sakthi priya amirtharaj / Mbed 2 deprecated pcb_bae_v2_0

acs beacon and hk integrated

Dependencies:   mbed-rtos mbed

mnm.cpp@0:1a04c0beef21, 2015-05-16 (annotated)

Committer:
sakthipriya
Date:
Sat May 16 07:07:56 2015 +0000
Revision:
0:1a04c0beef21
acs beacon and hk integrated

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:1a04c0beef21 1 #include<mbed.h>
sakthipriya 0:1a04c0beef21 2 #include "mnm.h"
sakthipriya 0:1a04c0beef21 3 #include "pin_config.h"
sakthipriya 0:1a04c0beef21 4 #include "pni.h" //pni header file
sakthipriya 0:1a04c0beef21 5 Serial mnm(USBTX,USBRX); //for usb communication
sakthipriya 0:1a04c0beef21 6 I2C i2c (PIN85,PIN84); //PTC9-sda,PTC8-scl
sakthipriya 0:1a04c0beef21 7 /*void INIT_PNI(void); //initialization of registers happens
sakthipriya 0:1a04c0beef21 8 float *EXECUTE_PNI(); //data is obtained
sakthipriya 0:1a04c0beef21 9 void T_OUT(); //timeout function to stop infinite loop*/
sakthipriya 0:1a04c0beef21 10 Timeout to; //Timeout variable to
sakthipriya 0:1a04c0beef21 11 int toFlag;
sakthipriya 0:1a04c0beef21 12 void T_OUT()
sakthipriya 0:1a04c0beef21 13 {
sakthipriya 0:1a04c0beef21 14 toFlag=0; //as T_OUT function gets called the while loop gets terminated
sakthipriya 0:1a04c0beef21 15 }
sakthipriya 0:1a04c0beef21 16
sakthipriya 0:1a04c0beef21 17 //DEFINING VARIABLES
sakthipriya 0:1a04c0beef21 18 char cmd[2];
sakthipriya 0:1a04c0beef21 19 char raw_gyro[6];
sakthipriya 0:1a04c0beef21 20 char raw_mag[6];
sakthipriya 0:1a04c0beef21 21 char store,status;
sakthipriya 0:1a04c0beef21 22 int16_t bit_data;
sakthipriya 0:1a04c0beef21 23 float gyro_data[3], mag_data[3],combined_values[6],*data;
sakthipriya 0:1a04c0beef21 24 float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps
sakthipriya 0:1a04c0beef21 25 float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla
sakthipriya 0:1a04c0beef21 26 float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0};
sakthipriya 0:1a04c0beef21 27
sakthipriya 0:1a04c0beef21 28 Timer r0;
sakthipriya 0:1a04c0beef21 29 Timer r1;
sakthipriya 0:1a04c0beef21 30 Timer r2;
sakthipriya 0:1a04c0beef21 31 Timer r3;
sakthipriya 0:1a04c0beef21 32 Timer r4;
sakthipriya 0:1a04c0beef21 33
sakthipriya 0:1a04c0beef21 34
sakthipriya 0:1a04c0beef21 35 /*
sakthipriya 0:1a04c0beef21 36 int main(void)
sakthipriya 0:1a04c0beef21 37 {
sakthipriya 0:1a04c0beef21 38
sakthipriya 0:1a04c0beef21 39 INIT_PNI();
sakthipriya 0:1a04c0beef21 40 data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:1a04c0beef21 41 mnm.printf("gyro values\n"); //printing the angular velocity and magnetic field values
sakthipriya 0:1a04c0beef21 42 for(int i=0; i<3; i++) {
sakthipriya 0:1a04c0beef21 43 mnm.printf("%f\t",data[i]);
sakthipriya 0:1a04c0beef21 44 }
sakthipriya 0:1a04c0beef21 45 mnm.printf("mag values\n");
sakthipriya 0:1a04c0beef21 46 for(int i=3; i<6; i++) {
sakthipriya 0:1a04c0beef21 47 mnm.printf("%f\t",data[i]);
sakthipriya 0:1a04c0beef21 48 }
sakthipriya 0:1a04c0beef21 49 }*/
sakthipriya 0:1a04c0beef21 50
sakthipriya 0:1a04c0beef21 51 void INIT_PNI()
sakthipriya 0:1a04c0beef21 52 { r0.start();
sakthipriya 0:1a04c0beef21 53 cmd[0]=RESETREQ;
sakthipriya 0:1a04c0beef21 54 cmd[1]=BIT_RESREQ;
