sakthi priya amirtharaj
i2c working version
Revision 0:7882d03f59e2, committed 2015-04-09
- Comitter:
- sakthipriya
- Date:
- Thu Apr 09 22:44:39 2015 +0000
- Commit message:
- i2c working version
Changed in this revision
diff -r 000000000000 -r 7882d03f59e2 ACS.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ACS.cpp Thu Apr 09 22:44:39 2015 +0000
@@ -0,0 +1,648 @@
+#include "ACS.h"
+#include "MPU3300.h"
+#include "pin_config.h"
+#include "math.h"
+
+//PwmOut PWM1(PTD4); //Functions used to generate PWM signal
+ //PWM output comes from pins p6
+Serial pc1(USBTX, USBRX);
+SPI spi_acs (PIN16, PIN17, PIN15); // mosi, miso, sclk PTE18,19,17
+DigitalOut SSN_MAG (PIN61); // ssn for magnetometer PTB11
+DigitalInOut DRDY (PIN47); // drdy for magnetometer PTA17
+DigitalOut ssn_gyr (PIN62); //Slave Select pin of gyroscope PTB16
+InterruptIn dr(PIN81); //Interrupt pin for gyro PTC5
+PwmOut PWM1(PIN93); //Functions used to generate PWM signal
+PwmOut PWM2(PIN94);
+PwmOut PWM3(PIN95); //Interrupt pin for gyro PTC5
+ //PWM output comes from pins p6
+Ticker tr; //Ticker function to give values for limited amount of time for gyro
+Timeout tr_mag;
+uint8_t trflag_mag;
+uint8_t trFlag; //ticker Flag for gyro
+uint8_t drFlag; //data-ready interrupt flag for gyro
+float pwm1;
+float pwm2;
+float pwm3;
+//--------------------------------TORQUE ROD--------------------------------------------------------------------------------------------------------------//
+
+void FUNC_ACS_GENPWM(float M[3])
+ {
+
+
+ printf("\n\rEnterd PWMGEN function\n\r\r");
+ for(int i = 0 ; i<3;i++)
+ {
+ printf(" %f \t ",M[i]);
+ }
+ float DCx = 0; //Duty cycle of Moment in x, y, z directions
+ float ix = 0; //Current sent in x, y, z TR's
+ float timep = 0.02 ;
+ float Mx=M[0]; //Time period is set to 0.02s
+ //Moment in x, y, z directions
+
+
+
+ ix = Mx * 0.3 ; //Moment and Current always have the linear relationship
+ // ix = 0.554999;
+ if( ix>0&& ix < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ DCx = 6*1000000*pow(ix,4) - 377291*pow(ix,3) + 4689.6*pow(ix,2) + 149.19*ix - 0.0008;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if( ix >= 0.006&& ix < 0.0116)
+ {
+ DCx = 1*100000000*pow(ix,4) - 5*1000000*pow(ix,3) + 62603*pow(ix,2) - 199.29*ix + 0.7648;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if (ix >= 0.0116&& ix < 0.0624)
+ {
+
+ DCx = 212444*pow(ix,4) - 33244*pow(ix,3) + 1778.4*pow(ix,2) + 120.91*ix + 0.3878;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else if(ix >= 0.0624&& ix < 0.555)
+ {
+ printf("\n\rACS entered if\n\r");
+ DCx = 331.15*pow(ix,4) - 368.09*pow(ix,3) + 140.43*pow(ix,2) + 158.59*ix + 0.0338;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ //printf("\n \r b4 %f ",ix);
+ else if(ix==0)
+ {
+ printf("\n \r ix====0");
+ DCx = 75;
+ PWM1.period(timep);
+ PWM1 = DCx/100 ;
+ }
+ else
+ {
+ // printf("!!!!!!!!!!Error!!!!!!!!!");
+ }
+ pwm1 = PWM1;
+ //DCx = 25;
+ //PWM1 = 0.50;
+ printf("\n\r icx :%f pwm : %f \n\r",ix,pwm1);
+ float DCy = 0; //Duty cycle of Moment in x, y, z directions
+ float iy = 0; //Current sent in x, y, z TR's
+
+ float My=M[1]; //Time period is set to 0.2s
+ //Moment in x, y, z directions
+
+
+ iy = My * 0.3 ; //Moment and Current always have the linear relationship
+
+ if( iy>0&& iy < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ DCy = 6*1000000*pow(iy,4) - 377291*pow(iy,3) + 4689.6*pow(iy,2) + 149.19*iy - 0.0008;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else if( iy >= 0.006&& iy < 0.0116)
+ {
+ DCy = 1*100000000*pow(iy,4) - 5*1000000*pow(iy,3) + 62603*pow(iy,2) - 199.29*iy + 0.7648;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else if (iy >= 0.0116&& iy < 0.0624)
+ {
+
+ DCy = 212444*pow(iy,4) - 33244*pow(iy,3) + 1778.4*pow(iy,2) + 120.91*iy + 0.3878;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else if(iy >= 0.0624&& iy < 0.555)
+ {
+ printf("\n\rACS entered if\n\r");
+ DCy = 331.15*pow(iy,4) - 368.09*pow(iy,3) + 140.43*pow(iy,2) + 158.59*iy + 0.0338;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else if(iy==0)
+ {
+ DCy = 0;
+ PWM2.period(timep);
+ PWM2 = DCy/100 ;
+ }
+ else
+ {
+ // printf("!!!!!!!!!!Error!!!!!!!!!");
+ }
+
+ pwm2 = PWM2;
+ printf("\n\r icy :%f pwm : %f \n\r",iy,pwm2);
+
+
+ float DCz = 0; //Duty cycle of Moment in x, y, z directions
+ float iz = 0; //Current sent in x, y, z TR's
+
+ float Mz=M[2]; //Time period is set to 0.2s
+ //Moment in x, y, z directions
+
+
+ iz = Mz * 0.3 ; //Moment and Current always have the linear relationship
+
+ if( iz>0&& iz < 0.006 ) //Current and Duty cycle have the linear relationship between 1% and 100%
+ {
+ DCz = 6*1000000*pow(iz,4) - 377291*pow(iz,3) + 4689.6*pow(iz,2) + 149.19*iz - 0.0008;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else if( iz >= 0.006&& iz < 0.0116)
+ {
+ DCz = 1*100000000*pow(iz,4) - 5*1000000*pow(iz,3) + 62603*pow(iz,2) - 199.29*iz + 0.7648;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else if (iz >= 0.0116&& iz < 0.0624)
+ {
+
+ DCz = 212444*pow(iz,4) - 33244*pow(iz,3) + 1778.4*pow(iz,2) + 120.91*iz + 0.3878;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else if(iz >= 0.0624&& iz < 0.555)
+ {
+ printf("\n\rACS entered if\n\r");
+ DCz = 331.15*pow(iz,4) - 368.09*pow(iz,3) + 140.43*pow(iz,2) + 158.59*iz + 0.0338;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else if(iz==0)
+ {
+ DCz = 0;
+ PWM3.period(timep);
+ PWM3 = DCz/100 ;
+ }
+ else
+ {
+ // printf("!!!!!!!!!!Error!!!!!!!!!");
+ }
+ pwm3 = PWM3;
+ printf("\n\r icy :%f pwm : %f \n\r",iz,pwm3);
+
+printf("\n\rExited PWMGEN function\n\r");
+}
+/*-------------------------------------------------------------------------------------------------------------------------------------------------------
+-------------------------------------------MAGNETOMETER-------------------------------------------------------------------------------------------------*/
+
+void trsub_mag()
+{
+ trflag_mag=0;
+}
+
+void FUNC_ACS_MAG_INIT()
+ {
+ //DRDY.output();
+ DRDY = 0;
+ int a ;
+ a=DRDY;
+ printf("\n\r DRDY is %d\n\r",a);
+ SSN_MAG=1; //pin is disabled
+ spi_acs.format(8,0); // 8bits,Mode 0
+ spi_acs.frequency(100000); //clock frequency
+
+ SSN_MAG=0; // Selecting pin
+ wait_ms(10); //accounts for delay.can be minimised.
+
+ spi_acs.write(0x83); //
+
+ wait_ms(10);
+
+ unsigned char i;
+ for(i=0;i<3;i++)//initialising values.
+ {
+ spi_acs.write(0x00); //MSB of X,y,Z
+ spi_acs.write(0xc8); //LSB of X,Y,z;pointer increases automatically.
