/*===========================================================================
* ReadContinuousLogData
*---------------------------------------------------------------------------
* Description: Puts the node in continuous mode, reads the sensor data and
* prints to the screen and logs data to user file until the user
* interrupts.
*
* Return: HANDLE - handle to the opened comport
*===========================================================================*/
void ReadContinuousLogData(int portNum)
{
int iCount = 0;
BOOL bStopContinuous = FALSE;
DWORD dwcharsRead = 0;
I3dmgx3Set Record;
BYTE cmd_return;
int Curs_posY = 0;
int Curs_posX = 0;
int status = 0;
int error_record = 0;
int valid_check = 0;
int valid_count = 0;
char consoleBuff[60] = {0};
long valid_rec = 0;
unsigned char error_cmd;
char ComLogFile[256];
FILE *m_logFile;
int LogFlag = 0;
int error_count = 0;
int errorCode =0, i=0;
char fw[20] = {0};
char sn[20] = {0};
char mListSep[4];
char mDecSep[4];
LANGID langId;
char szLanguage[256]; /*MAX_PATH]; */
char idchar[] = {'\x02', '\x00', '\x01', '\x03', '\x04'};
int m_timerconst = 62500;
unsigned long AA_Time_Stamp=0;
unsigned long AA_s_prev =0;
float AA_convert = 0.0;
float AA_prev = 0.0;
struct __timeb64 timebuffer;
char *timeline;
_ftime64( &timebuffer );
timeline = _ctime64( & ( timebuffer.time ) );
while (LogFlag != 1){
printf("Enter Name of LogFile to use:");
scanf("%s", &ComLogFile); // 255);
printf("logFile %s\n", ComLogFile);
if ( ( m_logFile= fopen( ComLogFile, "w")) == NULL){
printf("File: %s not opened\n", ComLogFile);
if(++error_count > 2)
return;
}else LogFlag = 1;
}
fprintf(m_logFile, "[SESSION START TAG]\n");
fprintf(m_logFile, "Session Start Time:%.19s.%hu \n", timeline, timebuffer.millitm );
fprintf(m_logFile, "Time Source: HOST\n");
GetLocaleInfo(LOCALE_SYSTEM_DEFAULT,LOCALE_SLIST,mListSep,4);
fprintf(m_logFile, "List Separator: %s\n", mListSep);
GetLocaleInfo(LOCALE_SYSTEM_DEFAULT,LOCALE_SDECIMAL,mDecSep,4);
fprintf(m_logFile, "Decimal Separator: %s\n", mDecSep);
langId = GetSystemDefaultLangID ();
i = VerLanguageName (langId, szLanguage, 256); //dwSize = MAX_PATH;
fprintf(m_logFile, "Language: %s\n", szLanguage);
while(valid_check == 0)
{
errorCode = i3dmgx3_getFirmwareVersion(portNum, &fw[0]);
if (errorCode < 0){
purge_port(portNum);
printf("Firmware Error %d\n",errorCode);
if (valid_count++ > 6) {
printf("Please Halt Current Data Display and Retry, count %d\n", valid_count);
return;
}
}else if (errorCode >= 0){
valid_check = 1;
}
}
/*------------------------------------------------------------------
* 0xEA get serial information number, model and options (as string)
*-----------------------------------------------------------------*/
valid_count =0;
for ( i=0; i<4; i++){ //cycles through the valid device options
errorCode = i3dmgx3_getDeviceIdentiy(portNum, idchar[i], &sn[0]);
if (errorCode < 0){
purge_port(portNum);
i--;
if (valid_count++ >6){
printf("Error Read Device Identity: %s\n", explainError(errorCode));
}
} else{
switch( i ) {
case 0:
fprintf(m_logFile, "Device Name: %s\n",sn);
break;
case 1:
fprintf(m_logFile, "Device Model: %s\n",sn);
break;
case 2:
fprintf(m_logFile, "Device FirmWare Version: %s\n", fw);
fprintf(m_logFile, "Device Serial Number: %s\n", sn);
break;
case 3:
fprintf(m_logFile, "Device Options: %s\n", sn);
break;
case 4:
default:
break;
}
}
}
fprintf(m_logFile, "Command C2\n[DATA START TAG]\n\t Time%s Accel X%s Accel Y%s Accel Z%s AngRate X%s AngRate Y%s AngRate Z%s Ticks\n", mListSep, mListSep, mListSep, mListSep, mListSep, mListSep, mListSep);
//put the node in continuous mode
status =SetContinuousMode(portNum, 0xC2);
printf("setcontinuous is %d", status);
//set up the output for the data
printf("\n\n");
printf("Reading streaming data (hit s to Stop streaming).\n");
printf("C2___________________________Acceleration_______________________________\n");
printf(" X Y Z \n");
