Diff: mnm.cpp

Revision:

0:e91ee0e99213

diff -r 000000000000 -r e91ee0e99213 mnm.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mnm.cpp	Tue Apr 07 16:11:54 2015 +0000
@@ -0,0 +1,164 @@
+#include<mbed.h>
+#include "mnm.h"
+#include "pin_config.h"
+#include "pni.h" //pni header file
+Serial mnm(USBTX,USBRX); //for usb communication
+I2C i2c (PIN85,PIN84); //PTC9-sda,PTC8-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
+        }
+        
+        
+    }
+}
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