Suresh Susurla / Mbed 2 deprecated magnetomete_new

RM3000

Dependencies:   mbed

Fork of magnetomete_new by GOPA KUMAR K C

main.cpp@1:953885edf7a7, 2015-04-05 (annotated)

Committer:
sureshsusurla
Date:
Sun Apr 05 07:51:03 2015 +0000
Revision:
1:953885edf7a7
Parent:
0:ac874e417fac 
mAG_RM3000

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sureshsusurla 1:953885edf7a7 1 //magnetometer V1.2
gkumar 0:ac874e417fac 2
gkumar 0:ac874e417fac 3 #include "mbed.h"
gkumar 0:ac874e417fac 4 #include "SPI.h"
gkumar 0:ac874e417fac 5 #include "math.h"
gkumar 0:ac874e417fac 6 #include "stdlib.h"
gkumar 0:ac874e417fac 7 Serial pc(USBTX,USBRX);
sureshsusurla 1:953885edf7a7 8 SPI spi(PTE18,PTE19,PTE17); //MOSI,MISO,SCLK
sureshsusurla 1:953885edf7a7 9 DigitalOut SSN_MAG(PTB11); //SLAVE SELECT
sureshsusurla 1:953885edf7a7 10 DigitalIn DRDY(PTA17);
gkumar 0:ac874e417fac 11 Timeout tr_mag;
gkumar 0:ac874e417fac 12 uint8_t trflag_mag;
gkumar 0:ac874e417fac 13 void trsub_mag();
gkumar 0:ac874e417fac 14 //void end();
gkumar 0:ac874e417fac 15
sureshsusurla 1:953885edf7a7 16 /*void end()
sureshsusurla 1:953885edf7a7 17 {
sureshsusurla 1:953885edf7a7 18 pc.printf("varun");
sureshsusurla 1:953885edf7a7 19 exit(1);
sureshsusurla 1:953885edf7a7 20
sureshsusurla 1:953885edf7a7 21 }*/
gkumar 0:ac874e417fac 22 void trsub_mag()
gkumar 0:ac874e417fac 23 {
gkumar 0:ac874e417fac 24 trflag_mag=0;
gkumar 0:ac874e417fac 25 }
gkumar 0:ac874e417fac 26
gkumar 0:ac874e417fac 27
gkumar 0:ac874e417fac 28 void FUNC_ACS_MAGNETOMETER_INIT();
gkumar 0:ac874e417fac 29 void FUNC_ACS_MAGNETOMETER_EXECUTE();
gkumar 0:ac874e417fac 30
gkumar 0:ac874e417fac 31 void main()
gkumar 0:ac874e417fac 32 {
gkumar 0:ac874e417fac 33
gkumar 0:ac874e417fac 34 FUNC_ACS_MAGNETOMETER_INIT();
gkumar 0:ac874e417fac 35 while(1)
sureshsusurla 1:953885edf7a7 36 {pc.printf("start\n");
gkumar 0:ac874e417fac 37 FUNC_ACS_MAGNETOMETER_EXECUTE();
gkumar 0:ac874e417fac 38
sureshsusurla 1:953885edf7a7 39 } }
gkumar 0:ac874e417fac 40
gkumar 0:ac874e417fac 41 void FUNC_ACS_MAGNETOMETER_INIT()
gkumar 0:ac874e417fac 42 {
gkumar 0:ac874e417fac 43
gkumar 0:ac874e417fac 44 SSN_MAG=1; //pin is disabled
gkumar 0:ac874e417fac 45 spi.format(8,0); // 8bits,Mode 0
gkumar 0:ac874e417fac 46 spi.frequency(100000); //clock frequency
gkumar 0:ac874e417fac 47
gkumar 0:ac874e417fac 48 SSN_MAG=0; // Selecting pin
gkumar 0:ac874e417fac 49 wait_ms(100); //accounts for delay.can be minimised.
gkumar 0:ac874e417fac 50
gkumar 0:ac874e417fac 51 spi.write(0x83); //
gkumar 0:ac874e417fac 52
gkumar 0:ac874e417fac 53 wait_ms(100);
gkumar 0:ac874e417fac 54
gkumar 0:ac874e417fac 55 unsigned char i;
gkumar 0:ac874e417fac 56 for(i=0;i<3;i++)//initialising values.
gkumar 0:ac874e417fac 57 {
gkumar 0:ac874e417fac 58 spi.write(0x00); //MSB of X,y,Z
gkumar 0:ac874e417fac 59 spi.write(0xc8); //LSB of X,Y,z;pointer increases automatically.
gkumar 0:ac874e417fac 60 }
gkumar 0:ac874e417fac 61 SSN_MAG=1;