/* acceleration values go here */
printf("\n\n\n");
printf("C2____________________________Angular_Rate______________________________\n");
printf(" X Y Z \n");
/* angle rate values go here */
getConXY(&Curs_posX, &Curs_posY);
printf("\n\n\n\n");
//continue until the user hits the <s>top key
while(!bStopContinuous)
{
if(ReadNextRecord(portNum, &Record, &cmd_return) != SUCCESS)
error_record++;
if (cmd_return == 0xC2){
if (AA_s_prev == 0){
fprintf(m_logFile, "\t 0.00");
AA_s_prev = Record.timer; //AA_Time_Stamp;
}
else
{
AA_convert = ((float)(Record.timer - AA_s_prev)/m_timerconst); //19660800);
AA_s_prev = Record.timer; //AA_Time_Stamp;
AA_prev = AA_prev + AA_convert;
fprintf(m_logFile, "\t%6.2f", AA_prev);
}
//move to the acceleration position and print the data
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setA[0], Record.setA[1], Record.setA[2]);
fprintf(m_logFile, "%s %2.6f%s %2.6f%s %2.6f%s ", mListSep, Record.setA[0],mListSep, Record.setA[1], mListSep, Record.setA[2], mListSep);
setConXY(Curs_posX, Curs_posY -5, &consoleBuff[0]);
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setB[0], Record.setB[1], Record.setB[2]);
fprintf(m_logFile, "%2.6f%s %2.6f%s %2.6f%s %u\n", Record.setB[0], mListSep, Record.setB[1], mListSep, Record.setB[2], mListSep, Record.timer);
setConXY(Curs_posX, Curs_posY, &consoleBuff[0]);
valid_rec++;
}else if (cmd_return != 0xc4){
if((cmd_return == 0xCB || cmd_return == 0xD3) && error_record == 0)
error_cmd = cmd_return;
else
error_record++;
}
//check for a key every 50 iterations
if(iCount++ > 50) {
int ch = 0;
if(ReadCharNoReturn(&ch)){
bStopContinuous = (ch == 's' || ch == 'S');
}
//reset the counter
iCount = 0;
}
}
printf("\n\n\nStopping Continuous Mode...");
StopContinuousMode(portNum);
printf("stopped.\n");
fclose(m_logFile);
if (error_record > 0)
printf("Number of records received in error were %d and received successfully %d\n", error_record, valid_rec);
else
printf("All %d records read successfully.\n", valid_rec);
}
int main()
{
CyGlobalIntEnable; /* Uncomment this line to enable global interrupts. */
XBee_UART_Start();
I2C_Start();
LCD_Start();
// INITIALIZE VALUES
Command_Received = 0;
MAG_DataRdy_Flag = 0;
ReadyForCommand_Flag = 1;
IncomingData_Flag = 0;
StatusError_Flag = 0;
//WaitForDataRead_Flag = 0;
Command_Buffer = 0;
// INITIALIZE ISRs
InitXBee_Isr();
//InitINT1_Isr(); // IF INT1 TRIGGERS WHEN NOT IN ACTIVE MODE, MOVE INITIATION CODE FOR SETTING ACTIVE.
//INT1_isr_Start();
XBee_UART_ClearRxBuffer();
XBee_UART_ClearTxBuffer();
CyDelay(2000);
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintString("MAG DRIVER:");
LCD_Position(1,0);
LCD_PrintString("[ERR]");
LCD_Position(1,7);
LCD_PrintString("[I2C]");
uint8 status = 0;
status = SetCtrlReg1Default();
status |= SetCtrlReg2Default();
if(status !=0)
{
LCD_ClearDisplay();
LCD_Position(0,0);
LCD_PrintInt8(status);
status = 0;
}
uint8 pin_status = 0;
for(;;)
{
pin_status = INT1_Pin_Read();
pin_status |= MAG_DataRdy_Flag;
if(pin_status)
{
MAG_DataRdy_Flag = pin_status;
if(ReadyForCommand_Flag!=0)
{
Command_Received = CMD_I_RM_MAGDATA;
ReadyForCommand_Flag = 0;
}
}
if(Command_Received != 0)
{
LCD_ClearDisplay();
//XBee_UART_ClearTxBuffer();
//XBee_UART_ClearRxBuffer();
switch (Command_Received){
case CMD_I_RM_MAGDATA: // CMD_I_RM_MAGDATA = 34
{
status = ReadMagData(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
//LED_out_Write(0);
CyDelay(500);
XBee_UART_PutArray(Global_ReadPtr,ARRAY_SIZE_MAG_DATA);
CyDelay(1000);
//WaitForDataRead_Flag = 0;
MAG_DataRdy_Flag = 0;
if(Command_Buffer!=0)
{
Command_Received = Command_Buffer;
Command_Buffer = 0;
//ReadyForCommand_Flag = 0; //Dont toggle flag
}
else
{
Command_Received = 0;
ReadyForCommand_Flag = 1;
LED_out_Write(0);
}
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WM_OFFSET_ALL:// CMD_I_WM_OFFSET_ALL = 1
{
if(IncomingData_Flag == 0) // IF THE OFFSET DATA TO WRITE HAS BEEN RECEIVED...
