sakthi priya amirtharaj
/
BAE_working_always
i2c working version
Diff: mnm.cpp
- Revision:
- 0:7882d03f59e2
diff -r 000000000000 -r 7882d03f59e2 mnm.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mnm.cpp Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,163 @@ +#include<mbed.h> +#include "mnm.h" +#include "pni.h" //pni header file +Serial mnm(USBTX,USBRX); //for usb communication +I2C i2c (PTC9,PTC8); //PTC2-sda,PTC1-scl +/*void INIT_PNI(void); //initialization of registers happens +float *EXECUTE_PNI(); //data is obtained +void T_OUT(); //timeout function to stop infinite loop*/ +Timeout to; //Timeout variable to +int toFlag; +void T_OUT() +{ + toFlag=0; //as T_OUT function gets called the while loop gets terminated +} + +//DEFINING VARIABLES +char cmd[2]; +char raw_gyro[6]; +char raw_mag[6]; +char store,status; +int16_t bit_data; +float gyro_data[3], mag_data[3],combined_values[6],*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 +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) +{ + + INIT_PNI(); + data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3 + mnm.printf("gyro values\n"); //printing the angular velocity and magnetic field values + for(int i=0; i<3; i++) { + mnm.printf("%f\t",data[i]); + } + mnm.printf("mag values\n"); + for(int i=3; i<6; i++) { + mnm.printf("%f\t",data[i]); + } +}*/ + +void INIT_PNI() +{ r0.start(); + cmd[0]=RESETREQ; + cmd[1]=BIT_RESREQ; + 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) { + case(3): { + printf("\nstore :%d\n",store); + break; + } + case(11): { + printf("\nstore11 :%d\n",store); + break; + } + default: { + cmd[0]=RESETREQ; + cmd[1]=BIT_RESREQ; + 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); + 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); + 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); + wait_ms(100); + cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values + 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() +{ + //printf("\n\r mnm func \n"); + toFlag=1; //toFlag is set to 1 so that it enters while loop + to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated + while(toFlag) { + cmd[0]=EVT_STATUS; + i2c.write(SLAVE_ADDR,cmd,1); + i2c.read(SLAVE_ADDR_READ,&status,1); + wait_ms(100); + //mnm.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) { + printf("\nin if of mnm\n"); + cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x + i2c.write(SLAVE_ADDR,cmd,1); + i2c.read(SLAVE_ADDR_READ,raw_gyro,6); + cmd[0]=MAG_XOUT_H; //LSB of x + i2c.write(SLAVE_ADDR,cmd,1); + i2c.read(SLAVE_ADDR_READ,raw_mag,6); + //mnm.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]; + gyro_data[i]=(float)bit_data; + gyro_data[i]=gyro_data[i]/senstivity_gyro; + gyro_data[i]+=gyro_error[i]; + //mnm.printf("%f\t",gyro_data[i]); + } + //mnm.printf("\nMag Values:\n"); + 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]; + mag_data[i]=(float)bit_data; + mag_data[i]=mag_data[i]/senstivity_mag; + mag_data[i]+=mag_error[i]; + //mnm.printf("%f\t",mag_data[i]); + } + for(int i=0; i<3; i++) { + combined_values[i]=gyro_data[i]; + combined_values[i+3]=mag_data[i]; + } + return(combined_values); //returning poiter combined values + } + //checking for the error + + else if (((int)status&2)==2) { + INIT_PNI(); //when there is any error then Again inilization is done to remove error + } + + + } +} \ No newline at end of file