/*----------------------------------------------------------------------
* i3dmgx3_RawSensor 0xC1
*
* parameters portNum : the number of the sensor device (1..n)
* pI3Record : struct to receive floating point values for
* raw Accel (x,y,z) and raw Ang (x,y,z)
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*---------------------------------------------------------------------*/
int i3dmgx3_RawSensor(int portNum, unsigned char *pRecord) {
int responseLength = 31;
int status;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_RAW_ACCELEROMETER; /* value is 0xC1 */
int i = 0;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("i3dmgx3_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &pRecord[0], responseLength);
if (DEBUG) printf("Raw Sensor i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&pRecord[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&pRecord[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else
status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_getDeviceIdentity 0xEA
*
* parameters portNum : the number of the sensor device (1..n)
* flag : identifier for which Identity to obtain.
* id : a pointer to char string, already allocated.
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*
* WARNING - does not check to see if you have allocated enough space
* 12 bytes for the string to contain the firmware version.
*--------------------------------------------------------------------*/
int i3dmgx3_getDeviceIdentiy(int portNum, char flag, unsigned char* Bresponse) {
char cmd = (char) CMD_GET_DEVICE_ID; //0xEA
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
int status;
int responseLength = 20;
unsigned char iden_buff[2];
iden_buff[0] = 0xEA; // Device Identity Command Code
iden_buff[1] = flag; // Identifier of specific device identity component to obtain
status = sendBuffData(portNum, &iden_buff[0], 2);
if (DEBUG) printf("Get Identity_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("Get Identity i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else return status;
return I3DMGX3_OK;
}
/*----------------------------------------------------------------------
* i3dmgx3_Tempatures 0xD1
*
* parameters portNum : the number of the sensor device (1..n)
* pI3Temps : pointer to a struct containing Temperature
* Accel and Temp gyro x y and z values.
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_Tempatures(int portNum, unsigned char* Bresponse) {
int responseLength = 15;
int status;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_TEMPERATURES; /* value is 0xD1 */
int i = 0;
WORD zetemp = 0;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("Temperatures i3dmgx3_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("Temperatures i3dmgx3_send: rx status : %d and responseLength %d\n", status);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else
return status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_OrientUpMatrix 0xC6
*
* parameters portNum : the number of the sensor device (1..n)
* pI3Record : pointer to a float matrix
* which will contain the Orientation Update
* data upon return.
*
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_OrientUpMatrix(int portNum, unsigned char* Bresponse) {
int responseLength = 43;
int status;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_ATTITUDE_UP_MATRIX; /* value is 0xC6 */
int i = 0;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("Orient Update i3dmgx3_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("Orient Update i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else
status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_TransferNonVolatile 0xD0
*
* parameters portNum : the number of the sensor device (1..n)
* transfer : numeric value identifying which quantity
* to Transfer: 1 == Accel Bias
* 2 == Gyro Bias
* Any other value results in no action taken
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_TransferNonVolatile(int portNum, int transfer, unsigned char *Bresponse) {
int responseLength = 9;
int status;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_TRANSFER_NONV_MEM; /* value is 0xD0 */
int i = 0;
unsigned char outbuff[5];
outbuff[0] = 0xD0; // Command Code Identifier
outbuff[1] = 0xC1; // Required identifier
outbuff[2] = 0x29; // Required identifier
outbuff[3] = (transfer & MSB_MASK) >> 8; //1st byte of quantity to transfer
outbuff[4] = transfer & LSB_MASK; //2ond byte of quantity to transfer
// 1==Accel Bias 2==Gyro Bias, any other value results in no action
status = sendBuffData(portNum, &outbuff[0], 5);
if (DEBUG) printf(" Transfer Non-V MEM Send struct status is %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf(" Transfer Non-V MEM Receive status is %d\n", status);
if (status == I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2);
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else
return status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
int i3dmgx3_WriteGyroBias(int portNum, BYTE *BiasBuff, unsigned char* Bresponse) {
unsigned char cmd = CMD_WRITE_GYRO_BIAS; //0xCD
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
int responseLength = 19;
int status;
int i = 0;
unsigned char BiasoutBuff[15];
BiasoutBuff[0] = 0xCA; //CMD_WRITE_GYRO_BIAS;
BiasoutBuff[1] = 0x12; // Required identifier
BiasoutBuff[2] = 0xA5; // Required identifier
for (i=0; i<12; i++) //repacks the float values in big endian format
BiasoutBuff[3 + i] = BiasBuff[i];
status = sendBuffData(portNum, &BiasoutBuff[0], 15); // 15 equals command byte + 14 bytes of data
if (DEBUG) printf(" Write Gyro Bias Send struct status is %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf(" Write Gyro Bias Receive status is %d\n", status);
if (status == I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2);
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else
return status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_captureGyroBias 0xCD
*
* parameters portNum : the number of the sensor device (1..n)
* Bresponse : pointer to a buffer containing returned values
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_captureGyroBias(int portNum, short sampt, BYTE *BiasBuff, unsigned char *Bresponse) {
unsigned char cmd = CMD_CAPTURE_GYRO_BIAS; //0xCD
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