+ }
+ SSN_MAG=1;
+
+}
+
+float* FUNC_ACS_MAG_EXEC()
+{
+ printf("\n\rEntered magnetometer function\n\r");
+ //DRDY.output();
+ DRDY.write(0);
+ int a;
+ a = DRDY;
+ printf("\n\r DRDY is %d\n\r",a);
+ SSN_MAG=0; //enabling slave to measure the values
+ wait_ms(10);
+ spi_acs.write(0x82); //initiates measurement
+ wait_ms(10);
+ spi_acs.write(0x01); //selecting x,y and z axes, measurement starts now
+ SSN_MAG=1;
+ wait_ms(10);
+
+ trflag_mag=1;
+ tr_mag.attach(&trsub_mag,1); //runs in background,makes trflag_mag=0 after 1s
+ DRDY.input();
+ while(trflag_mag) /*initially flag is 1,so loop is executed,if DRDY is high,then data is retrieved and programme ends,else
+ loop runs for at the max 1s and if still DRDY is zero,the flag becomes 0 and loop is not executed and
+ programme is terminated*/
+ {
+ wait_ms(5);
+ if(DRDY==1)
+ {
+ printf("\n\rwth\n");
+ SSN_MAG=0;
+ spi_acs.write(0xc9); //command byte for retrieving data
+
+ unsigned char axis;
+ float Bnewvalue[3]={0.0,0.0,0.0};
+ int32_t Bvalue[3]={0,0,0};
+ int32_t a= pow(2.0,24.0);
+ int32_t b= pow(2.0,23.0);
+
+ for(axis=0;axis<3;axis++)
+ {
+ Bvalue[axis]=spi_acs.write(0x00)<<16; //MSB 1 is send first
+ wait_ms(10);
+ Bvalue[axis]|=spi_acs.write(0x00)<<8; //MSB 2 is send next
+ wait_ms(10);
+ Bvalue[axis]|=spi_acs.write(0x00); //LSB is send.....total length is 24 bits(3*8bits)...which are appended to get actual bit configuration
+
+
+ if((Bvalue[axis]&b)==b)
+ {
+ Bvalue[axis]=Bvalue[axis]-a; //converting 2s complement to signed decimal
+
+ }
+ Bnewvalue[axis]=(float)Bvalue[axis]*22.0*pow(10.0,-3.0); //1 LSB=(22nT)...final value of field obtained in micro tesla
+
+ wait_ms(10);
+ printf("\t%lf\n\r",Bnewvalue[axis]);
+
+ }
+ SSN_MAG=1;
+ /* for test only to removed */
+ Bnewvalue[0]=Bnewvalue[1]=Bnewvalue[2]=100;
+ return Bnewvalue; //return here? doubt..
+ break;
+ }
+
+ }
+
+}
+/*------------------------------------------------------------------------------------------------------------------------------------------------------
+-------------------------------------------torque to moment conversion------------------------------------------------------------------------------------------*/
+void moment_calc (float tauc[3], float b[3], float moment[3])
+{
+ float b1;
+ b1 = pow(b[0],2) + pow(b[1],2) +pow(b[2],2) ;
+ moment[0] = ((tauc[1]*b[2])-(tauc[2]*b[1]))/b1;
+ moment[1] = ((tauc[2]*b[0])-(tauc[0]*b[2]))/b1;
+ moment[2] = ((tauc[0]*b[1])-(tauc[1]*b[0]))/b1;
+
+}
+
+
+/*------------------------------------------------------------------------------------------------------------------------------------------------------
+-------------------------------------------CONTROL ALGORITHM------------------------------------------------------------------------------------------*/
+
+void FUNC_ACS_CNTRLALGO(float b[3],float omega[3],float tauc[3])
+{
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",omega[i]);
+ }
+ float db[3]; /// inputs
+//initialization
+ float bb[3] = {0, 0, 0};
+ float d[3] = {0, 0, 0};
+ float Jm[3][3] = {{0.2730, 0, 0}, {0, 0.3018, 0}, {0, 0, 0.3031}};
+ float den = 0;
+ float den2;
+ int i, j; //temporary variables
+ float Mu[2], z[2], dv[2], v[2], u[2]; //outputs
+ // float tauc[3];
+ //float *tauc1;
+ float invJm[3][3];
+ float kmu2 = 0.07, gamma2 = 1.9e4, kz2 = 0.4e-2, kmu = 0.003, gamma = 5.6e4, kz = 0.1e-4;
+ printf("\n\r Entered cntrl algo\n\r");
+ //structure parameters
+
+ void inverse (float mat[3][3], float inv[3][3]);
+ void getInput (float x[9]);
+ //functions
+
+////////// Input from Matlab //////////////
+ // while(1) //removed assumin while is used coz of matlab
+ //{
+
+ /*getInput(inputs);
+//while(1)
+ b[0] = inputs[0];
+ b[1] = inputs[1];
+ b[2] = inputs[2];
+ db[0] = inputs[3];
+ db[1] = inputs[4];
+ db[2] = inputs[5];
+ omega[0] = inputs[6];
+ omega[1] = inputs[7];
+ omega[2] = inputs[8];*/
+/////////// Control Algorithm //////////////////////
+// calculate norm b, norm db
+ tauc[0] =tauc[1] =tauc[2]=0 ;
+
+ den = sqrt((b[0]*b[0]) + (b[1]*b[1]) + (b[2]*b[2]));
+ den2 = (b[0]*db[0]) + (b[1]*db[1]) + (b[2]*db[2]);
+
+ for(i=0;i<3;i++)
+ {
+ db[i] = (db[i]*den*den-b[i]*den2) / (pow(den,3));
+//db[i]/=den*den*den;
+ }
+
+ for(i=0;i<3;i++)
+ {
+ printf("\n\rreached here\n\r");
+ if(den!=0)
+ b[i]=b[i]/den; //there is a problem here. The code gets stuck here. Maf value is required
+
+ }
+
+// select kz, kmu, gamma
+ if(b[0]>0.9 || b[0]<-0.9)
+ {
+ kz = kz2;
+ kmu = kmu2;
+ gamma = gamma2;
+ }
+// calculate Mu, v, dv, z, u
+ for(i=0;i<2;i++)
+ {
+ Mu[i] = b[i+1];
+ v[i] = -kmu*Mu[i];
+ dv[i] = -kmu*db[i+1];
+ z[i] = db[i+1] - v[i];
+ u[i] = -kz*z[i] + dv[i]-(Mu[i] / gamma);
+ }
+ inverse(Jm, invJm);
+// calculate cross(omega,J*omega)for(i=0;i<3;i++)
+ for(i=0; i<3; i++) // for loop included after checking original code
+ {
+ for(j=0;j<3;j++)
+ bb[i] += omega[j]*(omega[(i+1)%3]*Jm[(i+2)%3][j] - omega[(i+2)%3]*Jm[(i+1)%3][j]);
+ }
+// calculate invJm*cross(omega,J*omega) store in d
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<3;j++)
+ d[i] += bb[j]*invJm[i][j];
+ }
+// calculate d = cross(invJm*cross(omega,J*omega),b) -cross(omega,db)
+// bb =[0;u-d(2:3)]
+// store in bb
+ bb[1] = u[0] + (d[0]*b[2])-(d[2]*b[0])-(omega[0]*db[2]) + (omega[2]*db[0]);
+ bb[2] = u[1]-(d[0]*b[1]) + (d[1]*b[0]) + (omega[0]*db[1])-(omega[1]*db[0]);
+ bb[0] = 0;
+// calculate N
+// reusing invJm as N
+
+ for(i=0;i<3;i++)
+ {
+ d[i] = invJm[1][i];
+ invJm[ 1][i] = b[2]*invJm[0][i] - b[0]*invJm[2][i];
+ invJm[2][i] = -b[1]*invJm[0][i] + b[0]*d[i];
+ invJm[0][i] = b[i];
+ }
+// calculate inv(N) store in Jm
+ inverse(invJm, Jm);
+// calculate tauc
+ printf("\n \r calculatin tauc");
+ for(i=0;i<3;i++)
+ {
+
+ for(j=0;j<3;j++)
+ tauc[i] += Jm[i][j]*bb[j];
+ //printf(" %d \t",i);
+ //tauc1[i] = tauc[i];
+ printf(" %f \t",tauc[i]);
+ }
+
+ //printf(" %f \n ", tauc[2]);
+ //return tauc;
+
+}
+/////////// Output to Matlab //////////////////
+/* for(i=0;i<3;i++) {
+ printf("%f\n\r",tauc[i]*10000000);
+ wait_ms(10);
+ }
+ }
+
+}*/
+ void inverse(float mat[3][3], float inv[3][3])
+{
+int i, j;
+float det = 0;
+for(i=0;i<3;i++)
+{ for(j=0;j<3;j++)
+inv[j][i] = (mat[(i+1)%3][(j+1)%3]*mat[(i+2)%3][(j+2)%3]) - (mat[(i+2)%3]
+[(j+1)%3]*mat[(i+1)%3][(j+2)%3]);
+}
+det += (mat[0][0]*inv[0][0]) + (mat[0][1]*inv[1][0]) + (mat[0][2]*inv[2][0]);
+for(i=0;i<3;i++)
+{ for(j=0;j<3;j++)
+inv[i][j] /= det;
+}
+}/*
+void getInput (float x[9]) {
+ //Functions used to generate PWM signal
+ //PWM output comes from pins p6
+Serial pc1(USBTX, USBRX);
+ char c[10];
+ char tempchar[8];
+ int i, j;
+ //float f[9];
+ long n = 0;
+ float flval = 0;
+ for(j=0;j<9;j++) {
+ for(i=0;i<9;i++) {
+ c[i] = pc1.getc(); if(i<8) {
+ tempchar[i] = c[i];
+ }
+ }
+ sscanf (tempchar, "%8x", &n);
+ memcpy(&flval, &n, sizeof(long));
+ printf("%f\n\r", flval);
+ x[j] = flval;
+ }
+}*/
+
+void trSub();
+void drSub();
+void init_gyro();
+float * FUNC_ACS_EXEC_GYR();
+
+void drSub() //In this function we setting data-ready flag to 1
+{
+ drFlag=1;
+}
+void trSub() //In this function we are setting ticker flag to 0
+{
+ trFlag=0;
+}
+void FUNC_ACS_INIT_GYR()
+{
+ uint8_t response;
+ ssn_gyr=1; //Deselecting the chip
+ spi_acs.format(8,0); // Spi format is 8 bits, and clock mode 3
+ spi_acs.frequency(1000000); //frequency to be set as 1MHz
+ drFlag=0; //Intially defining data-ready flag to be 0
+ dr.mode(PullDown);
+ dr.rise(&drSub);
+ __disable_irq();
+
+/*Following the above mentioned algorithm for initializing the register and changing its configuration*/
+ ssn_gyr=0; //Selecting chip(Mpu-3300)
+ spi_acs.write(USER_CTRL|READFLAG); //sending USER_CTRL address with read bit
+ response=spi_acs.write(DUMMYBIT); //sending dummy bit to get default values of the register
+
+ ssn_gyr=1; //Deselecting the chip