sakthipriya 0:1a04c0beef21 55 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:1a04c0beef21 56 r0.stop(); //When 0x01 is written in reset request register Emulates a hard power down/power up
sakthipriya 0:1a04c0beef21 57 wait_ms(2000); //waiting for loading configuration file stored in EEPROM
sakthipriya 0:1a04c0beef21 58 cmd[0]=SENTRALSTATUS;
sakthipriya 0:1a04c0beef21 59 r1.start();
sakthipriya 0:1a04c0beef21 60 i2c.write(SLAVE_ADDR,cmd,1);
sakthipriya 0:1a04c0beef21 61 i2c.read(SLAVE_ADDR_READ,&store,1);
sakthipriya 0:1a04c0beef21 62 r1.stop();
sakthipriya 0:1a04c0beef21 63 wait_ms(100);
sakthipriya 0:1a04c0beef21 64 //to check whether EEPROM is uploaded
sakthipriya 0:1a04c0beef21 65
sakthipriya 0:1a04c0beef21 66 /* switch((int)store) {
sakthipriya 0:1a04c0beef21 67 case(3): {
sakthipriya 0:1a04c0beef21 68 printf("\nstore :%d\n",store);
sakthipriya 0:1a04c0beef21 69 break;
sakthipriya 0:1a04c0beef21 70 }
sakthipriya 0:1a04c0beef21 71 case(11): {
sakthipriya 0:1a04c0beef21 72 printf("\nstore11 :%d\n",store);
sakthipriya 0:1a04c0beef21 73 break;
sakthipriya 0:1a04c0beef21 74 }
sakthipriya 0:1a04c0beef21 75 default: {
sakthipriya 0:1a04c0beef21 76 cmd[0]=RESETREQ;
sakthipriya 0:1a04c0beef21 77 cmd[1]=BIT_RESREQ;
sakthipriya 0:1a04c0beef21 78 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:1a04c0beef21 79 wait_ms(2000);
sakthipriya 0:1a04c0beef21 80 }
sakthipriya 0:1a04c0beef21 81 }*/
sakthipriya 0:1a04c0beef21 82 //mnm.printf("Sentral Status is %x\n",(int)store);
sakthipriya 0:1a04c0beef21 83 r2.start();
sakthipriya 0:1a04c0beef21 84 cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
sakthipriya 0:1a04c0beef21 85 cmd[1]=BIT_RUN_ENB;
sakthipriya 0:1a04c0beef21 86 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:1a04c0beef21 87 r2.stop();
sakthipriya 0:1a04c0beef21 88 wait_ms(100);
sakthipriya 0:1a04c0beef21 89 r3.start();
sakthipriya 0:1a04c0beef21 90 cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
sakthipriya 0:1a04c0beef21 91 cmd[1]=BIT_MAGODR;
sakthipriya 0:1a04c0beef21 92 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:1a04c0beef21 93 r3.stop();
sakthipriya 0:1a04c0beef21 94 wait_ms(100);
sakthipriya 0:1a04c0beef21 95 r4.start();
sakthipriya 0:1a04c0beef21 96 cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
sakthipriya 0:1a04c0beef21 97 cmd[1]=BIT_GYROODR;
sakthipriya 0:1a04c0beef21 98 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:1a04c0beef21 99 r4.stop();
sakthipriya 0:1a04c0beef21 100 wait_ms(100);
sakthipriya 0:1a04c0beef21 101 cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
sakthipriya 0:1a04c0beef21 102 cmd[1]=0x00;
sakthipriya 0:1a04c0beef21 103 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:1a04c0beef21 104 wait_ms(100);
sakthipriya 0:1a04c0beef21 105 cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values
sakthipriya 0:1a04c0beef21 106 cmd[1]=BIT_EVT_ENB;
sakthipriya 0:1a04c0beef21 107 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:1a04c0beef21 108 wait_ms(100);
sakthipriya 0:1a04c0beef21 109 printf("\n \r %d %d %d %d %d",r0.read_us(),r1.read_us(),r2.read_us(),r3.read_us(),r4.read_us());
sakthipriya 0:1a04c0beef21 110 }
sakthipriya 0:1a04c0beef21 111
sakthipriya 0:1a04c0beef21 112 float *EXECUTE_PNI()