int responseLength = 19;
int status;
int i = 0;
unsigned char Coutbuff[5];
/* initialize send buffer to obtain gyro bias */
Coutbuff[0] = 0xCD; //Command code for Gyro Bias
Coutbuff[1] = 0xC1; // Required identifier
Coutbuff[2] = 0x29; // Required identifier
Coutbuff[3] = (sampt & MSB_MASK) >> 8; //sample time with mask
Coutbuff[4] = sampt & LSB_MASK;
printf("...one %d/ms moment while gyro bias values are retrieved\n", sampt);
status = sendBuffData(portNum, &Coutbuff[0], 5);
if (DEBUG) printf(" Capture Gyro Bias Send struct status is %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf(" Capture Gyro Bias Receive status is %d\n", status);
if (status == I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
for (i=0; i<12; i++)
BiasBuff[i] = Bresponse[1 +i];
}else
return status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
int i3dmgx3_getFirmwareVersion(int portNum, char *firmware) {
unsigned char cmd = (char) CMD_FIRWARE_VERSION;
unsigned char Bresponse[7] = {0};
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
short firmwareNum=0;
short majorNum, minorNum, buildNum;
int status;
int responseLength = 7;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("FirmWare_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
if (responseLength>0) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("FirmWare i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}
firmwareNum = convert2short(&Bresponse[3]);
if (firmwareNum > 0) {
/* format for firmware number is #.#.## */
majorNum = firmwareNum / 1000;
minorNum = (firmwareNum % 1000) / 100;
buildNum = firmwareNum % 100;
sprintf(firmware, "%d.%d.%d", majorNum, minorNum, buildNum);
}
return I3DMGX3_OK;
}else return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_EulerAngRate 0xCF
*
* parameters portNum : the number of the sensor device (1..n)
* I3dmgx3Set : pointer to a struct containing the values
* for pitch angles in degrees and
* Angle rates x y and z
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_EulerAngRate(int portNum, unsigned char* Bresponse) {
int responseLength = 31;
int status;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_EULER_ANGLES_ANG_RT; /* value is 0xCF */
int i = 0;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("i3dmgx3_send Euler and Ang Rate: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("Euler Ang Rate i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
} else
return status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_GetFullMatrix 0xCC
*
* parameters portNum : the number of the sensor device (1..n)
* I3Record : 18 positional stucture of defined type
* I3Record to capture data in floating point
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_GetFullMatrix(int portNum, unsigned char* Bresponse) {
int responseLength = 79;
int status;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_ACEL_ANG_MAG_VEC_OR; /* value is 0xCC */
int i=0;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("i3dmgx3_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength); /* temp adj 8-1-08 */
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else
status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_AccAngMagRate 0xCB
*
* parameters portNum : the number of the sensor device (1..n)
* mag : array which will contain mag data
* (3 elements X Y and Z)
* accel : array which will contain acceleration data
* (3 elements X Y and Z)
* angRate : array which will contain angular rate data
* (3 elements X Y and Z)
*
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_AccAngMagRate(int portNum, unsigned char* Bresponse) {
int responseLength = 43;
int status = 0, i =0;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_ACCEL_ANG_MAG_VECTO; //0xCB
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("Get Acc ang mag i3dmgx3_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("Accel ang mag rate i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength); /* temp adj 8-1-08 */
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum){
status = I3DMGX3_CHECKSUM_ERROR;
}
}else
status = I3DMGX3_COMM_READ_ERROR;
}else
status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_AccelAngOreint 0xC8
*
* parameters portNum : the number of the sensor device (1..n)
* pI3Record : struct to receive floating point values for
* Acceleration and Angular Rates (x,y,z)
* and Orientation Matrix M1.1 - M1.2 ... M3.3
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_AccelAngOreint(int portNum, unsigned char* Bresponse) {
int responseLength = 67;
int status;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_ACCEL_ANG_ORIENT; /* value is 0xC8 */
int i = 0;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("Accel AngRate OrientMatx i3dmgx3_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("Accel Ang Orient i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else
status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
/*----------------------------------------------------------------------
* i3dmgx3_ScaledMagVec 0xC7
*
* parameters portNum : the number of the sensor device (1..n)
* pI3Record : struct to receive floating point values for
* scaled Magnetometer Vectors (x,y,z)
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*---------------------------------------------------------------------*/
int i3dmgx3_ScaledMagVec(int portNum, unsigned char* Bresponse) {
int responseLength = 19;
int status;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned char cmd = CMD_MAGNETROMETER_VECT; /* value is 0xC7 */
int i = 0;
status = sendBuffData(portNum, &cmd, 1);
if (DEBUG) printf("Scaled Mag Vector i3dmgx3_send: tx status : %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], responseLength);
if (DEBUG) printf("Scaled Mag Vectorr i3dmgx3_send: rx status : %d and responseLength %d\n", status, responseLength);
if (status==I3DMGX3_COMM_OK) {
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else
status = I3DMGX3_COMM_WRITE_ERROR;
return status;
}
//===========================================================================
// SetSampleSetting
//---------------------------------------------------------------------------
// Description: Allows user to set one of the optional Sample Settings
//
// Return: Confirmation that selection was set.
