 } 00375 00376 }*/ 00377 void inverse(float mat[3][3], float inv[3][3]) 00378 { 00379 int i, j; 00380 float det = 0; 00381 for(i=0;i<3;i++) 00382 { for(j=0;j<3;j++) 00383 inv[j][i] = (mat[(i+1)%3][(j+1)%3]*mat[(i+2)%3][(j+2)%3]) - (mat[(i+2)%3] 00384 [(j+1)%3]*mat[(i+1)%3][(j+2)%3]); 00385 } 00386 det += (mat[0][0]*inv[0][0]) + (mat[0][1]*inv[1][0]) + (mat[0][2]*inv[2][0]); 00387 for(i=0;i<3;i++) 00388 { for(j=0;j<3;j++) 00389 inv[i][j] /= det; 00390 } 00391 }/* 00392 void getInput (float x[9]) { 00393 //Functions used to generate PWM signal 00394 //PWM output comes from pins p6 00395 Serial pc1(USBTX, USBRX); 00396 char c[10]; 00397 char tempchar[8]; 00398 int i, j; 00399 //float f[9]; 00400 long n = 0; 00401 float flval = 0; 00402 for(j=0;j<9;j++) { 00403 for(i=0;i<9;i++) { 00404 c[i] = pc1.getc(); if(i<8) { 00405 tempchar[i] = c[i]; 00406 } 00407 } 00408 sscanf (tempchar, "%8x", &n); 00409 memcpy(&flval, &n, sizeof(long)); 00410 printf("%f\n", flval); 00411 x[j] = flval; 00412 } 00413 }*/ 00414 00415 void trSub(); 00416 void drSub(); 00417 void init_gyro(); 00418 float * FUNC_ACS_EXEC_GYR(); 00419 00420 void drSub() //In this function we setting data-ready flag to 1 00421 { 00422 drFlag=1; 00423 } 00424 void trSub() //In this function we are setting ticker flag to 0 00425 { 00426 trFlag=0; 00427 } 00428 void FUNC_ACS_INIT_GYR() 00429 { 00430 uint8_t response; 00431 ssn_gyr=1; //Deselecting the chip 00432 spi_acs.format(8,3); // Spi format is 8 bits, and clock mode 3 00433 spi_acs.frequency(1000000); //frequency to be set as 1MHz 00434 drFlag=0; //Intially defining data-ready flag to be 0 00435 dr.mode(PullDown); 00436 dr.rise(&drSub); 00437 __disable_irq(); 00438 00439 /*Following the above mentioned algorithm for initializing the register and changing its configuration*/ 00440 ssn_gyr=0; //Selecting chip(Mpu-3300) 00441 spi_acs.write(USER_CTRL|READFLAG); //sending USER_CTRL address with read bit 00442 response=spi_acs.write(DUMMYBIT); //sending dummy bit to get default values of the register 00443 00444 ssn_gyr=1; //Deselecting the chip 00445 wait(0.1); //waiting according the product specifications 00446 00447 ssn_gyr=0; //again selecting the chip 00448 spi_acs.write(USER_CTRL); //sending USER_CTRL address without read bit 00449 spi_acs.write(response|BIT_I2C_IF_DIS); //disabling the I2C mode in the register 00450 ssn_gyr=1; //deselecting the chip 00451 wait(0.1); // waiting for 100ms before going for another register 00452 00453 ssn_gyr=0; 00454 spi_acs.write(PWR_MGMT_1|READFLAG); //Power Management register-1 00455 response=spi_acs.write(DUMMYBIT); 00456 ssn_gyr=1; 00457 wait(0.1); 00458 00459 ssn_gyr=0; 00460 spi_acs.write(PWR_MGMT_1); 00461 response=spi_acs.write(response|BIT_CLKSEL_X); //Selecting the X axis gyroscope as clock as mentioned above 00462 ssn_gyr=1; 00463 wait(0.1); 00464 00465 ssn_gyr=0; 00466 spi_acs.write(GYRO_CONFIG|READFLAG); //sending GYRO_CONFIG address with read bit 00467 response=spi_acs.write(DUMMYBIT); 00468 ssn_gyr=1; 00469 wait(0.1); 00470 00471 ssn_gyr=0; 00472 spi_acs.write(GYRO_CONFIG); //sending GYRO_CONFIG address to write to register 00473 spi_acs.write(response&(~(BITS_FS_SEL_3|BITS_FS_SEL_4))); //selecting a full scale mode of +/=225 deg/sec 00474 ssn_gyr=1; 00475 wait(0.1); 00476 00477 ssn_gyr=0; 00478 spi_acs.write(CONFIG|READFLAG); //sending CONFIG address with read bit 00479 response=spi_acs.write(DUMMYBIT); 00480 ssn_gyr=1; 00481 wait(0.1); 00482 00483 ssn_gyr=0; 00484 spi_acs.write(CONFIG); //sending