gkumar 0:ac874e417fac 62
gkumar 0:ac874e417fac 63 }
gkumar 0:ac874e417fac 64
gkumar 0:ac874e417fac 65 void FUNC_ACS_MAGNETOMETER_EXECUTE()
gkumar 0:ac874e417fac 66 {
sureshsusurla 1:953885edf7a7 67 SSN_MAG=0; //enabling slave to measure the values
sureshsusurla 1:953885edf7a7 68 wait_ms(100);
sureshsusurla 1:953885edf7a7 69 spi.write(0x82); //initiates measurement
sureshsusurla 1:953885edf7a7 70 wait_ms(100);
sureshsusurla 1:953885edf7a7 71 spi.write(0x01); //selecting x,y and z axes, measurement starts now
sureshsusurla 1:953885edf7a7 72 SSN_MAG=1;
sureshsusurla 1:953885edf7a7 73
gkumar 0:ac874e417fac 74
sureshsusurla 1:953885edf7a7 75 trflag_mag=1;
sureshsusurla 1:953885edf7a7 76 tr_mag.attach(&trsub_mag,1);
sureshsusurla 1:953885edf7a7 77
sureshsusurla 1:953885edf7a7 78 while(trflag_mag)
sureshsusurla 1:953885edf7a7 79 {
sureshsusurla 1:953885edf7a7 80 if(DRDY==1)
sureshsusurla 1:953885edf7a7 81 {wait_ms(100);
sureshsusurla 1:953885edf7a7 82 SSN_MAG=0;
sureshsusurla 1:953885edf7a7 83 spi.write(0xc9);
sureshsusurla 1:953885edf7a7 84 pc.printf(" ye"); //command byte for retrieving data
sureshsusurla 1:953885edf7a7 85
sureshsusurla 1:953885edf7a7 86 unsigned char axis;
sureshsusurla 1:953885edf7a7 87 float Bnewvalue[3]={0.0,0.0,0.0};
sureshsusurla 1:953885edf7a7 88 int32_t Bvalue[3]={0,0,0};
sureshsusurla 1:953885edf7a7 89 int32_t a= pow(2.0,24.0);
sureshsusurla 1:953885edf7a7 90 int32_t b= pow(2.0,23.0);
gkumar 0:ac874e417fac 91
sureshsusurla 1:953885edf7a7 92 for(axis=0;axis<3;axis++)
sureshsusurla 1:953885edf7a7 93 {
sureshsusurla 1:953885edf7a7 94 Bvalue[axis]=spi.write(0x00)<<16; //MSB 1 is send first
sureshsusurla 1:953885edf7a7 95 wait_ms(100);
sureshsusurla 1:953885edf7a7 96 Bvalue[axis]|=spi.write(0x00)<<8; //MSB 2 is send next
sureshsusurla 1:953885edf7a7 97 wait_ms(100);
sureshsusurla 1:953885edf7a7 98 Bvalue[axis]|=spi.write(0x00); //LSB is send.....total length is 24 bits(3*8bits)...which are appended to get actual bit configuration
sureshsusurla 1:953885edf7a7 99
sureshsusurla 1:953885edf7a7 100
sureshsusurla 1:953885edf7a7 101 if((Bvalue[axis]&b)==b)
sureshsusurla 1:953885edf7a7 102 {
sureshsusurla 1:953885edf7a7 103 Bvalue[axis]=Bvalue[axis]-a; //converting 2s complement to signed decimal
sureshsusurla 1:953885edf7a7 104
sureshsusurla 1:953885edf7a7 105 }
sureshsusurla 1:953885edf7a7 106 Bnewvalue[axis]=(float)Bvalue[axis]*22.0*pow(10.0,-3.0); //1 LSB=(22nT)...final value of field obtained in micro tesla
sureshsusurla 1:953885edf7a7 107
sureshsusurla 1:953885edf7a7 108 wait_ms(100);
sureshsusurla 1:953885edf7a7 109 pc.printf("\t%f\n \r",Bnewvalue[axis]);
sureshsusurla 1:953885edf7a7 110
sureshsusurla 1:953885edf7a7 111 }
sureshsusurla 1:953885edf7a7 112 SSN_MAG=1;break;
sureshsusurla 1:953885edf7a7 113 }
sureshsusurla 1:953885edf7a7 114 }
sureshsusurla 1:953885edf7a7 115 pc.printf("exit");
gkumar 0:ac874e417fac 116
sureshsusurla 1:953885edf7a7 117 }