{
status = WriteOffsetCorrection(DataInPtr_Global);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received); //Sends confirmation TWICE. Once after receiving CMD, and again after finishing WRITE
LED_out_Write(0);
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
}
break;
case CMD_I_RS_CTRL1://CMD_I_RS_CTRL1=35
{
status = ReadCtrlReg1(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]); // Send Read Value
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_CTRL2://CMD_I_RS_CTRL2 = 36
{
status = ReadCtrlReg2(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]); // Send Read Value
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_DRSTATUS://CMD_I_RS_DRSTATUS = 37
{
status = ReadDrStatus(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]); // Send Read Value
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_SYSMOD:// CMD_I_RS_SYSMOD = 38
{
status = ReadSysMod(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]);
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_DIETEMP: // CMD_I_RS_DIETEMP = 39
{
status = ReadDieTemp(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]);
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RS_WHOAMI: // CMD_I_RS_WHOAMI = 40
{
status = ReadWhoAmI(Global_ReadPtr);
if(status == 0)
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);
LED_out_Write(0);
CyDelay(500);
XBee_UART_PutChar(Global_ReadBuffer[0]);
Command_Received = 0;
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1;
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_DEFAULT: // CMD_I_WS_CTRL1_DEFAULT = 41
{
status = SetCtrlReg1Default();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_MODSTANDBY: // CMD_I_WS_CTRL1_MODSTANDBY = 42
{
status = SetStandbyMode();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_MODSINGLE: // CMD_I_WS_CTRL1_MODSINGLE = 43
{
status = SetSingleMeasurmentMode();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
//IF INT1 CONTINUES TO TRIGGER WHEN NOT IT ACTIVE MODE, DEACTIVATE/ACTIVATE ISR WHEN CHANGING MODES
case CMD_I_WS_CTRL1_MODACTIVE: // CMD_I_WS_CTRL1_MODACTIVE = 44
{
status = SetContinuousMode();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_MODTRIGGER: // CMD_I_WS_CTRL1_MODTRIGGER = 45
{
status = SetTriggerMeasurmentMode();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_ENFAST: // CMD_I_WS_CTRL1_ENFAST = 46
{
status = SetFastReadOn();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL1_NENFAST: //CMD_I_WS_CTRL1_NENFAST = 47
{
status = SetFastReadOff();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_DEFAULT: //CMD_I_WS_CTRL2_DEFAULT = 48
{
status = SetCtrlReg2Default();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_ENAUTORESET: // CMD_I_WS_CTRL2_ENAUTORESET = 49
{
status = SetAutoResetOn();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_NENAUTORESET: // CMD_I_WS_CTRL2_NENAUTORESET = 50
{
status = SetAutoResetOff();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_ENUSEROFFSET: // CMD_I_WS_CTRL2_ENUSEROFFSET = 51
{
status = SetUserCorrectedData();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_NENUSEROFFSET: // CMD_I_WS_CTRL2_NENUSEROFFSET = 52
{
status = SetRawData();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
StatusError_Flag = 1;
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_WS_CTRL2_RESETMAG: // CMD_I_WS_CTRL2_RESETMAG = 53
{
status = ResetMag();
if(status == 0) //if the write was a success
{
CyDelay(1000); //LET MAGNETOMETER RESET PROCEDURE FINISH
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
case CMD_I_RESET_ALL://54
{
// RESET I2C
uint8 i2c_status = I2C_MasterClearStatus();
//LCD_ClearDisplay();
LCD_Position(1,7);
LCD_PrintInt8(i2c_status);
I2C_MasterClearReadBuf();
I2C_MasterClearWriteBuf();
// Reset MAG CTRL REGISTERS
status = SetCtrlReg1Default();
status |= SetCtrlReg2Default();
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
StatusError_Flag = 1;
}
}
break;
default: //handles Set Sampling/Data rate CMDs, and Out of range errors
{
if((Command_Received >= (STARTOFRANGE_SET_SAMPLING_AND_RATE))&&(Command_Received < (STARTOFRANGE_SET_SAMPLING_AND_RATE + RANGESIZE_SET_SAMPLING_AND_RATE)))
{
