Diff: mnm.cpp

Revision:

7:603c2a89effc

Parent:

5:4199c0dfed33

--- a/mnm.cpp	Fri Feb 06 18:26:46 2015 +0000
+++ b/mnm.cpp	Fri Feb 27 19:06:04 2015 +0000
@@ -23,6 +23,14 @@
 float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps
 float senstivity_mag  =32.768; //senstivity is obtained from 2^15/1000microtesla
 float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0};
+
+Timer r0;
+Timer r1;
+Timer r2;
+Timer r3;
+Timer r4;
+
+
 /*
 int main(void)
 {
@@ -40,21 +48,27 @@
 }*/
 
 void  INIT_PNI()
-{
+{   r0.start();
     cmd[0]=RESETREQ;
     cmd[1]=BIT_RESREQ;
-    i2c.write(SLAVE_ADDR,cmd,2); //When 0x01 is written in reset request register Emulates a hard power down/power up
+    i2c.write(SLAVE_ADDR,cmd,2);
+     r0.stop(); //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
     cmd[0]=SENTRALSTATUS;
+    r1.start();
     i2c.write(SLAVE_ADDR,cmd,1);
     i2c.read(SLAVE_ADDR_READ,&store,1);
+    r1.stop();
     wait_ms(100);
     //to check whether EEPROM is uploaded
-    switch((int)store) { 
+
+ /*   switch((int)store) { 
         case(3): {
+                printf("\nstore :%d\n",store);
             break;
         }
         case(11): {
+                printf("\nstore11 :%d\n",store);
             break;
         }
         default: {
@@ -63,20 +77,26 @@
             i2c.write(SLAVE_ADDR,cmd,2);
             wait_ms(2000);
         }
-    }
+    }*/
     //mnm.printf("Sentral Status is %x\n",(int)store);
+    r2.start();
     cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
     cmd[1]=BIT_RUN_ENB;
     i2c.write(SLAVE_ADDR,cmd,2);
+      r2.stop();
     wait_ms(100);
+    r3.start();
     cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
     cmd[1]=BIT_MAGODR;
     i2c.write(SLAVE_ADDR,cmd,2);
-    wait_ms(100);
+      r3.stop();
+      wait_ms(100);
+    r4.start();
     cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
     cmd[1]=BIT_GYROODR;
     i2c.write(SLAVE_ADDR,cmd,2);
-    wait_ms(100);
+      r4.stop();
+      wait_ms(100);
     cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
     cmd[1]=0x00;
     i2c.write(SLAVE_ADDR,cmd,2);
@@ -85,6 +105,7 @@
     cmd[1]=BIT_EVT_ENB;
     i2c.write(SLAVE_ADDR,cmd,2);
     wait_ms(100);
+    printf("\n \r %d %d %d %d %d",r0.read_us(),r1.read_us(),r2.read_us(),r3.read_us(),r4.read_us());
 }
 
 float *EXECUTE_PNI()