sakthi priya amirtharaj / Mbed 2 deprecated pcb_test_vr1_1_4

beacon on/off implemented and working

Dependencies:   mbed-rtos mbed

Fork of i2c_configuring by sakthi priya amirtharaj

mnm.cpp@6:4fd79755f4c9, 2015-05-17 (annotated)

Committer:
sakthipriya
Date:
Sun May 17 19:40:48 2015 +0000
Revision:
6:4fd79755f4c9
Parent:
0:e91ee0e99213 
beacon on/off implemented and working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sakthipriya 0:e91ee0e99213 1 #include<mbed.h>
sakthipriya 0:e91ee0e99213 2 #include "mnm.h"
sakthipriya 0:e91ee0e99213 3 #include "pin_config.h"
sakthipriya 0:e91ee0e99213 4 #include "pni.h" //pni header file
sakthipriya 0:e91ee0e99213 5 Serial mnm(USBTX,USBRX); //for usb communication
sakthipriya 0:e91ee0e99213 6 I2C i2c (PIN85,PIN84); //PTC9-sda,PTC8-scl
sakthipriya 0:e91ee0e99213 7 /*void INIT_PNI(void); //initialization of registers happens
sakthipriya 0:e91ee0e99213 8 float *EXECUTE_PNI(); //data is obtained
sakthipriya 0:e91ee0e99213 9 void T_OUT(); //timeout function to stop infinite loop*/
sakthipriya 0:e91ee0e99213 10 Timeout to; //Timeout variable to
sakthipriya 0:e91ee0e99213 11 int toFlag;
sakthipriya 0:e91ee0e99213 12 void T_OUT()
sakthipriya 0:e91ee0e99213 13 {
sakthipriya 0:e91ee0e99213 14 toFlag=0; //as T_OUT function gets called the while loop gets terminated
sakthipriya 0:e91ee0e99213 15 }
sakthipriya 0:e91ee0e99213 16
sakthipriya 0:e91ee0e99213 17 //DEFINING VARIABLES
sakthipriya 0:e91ee0e99213 18 char cmd[2];
sakthipriya 0:e91ee0e99213 19 char raw_gyro[6];
sakthipriya 0:e91ee0e99213 20 char raw_mag[6];
sakthipriya 0:e91ee0e99213 21 char store,status;
sakthipriya 0:e91ee0e99213 22 int16_t bit_data;
sakthipriya 0:e91ee0e99213 23 float gyro_data[3], mag_data[3],combined_values[6],*data;
sakthipriya 0:e91ee0e99213 24 float senstivity_gyro =6.5536; //senstivity is obtained from 2^15/5000dps
sakthipriya 0:e91ee0e99213 25 float senstivity_mag =32.768; //senstivity is obtained from 2^15/1000microtesla
sakthipriya 0:e91ee0e99213 26 float gyro_error[3]= {0,0,0}, mag_error[3]= {0,0,0};
sakthipriya 0:e91ee0e99213 27
sakthipriya 0:e91ee0e99213 28 Timer r0;
sakthipriya 0:e91ee0e99213 29 Timer r1;
sakthipriya 0:e91ee0e99213 30 Timer r2;
sakthipriya 0:e91ee0e99213 31 Timer r3;
sakthipriya 0:e91ee0e99213 32 Timer r4;
sakthipriya 0:e91ee0e99213 33
sakthipriya 0:e91ee0e99213 34
sakthipriya 0:e91ee0e99213 35 /*
sakthipriya 0:e91ee0e99213 36 int main(void)
sakthipriya 0:e91ee0e99213 37 {
sakthipriya 0:e91ee0e99213 38
sakthipriya 0:e91ee0e99213 39 INIT_PNI();
sakthipriya 0:e91ee0e99213 40 data=EXECUTE_PNI(); //the angular velocity is stored in the first 3 values and magnetic field values in next 3
sakthipriya 0:e91ee0e99213 41 mnm.printf("gyro values\n"); //printing the angular velocity and magnetic field values
sakthipriya 0:e91ee0e99213 42 for(int i=0; i<3; i++) {
sakthipriya 0:e91ee0e99213 43 mnm.printf("%f\t",data[i]);
sakthipriya 0:e91ee0e99213 44 }
sakthipriya 0:e91ee0e99213 45 mnm.printf("mag values\n");
sakthipriya 0:e91ee0e99213 46 for(int i=3; i<6; i++) {
sakthipriya 0:e91ee0e99213 47 mnm.printf("%f\t",data[i]);
sakthipriya 0:e91ee0e99213 48 }
sakthipriya 0:e91ee0e99213 49 }*/
sakthipriya 0:e91ee0e99213 50
sakthipriya 0:e91ee0e99213 51 void INIT_PNI()
sakthipriya 0:e91ee0e99213 52 { r0.start();