+ wait(0.1); //waiting according the product specifications
+
+ ssn_gyr=0; //again selecting the chip
+ spi_acs.write(USER_CTRL); //sending USER_CTRL address without read bit
+ spi_acs.write(response|BIT_I2C_IF_DIS); //disabling the I2C mode in the register
+ ssn_gyr=1; //deselecting the chip
+ wait(0.1); // waiting for 100ms before going for another register
+
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1|READFLAG); //Power Management register-1
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1);
+ response=spi_acs.write(response|BIT_CLKSEL_X); //Selecting the X axis gyroscope as clock as mentioned above
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(GYRO_CONFIG|READFLAG); //sending GYRO_CONFIG address with read bit
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(GYRO_CONFIG); //sending GYRO_CONFIG address to write to register
+ spi_acs.write(response&(~(BITS_FS_SEL_3|BITS_FS_SEL_4))); //selecting a full scale mode of +/=225 deg/sec
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(CONFIG|READFLAG); //sending CONFIG address with read bit
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(CONFIG); //sending CONFIG address to write to register
+ spi_acs.write(response|BITS_DLPF_CFG); //selecting a bandwidth of 42 hz and delay of 4.8ms
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(SMPLRT_DIV|READFLAG); //sending SMPLRT_DIV address with read bit
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(SMPLRT_DIV); //sending SMPLRT_DIV address to write to register
+ spi_acs.write(response&BITS_SMPLRT_DIV); //setting the sampling rate division to be 0 to make sample rate = gyroscopic output rate
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(INT_ENABLE|READFLAG); //sending address of INT_ENABLE with readflag
+ response=spi_acs.write(DUMMYBIT); //sending dummy byte to get the default values of the
+ // regiser
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(INT_ENABLE); //sending INT_ENABLE address to write to register
+ spi_acs.write(response|BIT_DATA_RDY_ENABLE); //Enbling data ready interrupt
+ ssn_gyr=1;
+ wait(0.1);
+
+ __enable_irq();
+}
+
+float * FUNC_ACS_EXEC_GYR()
+{
+ printf("\n\rEntered gyro\n\r");
+ uint8_t response;
+ uint8_t MSB,LSB;
+ int16_t bit_data;
+ float data[3],error[3]={0,0,0}; //declaring error array to add to the values when required
+ float senstivity = 145.6; //senstivity is 145.6 for full scale mode of +/-225 deg/sec
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1|READFLAG); //sending address of INT_ENABLE with readflag
+ response=spi_acs.write(DUMMYBIT); //
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1); //sending PWR_MGMT_1 address to write to register
+ response=spi_acs.write(response&(~(BIT_SLEEP))); //waking up the gyroscope from sleep
+ ssn_gyr=1;
+ wait(0.1);
+
+ trFlag=1;
+ tr.attach(&trSub,1); //executes the function trSub afer 1sec
+
+ while(trFlag)
+ {
+ wait_ms(5); //This is required for this while loop to exit. I don't know why.
+ if(drFlag==1)
+ {
+ ssn_gyr=0;
+ spi_acs.write(GYRO_XOUT_H|READFLAG); //sending address of PWR_MGMT_1 with readflag
+ for(int i=0;i<3;i++)
+ {
+ MSB = spi_acs.write(DUMMYBIT); //reading the MSB values of x,y and z respectively
+ LSB = spi_acs.write(DUMMYBIT); //reading the LSB values of x,y and z respectively
+ bit_data= ((int16_t)MSB<<8)|LSB; //concatenating to get 16 bit 2's complement of the required gyroscope values
+ data[i]=(float)bit_data;
+ data[i]=data[i]/senstivity; //dividing with senstivity to get the readings in deg/sec
+ data[i]+=error[i]; //adding with error to remove offset errors
+ }
+ ssn_gyr=1;
+ for (int i=0;i<3;i++)
+ {
+ printf("%f\t",data[i]); //printing the angular velocity values
+ }
+ printf("\n\r");
+ break;
+ }
+ drFlag=0;
+ }
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1|READFLAG); //sending address of PWR_MGMT_1 with readflag
+ response=spi_acs.write(DUMMYBIT);
+ ssn_gyr=1;
+ wait(0.1);
+
+ ssn_gyr=0;
+ spi_acs.write(PWR_MGMT_1); //sending PWR_MGMT_1 address to write to register
+ response=spi_acs.write(response|BIT_SLEEP); //setting the gyroscope in sleep mode
+ ssn_gyr=1;
+ wait(0.1);
+ printf("\n\rExited gyro\n\r");
+ return data;
+}
+
+
+
+
+
+
diff -r 000000000000 -r 7882d03f59e2 ACS.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ACS.h Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,12 @@ +#include "mbed.h" +#include "math.h" + +void FUNC_ACS_GENPWM(float *); +float * FUNC_ACS_MAG_EXEC(void); +void FUNC_ACS_MAG_INIT(); +//void Read_data_acs() +void moment_calc (float* , float* , float* ); +void FUNC_ACS_CNTRLALGO(float*,float*,float a[]); +float * FUNC_ACS_EXEC_GYR(); +void FUNC_ACS_INIT_GYR(); +
diff -r 000000000000 -r 7882d03f59e2 HK.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HK.cpp Thu Apr 09 22:44:39 2015 +0000
@@ -0,0 +1,229 @@
+#include "HK.h"
+#include "pin_config.h"
+
+
+//GPIO pins used=> D2-D12, A0-A1
+
+DigitalOut SelectLinesA[]={PIN43,PIN44,PIN45,PIN46}; //to mux1=>voltage mux , PTA 13-16 , CHNGE TO PIN43 LATER
+DigitalOut SelectLinesB[]={PIN56,PIN57,PIN58,PIN59}; //to mux2=>current mux(differential mux) , PTB 3,7,8,9
+DigitalOut SelectLinesC[]={PIN64,PIN65,PIN66,PIN67}; //to mux3=>temp mux PTB 18-21
+
+//--------------------------------------------MSB is SelectLines[0],LSB is SelectLines[3]--------------------------------
+
+AnalogIn CurrentInput(PIN53); // output from Current Mux PTB0
+AnalogIn VoltageInput(PIN54); // output from Voltage Multiplexer PTB1
+AnalogIn TemperatureInput(PIN55);
+
+
+int quantiz(float start,float step,float x) // accepts min and measured values and step->quantises on a scale 0-15..(4 bit quantisation)
+{
+ int y=(x-start)/step;
+ if(y<=0)y=0;
+ if(y>=15)y=15;
+ return y;
+}
+
+void init_beacon(ShortBeacy* x,SensorDataQuantised y)
+{
+ (*x).Voltage[0]=2;//quantised value
+ (*x).Temp[0]=y.PanelTemperature[0];//quantised value
+ (*x).Temp[1]=y.PanelTemperature[1];//quantised value
+ (*x).AngularSpeed[0]=y.AngularSpeed[0];
+ (*x).AngularSpeed[1]=y.AngularSpeed[1];
+
+ (*x).SubsystemStatus[0]=145;//dummy values----------to be changed-------------------
+ (*x).ErrorFlag[0]=3;//dummy values----------to be changed-------------------
+}
+
+SensorData Sensor;
+SensorDataQuantised SensorQuantised;
+ShortBeacy Shortbeacon;
+void FUNC_HK_MAIN()
+{
+ //define structure variables
+
+
+
+
+ //initialise all selectlines to zeroes->1st line of muxes selected
+ SelectLinesA[0]=SelectLinesA[1]=SelectLinesA[2]=SelectLinesA[3]=0;
+ SelectLinesB[0]=SelectLinesB[1]=SelectLinesB[2]=0;
+ SelectLinesC[0]=SelectLinesC[1]=SelectLinesC[2]=SelectLinesC[3]=0;
+
+ int LoopIterator;
+ int SelectLineIterator;
+
+ float resistance_thermistor,voltage_thermistor;//for thermistor
+
+ //measurement from voltage sensor=> 16 sensors in place
+ for(LoopIterator=0; LoopIterator<16; LoopIterator++)
+{
+ //following lines read the sensor values and stores them in 'SensorData' structure's variable 'Sensor'
+ Sensor.Voltage[LoopIterator]=(VoltageInput.read()*3.3*5.545454);//resistors in voltage divider=>15Mohm,3.3Mohm
+
+ if(LoopIterator%2==0)
+ SensorQuantised.Voltage[LoopIterator/2]=quantiz(vstart,vstep,Sensor.Voltage[LoopIterator]);
+
+ else
+ SensorQuantised.Voltage[(LoopIterator)/2]=SensorQuantised.Voltage[(LoopIterator)/2]<<4+quantiz(vstart,vstep,Sensor.Voltage[LoopIterator]);
+
+
+
+ // The following lines are used to iterate the select lines from 0 to 15
+ //following is an algorithm similar to counting binary numbers of 4 bit
+ for(SelectLineIterator=3;SelectLineIterator>=0;SelectLineIterator--)
+ {
+ if(SelectLinesA[SelectLineIterator]==0)
+ {
+ SelectLinesA[SelectLineIterator]=1;
+ break;
+ }
+ else SelectLinesA[SelectLineIterator]=0;
+
+ }
+
+
+ wait_us(10.0); // A delay of 10 microseconds between each sensor output. Can be changed.
