mnm.cpp

00001 #include<mbed.h>
00002 #include "mnm.h"
00003 #include "pni.h" //pni header file
00004 Serial mnm(USBTX,USBRX); //for usb communication
00005 I2C i2c (PTC9,PTC8); //PTC2-sda,PTC1-scl
00006 /*void INIT_PNI(void); //initialization of registers happens
00007 float *EXECUTE_PNI(); //data is obtained
00008 void T_OUT(); //timeout function to stop infinite loop*/
00009 Timeout to; //Timeout variable to
00010 int toFlag; 
00011 void T_OUT()
00012 {
00013     toFlag=0; //as T_OUT function gets called the while loop gets terminated
00014 }
00015 
00016 //DEFINING VARIABLES
00017 char cmd[2];
00018 char raw_gyro[6];
00019 char raw_mag[6];
00020 char store,status;
00021 int16_t bit_data;
00022 float gyro_data[3], mag_data[3],combined_values[6],*data;
00023 float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps
00024 float senstivity_mag  =32.768; //senstivity is obtained from 2^15/1000microtesla
00025 float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0};
00026 
00027 Timer r0;
00028 Timer r1;
00029 Timer r2;
00030 Timer r3;
00031 Timer r4;
00032 
00033 
00034 /*
00035 int main(void)
00036 {
00037 
00038     INIT_PNI();
00039     data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
00040     mnm.printf("gyro values\n"); //printing the angular velocity and magnetic field values
00041     for(int i=0; i<3; i++) {
00042         mnm.printf("%f\t",data[i]);
00043     }
00044     mnm.printf("mag values\n");
00045     for(int i=3; i<6; i++) {
00046         mnm.printf("%f\t",data[i]);
00047     }
00048 }*/
00049 
00050 void  INIT_PNI()
00051 {   r0.start();
00052     cmd[0]=RESETREQ;
00053     cmd[1]=BIT_RESREQ;
00054     i2c.write(SLAVE_ADDR,cmd,2);
00055      r0.stop(); //When 0x01 is written in reset request register Emulates a hard power down/power up
00056     wait_ms(2000); //waiting for loading configuration file stored in EEPROM
00057     cmd[0]=SENTRALSTATUS;
00058     r1.start();
00059     i2c.write(SLAVE_ADDR,cmd,1);
00060     i2c.read(SLAVE_ADDR_READ,&store,1);
00061     r1.stop();
00062     wait_ms(100);
00063     //to check whether EEPROM is uploaded
00064 
00065  /*   switch((int)store) { 
00066         case(3): {
00067                 printf("\nstore :%d\n",store);
00068             break;
00069         }
00070         case(11): {
00071                 printf("\nstore11 :%d\n",store);
00072             break;
00073         }
00074         default: {
00075             cmd[0]=RESETREQ;
00076             cmd[1]=BIT_RESREQ;
00077             i2c.write(SLAVE_ADDR,cmd,2);
00078             wait_ms(2000);
00079         }
00080     }*/
00081     //mnm.printf("Sentral Status is %x\n",(int)store);
00082     r2.start();
00083     cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
00084     cmd[1]=BIT_RUN_ENB;
00085     i2c.write(SLAVE_ADDR,cmd,2);
00086       r2.stop();
00087     wait_ms(100);
00088     r3.start();
00089     cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
00090     cmd[1]=BIT_MAGODR;
00091     i2c.write(SLAVE_ADDR,cmd,2);
00092       r3.stop();
00093       wait_ms(100);
00094     r4.start();
00095     cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
00096     cmd[1]=BIT_GYROODR;
00097     i2c.write(SLAVE_ADDR,cmd,2);
00098       r4.stop();
00099       wait_ms(100);
00100     cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
00101     cmd[1]=0x00;
00102     i2c.write(SLAVE_ADDR,cmd,2);
00103     wait_ms(100);
00104     cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values
00105     cmd[1]=BIT_EVT_ENB;
00106     i2c.write(SLAVE_ADDR,cmd,2);
00107     wait_ms(100);
00108     printf("\n \r %d %d %d %d %d",r0.read_us(),r1.read_us(),r2.read_us(),r3.read_us(),r4.read_us());
00109 }
00110 
00111 float *EXECUTE_PNI()
00112 {
00113     //printf("\n\r mnm func \n");
00114     toFlag=1; //toFlag is set to 1 so that it enters while loop
00115     to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated 
00116     while(toFlag) {
00117         cmd[0]=EVT_STATUS;
00118         i2c.write(SLAVE_ADDR,cmd,1);
00119         i2c.read(SLAVE_ADDR_READ,&status,1);
00120         wait_ms(100);
00121         //mnm.printf("\nEvent Status is %x\n",(int)status);
00122         //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take
00123         if(((int)status&40)==40) {
00124             printf("\nin if of mnm\n");
00125             cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x 
00126             i2c.write(SLAVE_ADDR,cmd,1);
00127             i2c.read(SLAVE_ADDR_READ,raw_gyro,6);
00128             cmd[0]=MAG_XOUT_H; //LSB of x
00129             i2c.write(SLAVE_ADDR,cmd,1);
00130             i2c.read(SLAVE_ADDR_READ,raw_mag,6);
00131             //mnm.printf("\nGyro Values:\n");
00132             for(int i=0; i<3; i++) {
00133                 //concatenating gyro LSB and MSB to get 16 bit signed data values
00134                 bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i]; 
00135                 gyro_data[i]=(float)bit_data;
00136                 gyro_data[i]=gyro_data[i]/senstivity_gyro;
00137                 gyro_data[i]+=gyro_error[i];
00138                 //mnm.printf("%f\t",gyro_data[i]);
00139             }
00140             //mnm.printf("\nMag Values:\n");
00141             for(int i=0; i<3; i++) {
00142                 //concatenating mag LSB and MSB to get 16 bit signed data values
00143                 bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i];
00144                 mag_data[i]=(float)bit_data;
00145                 mag_data[i]=mag_data[i]/senstivity_mag;
00146                 mag_data[i]+=mag_error[i];
00147                 //mnm.printf("%f\t",mag_data[i]);
00148             }
00149             for(int i=0; i<3; i++) {
00150                 combined_values[i]=gyro_data[i];
00151                 combined_values[i+3]=mag_data[i];
00152             }
00153             return(combined_values); //returning poiter combined values
00154         } 
00155        //checking for the error
00156         
00157         else if (((int)status&2)==2) {
00158             INIT_PNI(); //when there is any error then Again inilization is done to remove error
00159         }
00160         
00161         
00162     }
00163 }