sakthipriya 0:e91ee0e99213 53 cmd[0]=RESETREQ;
sakthipriya 0:e91ee0e99213 54 cmd[1]=BIT_RESREQ;
sakthipriya 0:e91ee0e99213 55 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:e91ee0e99213 56 r0.stop(); //When 0x01 is written in reset request register Emulates a hard power down/power up
sakthipriya 0:e91ee0e99213 57 wait_ms(2000); //waiting for loading configuration file stored in EEPROM
sakthipriya 0:e91ee0e99213 58 cmd[0]=SENTRALSTATUS;
sakthipriya 0:e91ee0e99213 59 r1.start();
sakthipriya 0:e91ee0e99213 60 i2c.write(SLAVE_ADDR,cmd,1);
sakthipriya 0:e91ee0e99213 61 i2c.read(SLAVE_ADDR_READ,&store,1);
sakthipriya 0:e91ee0e99213 62 r1.stop();
sakthipriya 0:e91ee0e99213 63 wait_ms(100);
sakthipriya 0:e91ee0e99213 64 //to check whether EEPROM is uploaded
sakthipriya 0:e91ee0e99213 65
sakthipriya 0:e91ee0e99213 66 /* switch((int)store) {
sakthipriya 0:e91ee0e99213 67 case(3): {
sakthipriya 0:e91ee0e99213 68 printf("\nstore :%d\n",store);
sakthipriya 0:e91ee0e99213 69 break;
sakthipriya 0:e91ee0e99213 70 }
sakthipriya 0:e91ee0e99213 71 case(11): {
sakthipriya 0:e91ee0e99213 72 printf("\nstore11 :%d\n",store);
sakthipriya 0:e91ee0e99213 73 break;
sakthipriya 0:e91ee0e99213 74 }
sakthipriya 0:e91ee0e99213 75 default: {
sakthipriya 0:e91ee0e99213 76 cmd[0]=RESETREQ;
sakthipriya 0:e91ee0e99213 77 cmd[1]=BIT_RESREQ;
sakthipriya 0:e91ee0e99213 78 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:e91ee0e99213 79 wait_ms(2000);
sakthipriya 0:e91ee0e99213 80 }
sakthipriya 0:e91ee0e99213 81 }*/
sakthipriya 0:e91ee0e99213 82 //mnm.printf("Sentral Status is %x\n",(int)store);
sakthipriya 0:e91ee0e99213 83 r2.start();
sakthipriya 0:e91ee0e99213 84 cmd[0]=HOST_CTRL; //0x01 is written in HOST CONTROL register to enable the sensors
sakthipriya 0:e91ee0e99213 85 cmd[1]=BIT_RUN_ENB;
sakthipriya 0:e91ee0e99213 86 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:e91ee0e99213 87 r2.stop();
sakthipriya 0:e91ee0e99213 88 wait_ms(100);
sakthipriya 0:e91ee0e99213 89 r3.start();
sakthipriya 0:e91ee0e99213 90 cmd[0]=MAGRATE; //Output data rate of 100Hz is used for magnetometer
sakthipriya 0:e91ee0e99213 91 cmd[1]=BIT_MAGODR;
sakthipriya 0:e91ee0e99213 92 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:e91ee0e99213 93 r3.stop();
sakthipriya 0:e91ee0e99213 94 wait_ms(100);
sakthipriya 0:e91ee0e99213 95 r4.start();
sakthipriya 0:e91ee0e99213 96 cmd[0]=GYRORATE; //Output data rate of 150Hz is used for gyroscope
sakthipriya 0:e91ee0e99213 97 cmd[1]=BIT_GYROODR;
sakthipriya 0:e91ee0e99213 98 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:e91ee0e99213 99 r4.stop();
sakthipriya 0:e91ee0e99213 100 wait_ms(100);
sakthipriya 0:e91ee0e99213 101 cmd[0]=ALGO_CTRL; //When 0x00 is written to ALGO CONTROL register we get scaled sensor values
sakthipriya 0:e91ee0e99213 102 cmd[1]=0x00;
sakthipriya 0:e91ee0e99213 103 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:e91ee0e99213 104 wait_ms(100);
sakthipriya 0:e91ee0e99213 105 cmd[0]=ENB_EVT; //enabling the error,gyro values and magnetometer values
sakthipriya 0:e91ee0e99213 106 cmd[1]=BIT_EVT_ENB;
sakthipriya 0:e91ee0e99213 107 i2c.write(SLAVE_ADDR,cmd,2);
sakthipriya 0:e91ee0e99213 108 wait_ms(100);
sakthipriya 0:e91ee0e99213 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:e91ee0e99213 110 }
sakthipriya 0:e91ee0e99213 111