+
+ }
+
+
+
+
+
+ //measurement from current sensor=> 8 sensors in place
+
+ for(LoopIterator=0; LoopIterator<8; LoopIterator++)
+{
+ //following lines read the sensor values and stores them in 'SensorData' structure variable 'Sensor'
+ Sensor.Current[LoopIterator]=(CurrentInput.read()*3.3/(50*rsens));
+ if(LoopIterator%2==0)
+ SensorQuantised.Current[LoopIterator/2]=quantiz(cstart,cstep,Sensor.Current[LoopIterator]);
+ else
+ SensorQuantised.Current[(LoopIterator)/2]=SensorQuantised.Current[(LoopIterator)/2]<<4+quantiz(cstart,cstep,Sensor.Current[LoopIterator]);
+
+
+ // The following lines are used to iterate the select lines from 0 to 7
+ //following is an algorithm similar to counting binary numbers of 3 bits
+ for(SelectLineIterator=2;SelectLineIterator>=0;SelectLineIterator--)
+ {
+ if(SelectLinesB[SelectLineIterator]==0)
+ {
+ SelectLinesB[SelectLineIterator]=1;
+ break;
+ }
+ else SelectLinesB[SelectLineIterator]=0;
+
+ }
+
+
+ wait_us(10.0); // A delay of 10 microseconds between each sensor output. Can be changed.
+
+}
+
+
+//measurement of temperature
+//temperature measurement=> 4 thermistors, 1 temperature sensor
+//mux line 1=>temp sensor, mux lines 2 to 5 =>thermistors
+
+ for(LoopIterator=0; LoopIterator<5; LoopIterator++)
+{
+
+ //following lines read the sensor values and stores them in 'SensorData' structure variable 'Sensor'
+ Sensor.Temperature[LoopIterator]=(-90.7*3.3*TemperatureInput.read()+190.1543);
+ voltage_thermistor=TemperatureInput.read()*3.3;//voltage across thermistor
+ resistance_thermistor=24000*voltage_thermistor/(3.3-voltage_thermistor);//resistance of thermistor
+ if (LoopIterator==0)
+ {
+ printf(" \n\rTemp =%f",-90.7*3.3*TemperatureInput.read()+190.1543);
+ //wait(2);
+ }
+
+ if(LoopIterator%2==0)
+ {
+ if(LoopIterator<1) //->corresponding to temperature sensor
+ SensorQuantised.Temperature[(LoopIterator)/2]=quantiz(tstart,tstep,Sensor.Temperature[LoopIterator]);
+
+ else //->corresponding to thermistor
+ {
+ if(voltage_thermistor<1.378) //Temperature>12 degC
+ Sensor.PanelTemperature[(LoopIterator-1)]=(3694/log(24.032242*resistance_thermistor));
+
+ else
+ Sensor.PanelTemperature[(LoopIterator-1)]=(3365.4792/log(7.60404*resistance_thermistor));
+
+
+ SensorQuantised.PanelTemperature[(LoopIterator-1)/2]=quantiz(tstart_thermistor,tstep_thermistor,Sensor.PanelTemperature[(LoopIterator-1)]);
+
+ }
+
+ }
+
+ else
+ {
+ if(LoopIterator<1)
+ SensorQuantised.Temperature[(LoopIterator)/2]=SensorQuantised.Temperature[(LoopIterator)/2]<<4+quantiz(tstart,tstep,Sensor.Temperature[LoopIterator]);
+
+ else
+ {
+ if(voltage_thermistor<1.378) //Temperature>12 degC
+ Sensor.PanelTemperature[LoopIterator-1]=(3694/log(24.032242*resistance_thermistor));
+
+
+ else
+ Sensor.PanelTemperature[LoopIterator-1]=(3365.4792/log(7.60404*resistance_thermistor));
+
+ SensorQuantised.PanelTemperature[(LoopIterator-1)/2]=SensorQuantised.PanelTemperature[(LoopIterator-1)/2]<<4+quantiz(tstart_thermistor,tstep_thermistor,Sensor.PanelTemperature[LoopIterator-1]);
+
+ }
+
+ }
+
+//strcpy(SensorQuantised.Voltage,"green");
+
+// The following lines are used to iterate the select lines from 0 to 4
+
+ //following is an algorithm similar to counting binary numbers of 4 bit
+ for(SelectLineIterator=3;SelectLineIterator>=0;SelectLineIterator--)
+ {
+ if(SelectLinesC[SelectLineIterator]==0)
+ {
+ SelectLinesC[SelectLineIterator]=1;
+ break;
+ }
+ else SelectLinesC[SelectLineIterator]=0;
+
+ }
+
+
+ wait_us(10.0); // A delay of 10 microseconds between each sensor output. Can be changed.
+
+}
+
+
+
+
+
+ //update magnetometer data->
+ //populate values in structure variable 'Sensor' from data to be given by Green
+ SensorQuantised.AngularSpeed[0]=quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[1]);
+ SensorQuantised.AngularSpeed[0]=SensorQuantised.AngularSpeed[0]<<4+quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[0]);
+ SensorQuantised.AngularSpeed[1]=quantiz(AngularSpeed_start,AngularSpeed_step,Sensor.AngularSpeed[2]);
+
+ //update gyro data->
+ //populate values in structure variable 'Sensor' from data to be given by Green
+ SensorQuantised.Bnewvalue[0]=quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[1]);
+ SensorQuantised.Bnewvalue[0]=SensorQuantised.Bnewvalue[0]<<4+quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[0]);
+ SensorQuantised.Bnewvalue[1]=quantiz(Bnewvalue_start,Bnewvalue_step,Sensor.Bnewvalue[2]);
+
+
+
+
+ //update beacon structure
+ init_beacon(&Shortbeacon,SensorQuantised);//Shortbeacon is passed
+ printf("\n here temperature :%d",SensorQuantised.Temperature);
+ // wait(5);
+}
+
+
+
diff -r 000000000000 -r 7882d03f59e2 HK.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/HK.h Thu Apr 09 22:44:39 2015 +0000
@@ -0,0 +1,69 @@
+//to be saved as HK.h
+
+#include "mbed.h"
+#define tstart -40
+#define tstep 8
+#define tstep_thermistor 8//verify!!
+#define tstart_thermistor -40
+#define vstart 3.3
+#define vstep 0.84667
+#define cstart 0.0691
+#define cstep 0.09133
+#define rsens 0.095
+#define Bnewvalue_start -100//in microTesla...max possible field is .0001 T
+#define Bnewvalue_step 13.333
+#define AngularSpeed_start -10//max possible ang. velocity in space is 10 deg/sec
+#define AngularSpeed_step 1.3333
+
+
+
+typedef struct SensorData
+{
+ float Voltage[16];
+ float Current[8];
+ float Temperature[1];
+ float PanelTemperature[4];
+ float BatteryTemperature; //to be populated
+ char faultpoll; //polled faults
+ char faultir; //interrupted faults
+ char power_mode; //power modes
+
+ float AngularSpeed[3]; //in order x,y,z
+ float Bnewvalue[3]; //in order Bx,By,Bz
+
+
+} SensorData;
+
+
+typedef struct SensorDataQuantised {
+ char Voltage[8];
+ char Current[4];
+ char Temperature[1];
+ char PanelTemperature[2];//read by the 4 thermistors on solar panels
+ char BatteryTemperature; //to be populated
+ char faultpoll; //polled faults
+ char faultir; //interrupted faults
+ char power_mode; //power modes
+ char AngularSpeed[2];
+ char Bnewvalue[2];
+
+ //float magnetometer,gyro=>to be addes
+} SensorDataQuantised;
+
+
+typedef struct ShortBeacon
+{
+ char Voltage[1]; //battery voltage from gauge, needs to be quantised
+ char AngularSpeed[2]; //all the 3 data
+ char SubsystemStatus[1]; //power modes
+ char Temp[2]; //temp of solar panel
+ //Temp[0]'s LSB=> PanelTemperature[0], Temp[0]'s MSB=> PanelTemperature[1], Temp[1]'s LSB=> PanelTemperature[2], Temp[1]'s MSB=> PanelTemperature[3]
+ char ErrorFlag[1]; //fault
+}ShortBeacy;
+
+
+
+void FUNC_HK_MAIN();
+
+int quantiz(float start,float step,float x);
+void init_beacon(ShortBeacy* x,SensorDataQuantised y);
diff -r 000000000000 -r 7882d03f59e2 MPU3300.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MPU3300.h Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,26 @@ +//MPU 3300 registers +#define SMPLRT_DIV 0x19 +#define CONFIG 0x1A +#define GYRO_CONFIG 0x1B +#define GYRO_XOUT_H 0x43 +#define GYRO_XOUT_L 0x44 +#define GYRO_YOUT_H 0x45 +#define GYRO_YOUT_L 0x46 +#define GYRO_ZOUT_H 0x47 +#define GYRO_ZOUT_L 0x48 +#define USER_CTRL 0x6A +#define PWR_MGMT_1 0x6B +#define INT_ENABLE 0x38 + +//MPU configuration bits +#define READFLAG 0x80 +#define DUMMYBIT 0x00 +#define BITS_DLPF_CFG 0x07 +#define BITS_FS_SEL_3 0x08 +#define BITS_FS_SEL_4 0x10 +#define BIT_I2C_IF_DIS 0x10 +#define BITS_SMPLRT_DIV 0x00 +#define BIT_SLEEP 0x40 +#define BIT_DATA_RDY_ENABLE 0x01 +#define BIT_DATA_RDY_INT 0x01 +#define BIT_CLKSEL_X 0x01
diff -r 000000000000 -r 7882d03f59e2 beacon.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/beacon.cpp Thu Apr 09 22:44:39 2015 +0000
@@ -0,0 +1,202 @@
+//switch off the sync!!!!!!!