uint8 offset = Command_Received-STARTOFRANGE_SET_SAMPLING_AND_RATE;
offset *=DELTAVALS_SET_SAMP_AND_RATE;
status = SetOverSampleAndDataRate(offset);
if(status == 0) //if the write was a success
{
CyDelay(500);
XBee_UART_PutChar(Command_Received);//Returns command received from MATLAB as confirmation
LED_out_Write(0); //Turns off LED
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
}
else
{
// will result is a halt of CMD processing and leaves LED lit (visual error signal)
StatusError_Flag = 1;
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("E:STA");
CyDelay(1000);
}
}
else // ERROR: CMD VALUE OUT OF RANGE (executed if not a CMD to set sampling/data rate)
{
//CLEAR EVERYTHING
XBee_UART_ClearTxBuffer();
XBee_UART_ClearRxBuffer();
I2C_MasterClearReadBuf();
I2C_MasterClearWriteBuf();
Command_Received = 0; //Clears the Command
IncomingData_Flag = 0;
ReadyForCommand_Flag = 1; // Sets state as READY for next command
XBee_UART_PutChar(CMD_O_CMDVALUEOUTOFRANGE); //Send error msg
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("E:RAN");
CyDelay(1000);
LED_out_Write(0); //Turns off LED
}
}
} //END OF SWITCH-CASE
}//end of IF statement encasing switch-case
/*else // if(Command_Received == 0)
{
if((MAG_DataRdy_Flag==1) && (WaitForDataRead_Flag==0))
{
//May change CMD_O_MAGDATARDY to simply be the same as CMD_I_RM_MAGDATA.
//XBee_UART_ClearTxBuffer();
//LCD_ClearDisplay();
LCD_Position(1,0);
LCD_PrintString("DRDY2");
XBee_UART_PutChar(CMD_O_MAGDATARDY);// CMD_O_MAGDATARDY = 55
WaitForDataRead_Flag = 1; //Prevents constant resending of notification to MATLAB
INT1_isr_Disable();
}
}*/
}//END OF FOR LOOP
}//END OF MAIN
/*===========================================================================
* ReadContinuousData
*---------------------------------------------------------------------------
* Description: Puts the node in continuous mode, reads the sensor data and
* prints to the screen until the user interrupts.
*
* Return: HANDLE - handle to the opened comport
*===========================================================================*/
void ReadContinuousData(int portNum)
{
int iCount = 0;
BOOL bStopContinuous = FALSE;
DWORD dwcharsRead = 0;
I3dmgx3Set Record;
BYTE cmd_return;
int Curs_posY = 0;
int Curs_posX = 0;
int status = 0;
int error_record = 0;
char consoleBuff[60] = {0};
long valid_rec = 0;
unsigned char error_cmd;
//put the node in continuous mode
status =SetContinuousMode(portNum, 0xC2);
printf("setcontinuous is %d", status);
//set up the output for the data
printf("\n\n");
printf("Reading streaming data (hit s to Stop streaming).\n");
printf("C2___________________________Acceleration_______________________________\n");
printf(" X Y Z \n");
/* acceleration values go here, save the position */
printf("\n\n\n");
printf("C2____________________________Angular_Rate______________________________\n");
printf(" X Y Z \n");
/* angle rate values go here, save the position */
getConXY(&Curs_posX, &Curs_posY);
printf("\n\n\n\n");
//continue until the user hits the s key
while(!bStopContinuous)
{
if(ReadNextRecord(portNum, &Record, &cmd_return) != SUCCESS)
error_record++;
if (cmd_return == 0xC2){
//move to the acceleration position and print the data
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setA[0], Record.setA[1], Record.setA[2]);
setConXY(Curs_posX, Curs_posY -5, &consoleBuff[0]);
sprintf(consoleBuff, "\t%2.6f\t\t%2.6f\t\t%2.6f", Record.setB[0], Record.setB[1], Record.setB[2]);
setConXY(Curs_posX, Curs_posY, &consoleBuff[0]);
valid_rec++;
}else if (cmd_return != 0xC4){
if((cmd_return == 0xCB || cmd_return == 0xD3) && error_record == 0)
error_cmd = cmd_return;
else
error_record++;
}
//check for a key every 50 iterations
if(iCount++ > 50) {
int ch = 0;
if(ReadCharNoReturn(&ch)){
bStopContinuous = (ch == 's' || ch == 'S');
}
//reset the counter
iCount = 0;
}
}
printf("\n\n\nStopping Continuous Mode...");
StopContinuousMode(portNum);
printf("stopped.\n");
if (error_record > 0)
printf("Number of records received in error were %d and received successfully %d\n", error_record, valid_rec);
else
printf("All %d records read successfully.\n", valid_rec);
}