sakthipriya 0:e91ee0e99213 112 float *EXECUTE_PNI()
sakthipriya 0:e91ee0e99213 113 {
sakthipriya 0:e91ee0e99213 114 //printf("\n\r mnm func \n");
sakthipriya 0:e91ee0e99213 115 toFlag=1; //toFlag is set to 1 so that it enters while loop
sakthipriya 0:e91ee0e99213 116 to.attach(&T_OUT,2); //after 2 seconds the while loop gets terminated
sakthipriya 0:e91ee0e99213 117 while(toFlag) {
sakthipriya 0:e91ee0e99213 118 cmd[0]=EVT_STATUS;
sakthipriya 0:e91ee0e99213 119 i2c.write(SLAVE_ADDR,cmd,1);
sakthipriya 0:e91ee0e99213 120 i2c.read(SLAVE_ADDR_READ,&status,1);
sakthipriya 0:e91ee0e99213 121 wait_ms(100);
sakthipriya 0:e91ee0e99213 122 //mnm.printf("\nEvent Status is %x\n",(int)status);
sakthipriya 0:e91ee0e99213 123 //if the 6th and 4th bit are 1 then it implies that gyro and magnetometer values are ready to take
sakthipriya 0:e91ee0e99213 124 if(((int)status&40)==40) {
sakthipriya 0:e91ee0e99213 125 printf("\nin if of mnm\n");
sakthipriya 0:e91ee0e99213 126 cmd[0]=GYRO_XOUT_H; //0x22 gyro LSB of x
sakthipriya 0:e91ee0e99213 127 i2c.write(SLAVE_ADDR,cmd,1);
sakthipriya 0:e91ee0e99213 128 i2c.read(SLAVE_ADDR_READ,raw_gyro,6);
sakthipriya 0:e91ee0e99213 129 cmd[0]=MAG_XOUT_H; //LSB of x
sakthipriya 0:e91ee0e99213 130 i2c.write(SLAVE_ADDR,cmd,1);
sakthipriya 0:e91ee0e99213 131 i2c.read(SLAVE_ADDR_READ,raw_mag,6);
sakthipriya 0:e91ee0e99213 132 //mnm.printf("\nGyro Values:\n");
sakthipriya 0:e91ee0e99213 133 for(int i=0; i<3; i++) {
sakthipriya 0:e91ee0e99213 134 //concatenating gyro LSB and MSB to get 16 bit signed data values
sakthipriya 0:e91ee0e99213 135 bit_data= ((int16_t)raw_gyro[2*i+1]<<8)|(int16_t)raw_gyro[2*i];
sakthipriya 0:e91ee0e99213 136 gyro_data[i]=(float)bit_data;
sakthipriya 0:e91ee0e99213 137 gyro_data[i]=gyro_data[i]/senstivity_gyro;
sakthipriya 0:e91ee0e99213 138 gyro_data[i]+=gyro_error[i];
sakthipriya 0:e91ee0e99213 139 //mnm.printf("%f\t",gyro_data[i]);
sakthipriya 0:e91ee0e99213 140 }
sakthipriya 0:e91ee0e99213 141 //mnm.printf("\nMag Values:\n");
sakthipriya 0:e91ee0e99213 142 for(int i=0; i<3; i++) {
sakthipriya 0:e91ee0e99213 143 //concatenating mag LSB and MSB to get 16 bit signed data values
sakthipriya 0:e91ee0e99213 144 bit_data= ((int16_t)raw_mag[2*i+1]<<8)|(int16_t)raw_mag[2*i];
sakthipriya 0:e91ee0e99213 145 mag_data[i]=(float)bit_data;
sakthipriya 0:e91ee0e99213 146 mag_data[i]=mag_data[i]/senstivity_mag;
sakthipriya 0:e91ee0e99213 147 mag_data[i]+=mag_error[i];
sakthipriya 0:e91ee0e99213 148 //mnm.printf("%f\t",mag_data[i]);
sakthipriya 0:e91ee0e99213 149 }
sakthipriya 0:e91ee0e99213 150 for(int i=0; i<3; i++) {
sakthipriya 0:e91ee0e99213 151 combined_values[i]=gyro_data[i];
sakthipriya 0:e91ee0e99213 152 combined_values[i+3]=mag_data[i];
sakthipriya 0:e91ee0e99213 153 }
sakthipriya 0:e91ee0e99213 154 return(combined_values); //returning poiter combined values
sakthipriya 0:e91ee0e99213 155 }
sakthipriya 0:e91ee0e99213 156 //checking for the error
sakthipriya 0:e91ee0e99213 157
sakthipriya 0:e91ee0e99213 158 else if (((int)status&2)==2) {
sakthipriya 0:e91ee0e99213 159 INIT_PNI(); //when there is any error then Again inilization is done to remove error
sakthipriya 0:e91ee0e99213 160 }
sakthipriya 0:e91ee0e99213 161
sakthipriya 0:e91ee0e99213 162
sakthipriya 0:e91ee0e99213 163 }
sakthipriya 0:e91ee0e99213 164 }