+//switch off the preamble!!!!!!!
+/*for crc in tx:
+regIrq2(0x28) :
+
+regpacketconfig 1(0x37) :
+set crc detection/calc. on : | 0x10
+crcautoclearoff : | 0x08
+
+for data whitening : regpacketconfig 1(0x37) :| 0x40
+for
+
+
+
+*/
+// 6CC000 for 435 MHz
+//set all values as FF for checking on spectrum analyzer
+#include "beacon.h"
+#include "HK.h"
+Serial chavan(USBTX, USBRX); // tx, rx
+SPI spi(PTD6,PTD7,PTD5); // mosi, miso, sclk
+//DigitalOut cs_bar(PTC11); //slave select or chip select
+DigitalOut cs_bar(PIN6); //slave select or chip select
+
+//InterruptIn button(p9);
+//#define TIMES 16
+//Timer t;
+
+/*void interrupt_func()
+{
+ chavan.printf("INTERRUPT_FUNC TRIGGERED\n wait for 3 secs\n");
+ wait(3);
+
+}*/
+
+extern ShortBeacy Shortbeacon;
+void writereg(uint8_t reg,uint8_t val)
+{
+ cs_bar = 0;
+ spi.write(reg | 0x80);
+ spi.write(val);
+ cs_bar = 1;
+}
+uint8_t readreg(uint8_t reg)
+{
+ uint8_t val;
+ cs_bar = 0;
+ spi.write(reg & ~0x80);
+ val = spi.write(0);
+ cs_bar = 1;
+ return val;
+}
+
+void FUNC_BEA() {
+
+ //button.rise(&interrupt_func); //interrupt enabled ( rising edge of pin 9)
+ printf("\n\rBeacon function entered\n\r");
+ wait(0.02); //takes 10 ms for POR event + 10ms for safety
+
+ uint8_t byte_counter = 0;
+
+ /*struct Short_beacon{
+ uint8_t Voltage[1];
+ uint8_t AngularSpeed[2];
+ uint8_t SubsystemStatus[1];
+ uint8_t Temp[3];
+ uint8_t ErrorFlag[1];
+ }Shortbeacon = { {0x22}, {0x22, 0x33} , {0x00},{0x00,0x00,0x00}, {0xFE} };
+ */
+ //filling hk data
+ //ShortBeacon Shortbeacon;
+ uint8_t short_beacon[] = { 0xAB, 0x8A, 0xE2, 0xBB, 0xB8, 0xA2, 0x8E,Shortbeacon.Voltage[0],Shortbeacon.AngularSpeed[0], Shortbeacon.AngularSpeed[1],Shortbeacon.SubsystemStatus[0],Shortbeacon.Temp[0],Shortbeacon.Temp[1],Shortbeacon.Temp[2],Shortbeacon.ErrorFlag[0]};
+
+ //mask
+ //uint8_t mask[] = {0x80, 0x40, 0x20,0x10,0x8,0x4,0x2,0x1};
+
+ for(int i = 0; i < 15 ; i++)
+ {
+ chavan.printf("0x%X\n\r",(short_beacon[i]));
+ }
+
+ spi.format(8,0);
+ spi.frequency(10000000); //10MHz SCLK frequency(its max for rfm69hcw)
+ cs_bar = 1; // Chip must be deselected
+
+ //initialization
+ //Common configuration registers
+ writereg(0x01,0x04); //sequencer on,standby mode
+ writereg(0x02,0x08); //packet-mode used , ook modultion , no dc-shaping
+ writereg(0x03,0x68); //1200bps datarate
+ writereg(0x04,0x2B); //1200bps datarate
+ writereg(0x07,0x6C); //Frequency MSB
+ writereg(0x08,0xC0); //Frequency MID
+ writereg(0x09,0x00); //Frequency LSB ....6C C0 00 for 435 MHZ
+
+ //Transmitter registers
+ // RegPaLevel(default +13 dBm)
+
+ //IRQ and Pin Mapping Registers
+ //no DIO mapped yet
+ //regirq1(0x27): modeready (8th bit) will be checked for interrupts
+ //regIrq2(0x28): fifothresh (5th bit) ,packetsent(3rd bit) will be checked for interrupts
+
+ //Packet Engine Registers
+ writereg(0x2C,0x00); //set preamble
+ writereg(0x2D,0x0A); //set preamble
+ writereg(0x2E,0x80); //sync off
+ writereg(0x2F,0x5E); //sync word 1
+ writereg(0x37,0x08 | 0x40);// | 0x10); //packetconfig1, 0x40 for data whitening (only for testing)
+ writereg(0x38,0x00); //payload length = 0 ... unlimited payload mode
+ writereg(0x3C,0xB0); //fifothresh = 48 because we want it cleared once its 40!!!!
+ //Initialization complete
+
+ //while(chavan.getc() == 't'){
+ //t.start();
+ //Filling Data into FIFO 64 BYTES : eff.32 bits = 4bytes //fread
+ cs_bar = 0;
+ spi.write(0x80);//fifo write access
+ for(byte_counter=0 ; byte_counter<4; byte_counter++)
+ {
+ for(int i=7; i>=0 ; i--)
+ {
+ if((short_beacon[byte_counter] & (uint8_t) pow(2.0,i))!=0)
+ //if((short_beacon[byte_counter] & mask[i]) != 0)
+ {
+ spi.write(0xFF);
+ spi.write(0xFF);
+ }
+ else
+ {
+ spi.write(0x00);
+ spi.write(0x00);
+ }
+ }
+ }
+ cs_bar = 1; //cs_bar
+
+ //Check for fifoThresh
+ printf("\n\rfor loop executed\n\r");
+ while((readreg(0x28) & 0x20) != 0x20);
+ printf("\n\rwhile loop executed\n\r");
+ //Highpower settings
+ writereg(0x11,0x7F); //RegPalevel (20db) //~
+ writereg(0x13,0x0F); //RegOCP
+ writereg(0x5A,0x5D); //RegTestPa1
+ writereg(0x5C,0x7C); //RegTestPa2
+
+ //Set to Tx mode
+ writereg(0x01,0x0C);
+
+ printf("\n\rpre 2nd while loop\n\r");
+ //Check for fifoThresh
+ while((readreg(0x28) & 0x20) != 0x00);
+ printf("\n\r2nd while loop executed\n\r");
+ while(byte_counter!=15){
+
+ //writing again
+ cs_bar = 0;
+ spi.write(0x80);
+ for(int i=7; i>=0 ;i--)
+ {
+ if((short_beacon[byte_counter] & (uint8_t) pow(2.0,i))!=0)
+ //if((short_beacon[byte_counter] & mask[i]) != 0)
+ {
+ spi.write(0xFF);
+ spi.write(0xFF);
+ }
+ else
+ {
+ spi.write(0x00);
+ spi.write(0x00);
+ }
+ }
+ cs_bar = 1;
+ byte_counter++;
+
+ //Check for fifoThresh
+ while((readreg(0x28) & 0x20) != 0x00);
+ }
+ printf("\n\r3rd big while loop executed\n\r");
+ //wait for packet sent bit to fire
+ while((readreg(0x28) & 0x08) != 0x08);
+ printf("\n\r4th while loop executed\n\r");
+ //chavan.printf("packet sent!!! \n\r");
+
+ //Switch back to Standby Mode
+ writereg(0x01,0x04);
+
+ //Lowpowermode
+ writereg(0x11,0x9F); //RegPalevel (13db)
+ writereg(0x13,0x1A); //RegOCP
+ writereg(0x5A,0x55); //RegTestPa1(setting PA_BOOST on RFIO)
+ writereg(0x5C,0x70); //RegTestPa2(setting PA_BOOST on RFIO)
+
+ //wait for modeready
+ while((readreg(0x27)&0x80)!=0x80);
+
+ //t.stop();
+ //chavan.printf(" time taken to init + transmit = %f \n", t.read()) ;
+ //}
+printf("\n\rBeacon function exiting\n\r");
+}
diff -r 000000000000 -r 7882d03f59e2 beacon.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/beacon.h Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,5 @@ +#include "mbed.h" + +void writereg(uint8_t reg,uint8_t val); +uint8_t readreg(uint8_t reg); +void FUNC_BEA();
diff -r 000000000000 -r 7882d03f59e2 fault.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/fault.cpp Thu Apr 09 22:44:39 2015 +0000
@@ -0,0 +1,171 @@
+#include "fault.h"
+#include "HK.h"
+
+
+DigitalIn fault0(FAULT0,PullUp);
+DigitalIn fault1(FAULT1,PullUp);
+DigitalIn fault2(FAULT2,PullUp);
+DigitalIn fault3(FAULT3,PullUp);
+DigitalIn fault4(FAULT4,PullUp);
+//DigitalIn fault5(FAULT5,PullUp);
+//DigitalIn fault6(FAULT6,PullUp);
+//DigitalIn fault7(FAULT7,PullUp);
+//DigitalIn fault8(FAULT8,PullUp);
+
+
+InterruptIn fault_IR1(FAULT5);
+InterruptIn fault_IR2(FAULT6);
+InterruptIn fault_IR3(FAULT7);
+InterruptIn fault_IR4(FAULT8);
+InterruptIn fault_IR5(FAULT9);
+
+
+
+DigitalOut clear1(FAULT_CLEAR1,0);
+DigitalOut clear2(FAULT_CLEAR2,0);
+DigitalOut clear3(FAULT_CLEAR3,0);
+DigitalOut clear4(FAULT_CLEAR4,0);
+DigitalOut clear5(FAULT_CLEAR5);
+DigitalOut clear6(FAULT_CLEAR6);
+DigitalOut clear7(FAULT_CLEAR7);
+DigitalOut clear8(FAULT_CLEAR8);