sakthipriya 0:1a04c0beef21 113 {
sakthipriya 0:1a04c0beef21 114 //printf("\n\r mnm func \n");
sakthipriya 0:1a04c0beef21 115 toFlag=1; //toFlag is set to 1 so that it enters while loop
sakthipriya 0:1a04c0beef21 116 to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated
sakthipriya 0:1a04c0beef21 117 while(toFlag) {
sakthipriya 0:1a04c0beef21 118 cmd[0]=EVT_STATUS;
sakthipriya 0:1a04c0beef21 119 i2c.write(SLAVE_ADDR,cmd,1);
sakthipriya 0:1a04c0beef21 120 i2c.read(SLAVE_ADDR_READ,&status,1);
sakthipriya 0:1a04c0beef21 121 wait_ms(100);
sakthipriya 0:1a04c0beef21 122 //mnm.printf("\nEvent Status is %x\n",(int)status);
sakthipriya 0:1a04c0beef21 123 //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take
sakthipriya 0:1a04c0beef21 124 if(((int)status&40)==40) {
sakthipriya 0:1a04c0beef21 125 printf("\nin if of mnm\n");
sakthipriya 0:1a04c0beef21 126 cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x
sakthipriya 0:1a04c0beef21 127 i2c.write(SLAVE_ADDR,cmd,1);
sakthipriya 0:1a04c0beef21 128 i2c.read(SLAVE_ADDR_READ,raw_gyro,6);
sakthipriya 0:1a04c0beef21 129 cmd[0]=MAG_XOUT_H; //LSB of x
sakthipriya 0:1a04c0beef21 130 i2c.write(SLAVE_ADDR,cmd,1);
sakthipriya 0:1a04c0beef21 131 i2c.read(SLAVE_ADDR_READ,raw_mag,6);
sakthipriya 0:1a04c0beef21 132 //mnm.printf("\nGyro Values:\n");
sakthipriya 0:1a04c0beef21 133 for(int i=0; i<3; i++) {
sakthipriya 0:1a04c0beef21 134 //concatenating gyro LSB and MSB to get 16 bit signed data values
sakthipriya 0:1a04c0beef21 135 bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i];
sakthipriya 0:1a04c0beef21 136 gyro_data[i]=(float)bit_data;
sakthipriya 0:1a04c0beef21 137 gyro_data[i]=gyro_data[i]/senstivity_gyro;
sakthipriya 0:1a04c0beef21 138 gyro_data[i]+=gyro_error[i];
sakthipriya 0:1a04c0beef21 139 //mnm.printf("%f\t",gyro_data[i]);
sakthipriya 0:1a04c0beef21 140 }
sakthipriya 0:1a04c0beef21 141 //mnm.printf("\nMag Values:\n");
sakthipriya 0:1a04c0beef21 142 for(int i=0; i<3; i++) {
sakthipriya 0:1a04c0beef21 143 //concatenating mag LSB and MSB to get 16 bit signed data values
sakthipriya 0:1a04c0beef21 144 bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i];
sakthipriya 0:1a04c0beef21 145 mag_data[i]=(float)bit_data;
sakthipriya 0:1a04c0beef21 146 mag_data[i]=mag_data[i]/senstivity_mag;
sakthipriya 0:1a04c0beef21 147 mag_data[i]+=mag_error[i];
sakthipriya 0:1a04c0beef21 148 //mnm.printf("%f\t",mag_data[i]);
sakthipriya 0:1a04c0beef21 149 }
sakthipriya 0:1a04c0beef21 150 for(int i=0; i<3; i++) {
sakthipriya 0:1a04c0beef21 151 combined_values[i]=gyro_data[i];
sakthipriya 0:1a04c0beef21 152 combined_values[i+3]=mag_data[i];
sakthipriya 0:1a04c0beef21 153 }
sakthipriya 0:1a04c0beef21 154 return(combined_values); //returning poiter combined values
sakthipriya 0:1a04c0beef21 155 }
sakthipriya 0:1a04c0beef21 156 //checking for the error
sakthipriya 0:1a04c0beef21 157
sakthipriya 0:1a04c0beef21 158 else if (((int)status&2)==2) {
sakthipriya 0:1a04c0beef21 159 INIT_PNI(); //when there is any error then Again inilization is done to remove error
sakthipriya 0:1a04c0beef21 160 }
sakthipriya 0:1a04c0beef21 161
sakthipriya 0:1a04c0beef21 162
sakthipriya 0:1a04c0beef21 163 }
sakthipriya 0:1a04c0beef21 164 }