CONFIG address to write to register 00485 spi_acs.write(response|BITS_DLPF_CFG); //selecting a bandwidth of 42 hz and delay of 4.8ms 00486 ssn_gyr=1; 00487 wait(0.1); 00488 00489 ssn_gyr=0; 00490 spi_acs.write(SMPLRT_DIV|READFLAG); //sending SMPLRT_DIV address with read bit 00491 response=spi_acs.write(DUMMYBIT); 00492 ssn_gyr=1; 00493 wait(0.1); 00494 00495 ssn_gyr=0; 00496 spi_acs.write(SMPLRT_DIV); //sending SMPLRT_DIV address to write to register 00497 spi_acs.write(response&BITS_SMPLRT_DIV); //setting the sampling rate division to be 0 to make sample rate = gyroscopic output rate 00498 ssn_gyr=1; 00499 wait(0.1); 00500 00501 ssn_gyr=0; 00502 spi_acs.write(INT_ENABLE|READFLAG); //sending address of INT_ENABLE with readflag 00503 response=spi_acs.write(DUMMYBIT); //sending dummy byte to get the default values of the 00504 // regiser 00505 ssn_gyr=1; 00506 wait(0.1); 00507 00508 ssn_gyr=0; 00509 spi_acs.write(INT_ENABLE); //sending INT_ENABLE address to write to register 00510 spi_acs.write(response|BIT_DATA_RDY_ENABLE); //Enbling data ready interrupt 00511 ssn_gyr=1; 00512 wait(0.1); 00513 00514 __enable_irq(); 00515 } 00516 00517 float * FUNC_ACS_EXEC_GYR() 00518 { 00519 printf("\nEntered gyro\n"); 00520 uint8_t response; 00521 uint8_t MSB,LSB; 00522 int16_t bit_data; 00523 float data[3],error[3]={0,0,0}; //declaring error array to add to the values when required 00524 float senstivity = 145.6; //senstivity is 145.6 for full scale mode of +/-225 deg/sec 00525 ssn_gyr=0; 00526 spi_acs.write(PWR_MGMT_1|READFLAG); //sending address of INT_ENABLE with readflag 00527 response=spi_acs.write(DUMMYBIT); // 00528 ssn_gyr=1; 00529 wait(0.1); 00530 00531 ssn_gyr=0; 00532 spi_acs.write(PWR_MGMT_1); //sending PWR_MGMT_1 address to write to register 00533 response=spi_acs.write(response&(~(BIT_SLEEP))); //waking up the gyroscope from sleep 00534 ssn_gyr=1; 00535 wait(0.1); 00536 00537 trFlag=1; 00538 tr.attach(&trSub,1); //executes the function trSub afer 1sec 00539 00540 while(trFlag) 00541 { 00542 wait_ms(5); //This is required for this while loop to exit. I don't know why. 00543 if(drFlag==1) 00544 { 00545 ssn_gyr=0; 00546 spi_acs.write(GYRO_XOUT_H|READFLAG); //sending address of PWR_MGMT_1 with readflag 00547 for(int i=0;i<3;i++) 00548 { 00549 MSB = spi_acs.write(DUMMYBIT); //reading the MSB values of x,y and z respectively 00550 LSB = spi_acs.write(DUMMYBIT); //reading the LSB values of x,y and z respectively 00551 bit_data= ((int16_t)MSB<<8)|LSB; //concatenating to get 16 bit 2's complement of the required gyroscope values 00552 data[i]=(float)bit_data; 00553 data[i]=data[i]/senstivity; //dividing with senstivity to get the readings in deg/sec 00554 data[i]+=error[i]; //adding with error to remove offset errors 00555 } 00556 ssn_gyr=1; 00557 for (int i=0;i<3;i++) 00558 { 00559 printf("%f\t",data[i]); //printing the angular velocity values 00560 } 00561 printf("\n"); 00562 break; 00563 } 00564 drFlag=0; 00565 } 00566 ssn_gyr=0; 00567 spi_acs.write(PWR_MGMT_1|READFLAG); //sending address of PWR_MGMT_1 with readflag 00568 response=spi_acs.write(DUMMYBIT); 00569 ssn_gyr=1; 00570 wait(0.1); 00571 00572 ssn_gyr=0; 00573 spi_acs.write(PWR_MGMT_1); //sending PWR_MGMT_1 address to write to register 00574 response=spi_acs.write(response|BIT_SLEEP); //setting the gyroscope in sleep mode 00575 ssn_gyr=1; 00576 wait(0.1); 00577 printf("\nExited gyro\n"); 00578 return data; 00579 } 00580 00581 00582 00583 00584 00585
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