+DigitalOut clear9(FAULT_CLEAR9);
+
+
+DigitalOut acs_active(ACS);
+
+
+BusIn fault_poll(FAULT0,FAULT1,FAULT2,FAULT3,FAULT4);
+BusIn fault_ir(FAULT5,FAULT6,FAULT7,FAULT8,FAULT9);
+
+BusOut clear_poll(FAULT_CLEAR1,FAULT_CLEAR2,FAULT_CLEAR3,FAULT_CLEAR4);//to send fault data along with hk
+BusOut clear_ir(FAULT_CLEAR5,FAULT_CLEAR6,FAULT_CLEAR7,FAULT_CLEAR8,FAULT_CLEAR9);
+
+
+extern SensorDataQuantised SensorQuantised;
+extern int beacon_sc; //to switch beacon between low and high power mode
+extern int acs_pflag; //to activate/deactivate control algo
+char out_poll;
+char out_ir;
+
+void FUNC_HK_FAULTS()
+{
+
+ printf("Entered Fault management \n");
+ /*if(fault0==0)printf("CHARGER IS CHARGING THE BATTERY ");
+ if(fault0==1)printf("CHRGER GONE OFFLINE, BATTERY DRAINING");
+
+ if(fault1==0)
+ { clear1=1;printf("");}
+ else
+ { clear1=0;}
+
+ if(fault2==0)
+ { clear2=1;printf("");}
+ else
+ { clear2=0;}
+
+ if(fault3==0)
+ { clear3=1;printf("");}
+ else
+ { clear3=0;}
+
+ if(fault4==0)
+ { clear4=1;printf("");}
+ else
+ { clear4=0;}*/
+
+
+
+
+
+
+
+
+ //clear1 = !fault1;
+ //clear2 = !fault2;
+ //clear3 = !fault3;
+ //clear4 = !fault4;
+ //clear5 = !fault5;
+ //clear6 = !fault6;
+ //clear7 = !fault7;
+ //clear8 = !fault8;
+
+
+ // out_poll = clear_poll;
+ //out_ir = clear_ir;
+ SensorQuantised.faultpoll = fault_poll ;
+ SensorQuantised.faultir=fault_ir ;
+ printf(" %d , %d \n ",SensorQuantised.faultpoll, SensorQuantised.faultir ) ;
+
+}
+
+
+
+void Clear_IR1()
+{clear5=!clear5;
+}
+
+void Clear_IR2()
+{clear6=!clear6;
+}
+
+void Clear_IR3()
+{clear7=!clear7;
+}
+
+void Clear_IR4()
+{clear8=!clear8;
+}
+
+void Clear_IR5()
+{clear9=!clear9;
+}
+
+void interrupt_fault()
+{
+ fault_IR1.rise(&Clear_IR1);
+ fault_IR2.rise(&Clear_IR2);
+ fault_IR3.rise(&Clear_IR3);
+ fault_IR4.rise(&Clear_IR4);
+ fault_IR5.rise(&Clear_IR5);
+ fault_IR1.fall(&Clear_IR1);
+ fault_IR2.fall(&Clear_IR2);
+ fault_IR3.fall(&Clear_IR3);
+ fault_IR4.fall(&Clear_IR4);
+ fault_IR5.fall(&Clear_IR5);
+}
+
+
+void FUNC_HK_POWER(char flag) //flag corresponds to the power mode
+{
+ printf("Entered Power Management \n");
+ printf("Entering mode %c \n", flag);
+ switch (flag)
+ {
+ case '0': beacon_sc = 6; //least power mode
+ acs_pflag = 0;
+ acs_active = 0; //switching off a component of acs
+ break;
+ case '1': beacon_sc = 3;
+ acs_pflag = 0;
+ acs_active = 0;
+ break;
+ case '2': beacon_sc = 3;
+ acs_pflag = 0;
+ acs_active = 0;
+ break;
+ case '3': beacon_sc = 3; //normal mode
+ acs_pflag = 1;
+ acs_active = 1;
+ break;
+ }
+ /* if (flag == '0')
+ beacon_sc = 30;
+ else
+ beacon_sc = 3;
+ if (flag == '3')
+ acs_pflag = 1;
+ else
+ acs_pflag = 0; */
+}
\ No newline at end of file
diff -r 000000000000 -r 7882d03f59e2 fault.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/fault.h Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,35 @@ +#include "mbed.h" +#include "pin_config.h" + +#define FAULT0 PIN31 +#define FAULT1 PIN42 // FAULTBAR +#define FAULT2 PIN40 // 3V3APGOOD +#define FAULT3 PIN39 // 3V3BPGOOD +#define FAULT4 PIN41 // 3V3CPGOOD +#define FAULT5 PTC23 // 3V3AOCBAR //changed here +#define FAULT6 PIN80 // 3V3COC +#define FAULT7 PIN38 // SW8FAULT /// to pin 97 later +#define FAULT8 PIN83 // SW6FAULT +#define FAULT9 PIN89 // SW7FAULT + +//CONTROL SIGNALS +#define FAULT_CLEAR1 D8 +#define FAULT_CLEAR2 D9 +#define FAULT_CLEAR3 D10 +#define FAULT_CLEAR4 D11 +#define FAULT_CLEAR5 D12 +#define FAULT_CLEAR6 D13 +#define FAULT_CLEAR7 PTC7 +#define FAULT_CLEAR8 PTC10 +#define FAULT_CLEAR9 PTC11 + + + +#define ACS PTE2 +#define TX PTE3 +#define PAYLOAD PTE6 + + +void FUNC_HK_FAULTS(); +void FUNC_HK_POWER(char flag); +void interrupt_fault(); \ No newline at end of file
diff -r 000000000000 -r 7882d03f59e2 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Apr 09 22:44:39 2015 +0000
@@ -0,0 +1,499 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "HK.h"
+#include "slave.h"
+#include "beacon.h"
+#include "ACS.h"
+#include "fault.h"
+#include "slave.h"
+#include "mnm.h"
+
+Serial pc(USBTX, USBRX);
+
+//extern DigitalOut DRDY;
+InterruptIn interrupt(PIN97);
+//InterruptIn master_reset(D8);
+
+
+Timer t; //To know the time of execution each thread
+Timer t1;
+ //To know the time of entering of each thread
+Timer t2;
+Timer t3;
+Timer t4;
+
+
+
+
+
+
+Thread *ptr_t_hk_acq;
+Thread *ptr_t_acs;
+//Thread *ptr_t_acs_write2flash;
+Thread *ptr_t_bea;
+//Thread *ptr_t_bea_telecommand;
+//Thread *ptr_t_fault;
+Thread *ptr_t_i2c;
+Thread *ptr_t_wdt;
+
+
+
+I2CSlave slave(PIN72,PIN71); //configuring pins p27, p28 as I2Cslave
+
+
+DigitalOut data_ready(PIN90);
+int i2c_status=0; //read/write mode for i2c 0 : write2slave, 1 : write2master
+int reset=0;
+int temp;
+
+typedef struct
+{
+ char data[25]; // To avoid dynamic memory allocation
+ int length;
+}i2c_data;
+
+
+
+
+
+
+//Mail<i2c_data,16> i2c_data_receive;
+Mail<i2c_data,16> i2c_data_send;
+
+//--------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK 2 : HK
+//--------------------------------------------------------------------------------------------------------------------------------------------------
+
+char hk_data[25];
+extern SensorDataQuantised SensorQuantised;
+void T_HK_ACQ(void const *args)
+{
+
+ while(1)
+ {
+ Thread::signal_wait(0x2);
+ SensorQuantised.power_mode='3';
+ printf("\n\rTHIS IS HK %f\n\r",t1.read());
+ t.start();
+ FUNC_HK_FAULTS();
+ FUNC_HK_POWER(SensorQuantised.power_mode); //The power mode algorithm is yet to be obtained
+ FUNC_HK_MAIN(); //Collecting HK data
+ //thread_2.signal_set(0x4);
+ //FUNC_I2C_SLAVE_MAIN(25);
+ FUNC_I2C_IR2CDMS();
+ t.stop();
+ printf("The time to execute hk_acq is %f seconds\n\r",t.read());
+ t.reset();
+ }
+}
+
+//---------------------------------------------------------------------------------------------------------------------------------------
+//TASK 1 : ACS
+//---------------------------------------------------------------------------------------------------------------------------------------
+
+int acs_pflag = 1;
+void T_ACS(void const *args)
+{
+ float *mag_field;
+ float *omega;
+ float mag_field1[3];
+ float omega1[1];
+ float tauc1[3];
+ float moment[3];
+ float *mnm_data;
+ while(1)
+ {
+ Thread::signal_wait(0x1);
+ printf("\n\rTHIS IS ACS %f\n\r",t1.read());
+ t.start();
+ mag_field= FUNC_ACS_MAG_EXEC(); //actual execution
+ omega = FUNC_ACS_EXEC_GYR();
+ printf("\n\r gyr 1 value %f",omega[0]);
+ mnm_data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
+ printf("\n\rmnm gyro values\n"); //printing the angular velocity and magnetic field values
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",mnm_data[i]);
+ }
+ printf("\n\r mnm mag values\n");
+ for(int i=3; i<6; i++) {
+ printf("%f\t",mnm_data[i]);
+ }
+ for(int i = 0 ; i<3;i++)
+ {
+ omega1[i] = mnm_data[i];
+ }
+ for( int i = 3;i<6;i++)
+ {
+ mag_field1[i-3] = mnm_data[i];
+ }
+ if(acs_pflag == 1)
+ {
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",mnm_data[i]);
+ }
+ FUNC_ACS_CNTRLALGO(mag_field1,omega1,tauc1);
+ printf("\n\r control algo values ");
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",tauc1[i]);
+ }
+ moment_calc (tauc1, mag_field1,moment);
+ printf("\n\r moment values ");
+ for(int i=0; i<3; i++)
+ {
+ printf("%f\t",moment[i]);
+ }
+
+ FUNC_ACS_GENPWM(moment);
+ }
+
+ t.reset();
+ }
+}/*
+void T_ACS_WRITE2FLASH(void const *args)
+{
+ while(1)
+ {
+ //printf("Writing in the flash\n\r");
+ osEvent evt = q_acs.get();
+ if(evt.status == osEventMail)
+ {
+ sensor_data *ptr = (sensor_data*)evt.value.p;
+ FUNC_ACS_WRITE2FLASH(ptr);
+ q_acs.free(ptr);
+ }
+ printf("Writing acs data in the flash\n\r");
+ }
+}
+
+*/
+//---------------------------------------------------BEACON--------------------------------------------------------------------------------------------
+
+int beac_flag=0; //To receive telecommand from ground.
+
+
+/*void T_BEA_TELECOMMAND(void const *args)
+{
+ char c = pc.getc();
+ if(c=='a')
+ {
+ printf("Telecommand detected\n\r");
+ beac_flag=1;
+ }
+}
+*/
+
+void T_BEA(void const *args)
+{
+
+ while(1)
+ {
+ Thread::signal_wait(0x3);
+ printf("\n\rTHIS IS BEACON %f\n\r",t1.read());
+ t.start();
+
+
+
+ FUNC_BEA();
+
+
+ if(beac_flag==1)
+ {
+ Thread::wait(600000);
+ beac_flag = 0;
+ }
+
+ printf("The time to execute beacon thread is %f seconds\n\r",t.read());
+ t.reset();
+ }
+}
+
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK 4 : FAULT MANAGEMENT
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//Dummy fault rectifier functions
+
+extern SensorDataQuantised SensorQuantised;
+
+
+/*void T_FAULT(void const *args)
+{
+ Sensor.power_mode='0';
+ while(1)
+ {
+ Thread :: signal_wait(0x2);
+ FAULTS();
+ POWER(Sensor.power_mode);
+ //Sensor.power_mode++; //testing ... should be removed
+ }
+}
+*/
+/*-------------------------------------------------------------------------------------------------------------------------------------------
+-------------------------------------------------------WATCHDOG----------------------------------------------------------------------------*/
+DigitalOut trigger(PIN63); // has to be changed
+void T_WDT(void const * args)
+{
+ trigger = 1;
+ while(true)
+ {
+ Thread::signal_wait(0x5); //signal set from scheduler or sthing. r RTOS timer nce the timing is finalized
+ printf("\n\rEntered WD\n\r");
+ trigger = !trigger;
+ }
+}
+
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+//TASK 5 : i2c data
+//---------------------------------------------------------------------------------------------------------------------------------------------------
+
+
+
+
+
+
+void FUNC_I2C_WRITE2CDMS(char *data, int length=1)
+{
+ int slave_status = 1;
+ //t2.stop();
+ if(interrupt ==1)
+ {
+
+ if(slave.receive() == 0)
+ t2.stop();
+ //t4.stop();
+ //printf("\n\r %d ",slave.receive());
+ if( slave.receive()==1)
+ {
+ t2.stop();
+
+ slave_status=slave.write(data,length);
+ t3.stop();
+
+ }
+ else if( slave.receive()==3 || slave.receive()==2)
+ {
+ t2.stop();
+ //t3.start();
+ slave_status=slave.read(data,length);
+ t3.stop();
+ }
+
+
+ }
+
+ printf("\n\r%d\r",t2.read_us());
+ t2.reset();
+ printf("\n\r%d\r",t3.read_us());
+ t3.reset();
+
+}
+
+char data_send[25],data_receive;
+void T_I2C_BAE(void const * args)
+{
+ //char data_send,data_receive;
+ while(1)
+ {
+ Thread::signal_wait(0x4);
+ // printf("\n\r entered thread");
+ if(i2c_status == 0 )
+ {
+ wait_ms(23);
+ FUNC_I2C_WRITE2CDMS(&data_receive,1);
+
+ /*i2c_data * i2c_data_r = i2c_data_receive.alloc();
+ i2c_data_r->data = data_receive;
+ i2c_data_r->length = 1;
+ i2c_data_receive.put(i2c_data_r);*/
+ printf("\n\r Data received from CDMS is %c \n\r",data_receive);
+ FUNC_I2C_TC_EXECUTE(data_receive); // This has to be done from a differen thread
+
+ }
+ else if(i2c_status ==1)
+ {
+ osEvent evt = i2c_data_send.get();
+ if (evt.status == osEventMail)
+ {
+ i2c_data *i2c_data_s = (i2c_data*)evt.value.p;
+ strcpy(data_send,i2c_data_s -> data);
+ wait_ms(29);
+ FUNC_I2C_WRITE2CDMS(data_send,25);
+ printf("\n\rData sent to CDMS is %s\n\r",data_send);
+
+ i2c_data_send.free(i2c_data_s);
+ i2c_status = 0;
+
+
+ }
+ }
+
+ }
+}
+
+
+
+void FUNC_I2C_INT()
+{
+
+ t2.start();
+ // t3.start();
+ ptr_t_i2c->signal_set(0x4);
+
+
+}
+
+void FUNC_I2C_IR2CDMS()
+{
+ data_ready=0;
+ //char data[25];
+ //strcpy(data,"sakthi ");
+ strcpy(hk_data,"hk_Data");
+ strcat(hk_data,SensorQuantised.Voltage);
+ strcat(hk_data,SensorQuantised.Current);
+ strcat(hk_data,SensorQuantised.Temperature);
+ strcat(hk_data,SensorQuantised.PanelTemperature);
+ strcat(hk_data,SensorQuantised.AngularSpeed);
+ strcat(hk_data,SensorQuantised.Bnewvalue);
+ char fdata[5] = {SensorQuantised.BatteryTemperature,SensorQuantised.faultpoll,SensorQuantised.faultir,SensorQuantised.power_mode};
+
+ /*strcat(hk_data,sfaultpoll);
+ strcat(hk_data,sfaultir);
+ strcat(hk_data,spower_mode);*/
+ strcat(hk_data,fdata);
+ printf("\n\r hk data being sent %s ",hk_data);
+ //for(int i=0;i<100000000000;i++)
+ //;
+
+ /*for(int d=0;d<23;d++) //was written just to check hk data
+ {
+ if(hk_data[d]>10)
+ printf("\n\rhk data : %d\n\r",hk_data[d]);
+ } */
+
+ //data = pcslave.getc();
+ reset =0;
+ i2c_status=1;
+ i2c_data * i2c_data_s = i2c_data_send.alloc();
+ strcpy(i2c_data_s->data,hk_data);
+ i2c_data_s->length = 25;
+ i2c_data_send.put(i2c_data_s);
+ data_ready=1;
+ //temp = i2c_status;
+}
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+//TELECOMMAND
+//------------------------------------------------------------------------------------------------------------------------------------------------
+void FUNC_I2C_TC_EXECUTE (char command)
+{ switch(command)
+ { case '0' : printf("command 0 executed");
+ break;
+ case '1' : printf("command 1 executed");
+ break;
+ case '2' : printf("command 2 executed");
+ break;
+ case '3' : printf("command 3 executed");
+ }
+}
+
+
+//------------------------------------------------------------------------------------------------------------------------------------------------
+//SCHEDULER
+//------------------------------------------------------------------------------------------------------------------------------------------------
+int beacon_sc = 3;
+uint16_t schedcount=1;
+void T_SC(void const *args)
+{
+ //DRDY=0;
+ printf("The value of i in scheduler is %d\n\r",schedcount);
+ if(schedcount == 65532) //to reset the counter
+ {
+ schedcount = 0;
+ }
+
+ if(schedcount%1==0)
+ {
+ // ptr_t_acs -> signal_set(0x1);
+ // ptr_t_wdt -> signal_set(0x5);
+ }
+ if(schedcount%2==0)
+ {
+ // ptr_t_fault -> signal_set(0x2);
+ ptr_t_hk_acq -> signal_set(0x2);
+
+ }
+ if(schedcount%beacon_sc==0)
+ {
+ if(beac_flag==0)
+ {
+
+// ptr_t_bea -> signal_set(0x3);
+ }
+ }
+ schedcount++;
+}
+
+//---------------------------------------------------------------------------------------------------------------------------------------------
+
+int main()
+{
+ t1.start();
+
+ //DRDY=0;
+ printf("\nahoy\n");
+ INIT_PNI();
+
+ FUNC_ACS_MAG_INIT();
+ FUNC_ACS_INIT_GYR();
+ slave.address(0x20);
+
+ ptr_t_hk_acq = new Thread(T_HK_ACQ);
+ ptr_t_acs = new Thread(T_ACS);
+ //ptr_t_acs_write2flash = new Thread(T_ACS_WRITE2FLASH);
+ ptr_t_bea = new Thread(T_BEA);
+ //ptr_t_bea_telecommand = new Thread(T_BEA_TELECOMMAND);
+ //ptr_t_fault = new Thread(T_FAULT);
+ ptr_t_i2c = new Thread(T_I2C_BAE);
+ //ptr_t_sc = new Thread(T_SC);
+ ptr_t_wdt = new Thread(T_WDT);
+
+ interrupt_fault();
+
+ //ptr_t_fault -> set_priority(osPriorityRealtime);
+ ptr_t_acs->set_priority(osPriorityAboveNormal);
+ ptr_t_i2c->set_priority(osPriorityHigh);
+ ptr_t_hk_acq->set_priority(osPriorityAboveNormal);
+ //ptr_t_acs_write2flash->set_priority(osPriorityBelowNormal);
+ ptr_t_bea->set_priority(osPriorityAboveNormal);
+ //ptr_t_bea_telecommand->set_priority(osPriorityIdle);
+ //ptr_t_sc->set_priority(osPriorityAboveNormal);
+ ptr_t_wdt -> set_priority(osPriorityIdle);
+
+
+ // ----------------------------------------------------------------------------------------------
+ //printf("\n\r T_FAULT priority is %d",ptr_t_fault->get_priority());
+ printf("\n\r T_ACS priority is %d",ptr_t_acs->get_priority());
+ printf("\n\r T_HK_ACQ priority is %d",ptr_t_hk_acq->get_priority());
+ //printf("\n\r T_ACS_WRITE2FLASH priority is %d",ptr_t_acs_write2flash->get_priority());
+ printf("\n\r T_BEA priority is %d",ptr_t_bea->get_priority());
+ RtosTimer t_sc_timer(T_SC,osTimerPeriodic);
+ t_sc_timer.start(10000);
+ printf("\n\r%f\n\r",t1.read());
+
+
+
+ //master_reset.fall(&FUNC_I2C_RESET);
+ interrupt.rise(&FUNC_I2C_INT);
+
+ while(1)
+ {
+ //Thread::wait(10000);
+ //ir2master();
+ //DRDY = 0;
+ Thread::wait(5000);
+ }
+
+}
diff -r 000000000000 -r 7882d03f59e2 mbed-rtos.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#13a25134ac60
diff -r 000000000000 -r 7882d03f59e2 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5 \ No newline at end of file
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
diff -r 000000000000 -r 7882d03f59e2 mnm.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mnm.h Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,3 @@ +void INIT_PNI(void); //initialization of registers happens +float *EXECUTE_PNI(); //data is obtained +void T_OUT(); //timeout function to stop infinite loop
diff -r 000000000000 -r 7882d03f59e2 pin_config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pin_config.h Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,101 @@ +// 100 LQFP format pin assignment +#define PIN1 PTE0 +#define PIN2 PTE1 +#define PIN3 PTE2 +#define PIN4 PTE3 +#define PIN5 PTE4 +#define PIN6 PTE5 +#define PIN7 PTE6 +//#define 8 +//#define 9 +//#define 10 +//#define 11 +//#define 12 +//#define 13 +#define PIN14 PTE16 +#define PIN15 PTE17 +#define PIN16 PTE18 +#define PIN17 PTE19 +#define PIN18 PTE20 +#define PIN19 PTE21 +#define PIN20 PTE22 +#define PIN21 PTE23 +//#define 22 +//#define 23 +//#define 24 +//#define 25 +#define PIN26 PTE29 +#define PIN27 PTE30 +#define PIN28 PTE31 +//#define 29 +//#define 30 +#define PIN31 PTE24 +#define PIN32 PTE25 +#define PIN33 PTE26 +#define PIN34 PTA0 +#define PIN35 PTA1 +#define PIN36 PTA2 +#define PIN37 PTA3 +#define PIN38 PTA4 +#define PIN39 PTA5 +#define PIN40 PTA6 +#define PIN41 PTA7 +#define PIN42 PTA12 +#define PIN43 PTA13 +#define PIN44 PTA14 +#define PIN45 PTA15 +#define PIN46 PTA16 +#define PIN47 PTA17 +//#define 48 +//#define 49 +#define PIN50 PTA18 +#define PIN51 PTA19 +#define PIN52 PTA20 +#define PIN53 PTB0 +#define PIN54 PTB1 +#define PIN55 PTB2 +#define PIN56 PTB3 +#define PIN57 PTB7 +#define PIN58 PTB8 +#define PIN59 PTB9 +#define PIN60 PTB10 +#define PIN61 PTB11 +#define PIN62 PTB16 +#define PIN63 PTB17 +#define PIN64 PTB18 +#define PIN65 PTB19 +#define PIN66 PTB20 +#define PIN67 PTB21 +#define PIN68 PTB22 +#define PIN69 PTB23 +#define PIN70 PTC0 +#define PIN71 PTC1 +#define PIN72 PTC2 +#define PIN73 PTC3 +//#define 74 +//#define 75 +#define PIN76 PTC20 +#define PIN77 PTC21 +#define PIN78 PTC22 +#define PIN79 PTC23 +#define PIN80 PTC4 +#define PIN81 PTC5 +#define PIN82 PTC6 +#define PIN83 PTC7 +#define PIN84 PTC8 +#define PIN85 PTC9 +#define PIN86 PTC10 +#define PIN87 PTC11 +#define PIN88 PTC12 +#define PIN89 PTC13 +#define PIN90 PTC16 +#define PIN91 PTC17 +#define PIN92 PTC18 +#define PIN93 PTD0 +#define PIN94 PTD1 +#define PIN95 PTD2 +#define PIN96 PTD3 +#define PIN97 PTD4 +#define PIN98 PTD5 +#define PIN99 PTD6 +#define PIN100 PTD7 \ No newline at end of file
diff -r 000000000000 -r 7882d03f59e2 pni.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pni.h Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,37 @@ +#define SLAVE_ADDR 0x50 +#define SLAVE_ADDR_READ 0x51 +#define SENTRALSTATUS 0x37 +#define RESETREQ 0x9B +#define MAGRATE 0x55 +#define ACCERATE 0x56 +#define GYRORATE 0x57 +#define QRATE_DIV 0x32 +#define ALGO_CTRL 0x54 +#define ENB_EVT 0x33 +#define HOST_CTRL 0x34 +#define EVT_STATUS 0x35 +#define ALGO_STATUS 0x38 +#define GYRO_XOUT_H 0x22 +#define MAG_XOUT_H 0X12 + +//Configaration bits +#define BIT_RESREQ 0x01 +#define BIT_EEP_DET 0x01 +#define BIT_EEP_UPDN 0x02 +#define BIT_EEP_UPERR 0x04 +#define BIT_EEP_IDLE 0x08 +#define BIT_EEP_NODET 0x10 +#define BIT_STBY 0x01 +#define BIT_RAW_ENB 0x02 +#define BIT_HPR_OUT 0x04 +#define BIT_CPU_RES 0x01 +#define BIT_ERR 0x02 +#define BIT_QRES 0x04 +#define BIT_MAG_RES 0x08 +#define BIT_ACC_RES 0x10 +#define BIT_GYRO_RES 0x20 +#define BIT_GYROODR 0x0F +#define BIT_MAGODR 0x64 +#define BIT_RUN_ENB 0x01 +#define BIT_ALGO_RAW 0x02 +#define BIT_EVT_ENB 0X2A \ No newline at end of file
diff -r 000000000000 -r 7882d03f59e2 slave.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/slave.h Thu Apr 09 22:44:39 2015 +0000 @@ -0,0 +1,12 @@ +#include "mbed.h" +#define WriteGeneral 3 +#define ReadAddressed 1 +#define slave_address 0x20 + + +void FUNC_I2C_WRITE2CDMS(char* ,int); +void FUNC_I2C_IR2CDMS(); +void FUNC_I2C_INT(); +void FUNC_I2C_RESET(); +void FUNC_I2C_TC_EXECUTE (char command) ; +