//===========================================================================
int SetSampleSetting(int portNum, BYTE byteOne, BYTE byteTwo, unsigned char *Bresponse, short FW_Check)
{
int status = 0;
unsigned char DR3_write_buff[21];
int responseLength = 19;
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
unsigned short Decimation = (1000/100); //m_DRvalue);
unsigned short DigFilter = 20;
int ytrewq=0;
unsigned char cmd = ( unsigned char) CMD_FIRWARE_VERSION; //0xE9
BYTE FWbuff[7] = {0};
short firmwareNum=0;
int northComp=0, upComp=0;
int NCval =0, Value=0;
//char Jjunk[20];
int ncOption = 0;
purge_port(portNum);
if(FW_Check >= 1){ //include case 8 and 9
//this feature requires firmware version of 1.1.27 or greater
status = sendBuffData(portNum, &cmd, 1);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &FWbuff[0], 7);
firmwareNum = convert2short(&FWbuff[3]);
if (firmwareNum < 1127){
printf("Firmware version must be 1.1.27 or greater to perfom this selection\n");
return -1;
}
}
}
if(FW_Check == 8){ //North Compensation
while(Value == 0){
printf("Would you like to Modify the North Compensation? (Y)es or (N)o \n");
while(!ReadCharNoReturn(&ncOption))
{
Sleep(50);
}
switch (ncOption){
case 'n':
case 'N': northComp = 10; Value = 1; break;
case 'y':
case 'Y': while (NCval == 0){
northComp = 0;
printf("Enter a value between 1 and 1000 to set:");
scanf("%d", &northComp);
if ((northComp < 1 )|| (northComp > 1000) ){
printf(" Invalid entry: out of range \n\n");
NCval = 0;
//scanf("%s", Jjunk);
northComp = 0;
}
else NCval = 1;
}
Value =1;
break;
default:printf("Invalid selection\n");
Value =0;
break;
}
}
}
if(FW_Check == 9){ //Up Compensation
Value = 0;
NCval = 0;
while(Value == 0){
printf("Would you like to Modify the Up Compensation value? (Y)es or (N)o \n");
while(!ReadCharNoReturn(&ncOption))
{
Sleep(50);
}
switch (ncOption){
case 'n':
case 'N': upComp = 10; Value = 1; break;
case 'y':
case 'Y': while (NCval == 0){
upComp = 0;
printf("Enter a value between 1 and 1000 to set:");
scanf("%d", &upComp);
if ((upComp < 1 )|| (upComp > 1000) ){
printf(" Invalid entry: out of range \n\n");
NCval = 0;
upComp = 0;
}
else NCval = 1;
}
Value =1;
//return; //remove after validation
break;
default:printf("Invalid selection\n");
Value =0;
break;
}
}
}
DR3_write_buff[0] = 0xDB; //Command identifier for Write to Data-Rate
DR3_write_buff[1] = 0xA8; //Required identifier for Data-Rate Write was C1
DR3_write_buff[2] = 0xB9; //Required identifier for Data-Rate Write was 29
DR3_write_buff[3] = 0x01; //Identifies an update to data rate, 0 == no update
// 1 == change the parameters to new values
// 2 == change and write to non-volatile memory
// 3 == same as 2 but does not send a reply
DR3_write_buff[4] = (Decimation & MSB_MASK) >> 8; //1st byte of Decimation value to write
DR3_write_buff[5] = Decimation & LSB_MASK; //2ond byte of Decimation value to write
DR3_write_buff[6] = byteOne; //First Byte of Data Conditioning Function Selector //0xC0;
DR3_write_buff[7] = byteTwo; //Second Byte of Data Conditioning Function Selector //0x00;
DR3_write_buff[8] = 0x0F; //Gyro and Accel digital filter window size default is 15
DR3_write_buff[9] = 0x1E; //Mag digital filter window size default is 17
if(FW_Check == 9){
DR3_write_buff[10] = (upComp & MSB_MASK) >> 8;
DR3_write_buff[11] = upComp & LSB_MASK;
}else{
/*----------------------------------------------------------------------
* i3dmgx3_getEEPROMValue 0xE5
*
* parameters portNum : the number of the sensor device (1..n)
* address : the EEPROM address location
* readFlag : specifies the number of reads required.
* and identifies data type long or float.
* value : the value to get at the address specified
*
*
* returns: errorCode : I3DMGX3_OK if succeeded, otherwise returns
* an error code.
*--------------------------------------------------------------------*/
int i3dmgx3_getEEPROMValue(int portNum, char address, int readFlag, int *readval) {
int status = 0;
long bytesRead = 0;
unsigned char Bresponse[5] = {0};
unsigned char BFresponse[5] = {0};
unsigned char ConvertBuff[4] = {0};
int responseLength = 5;
unsigned long nvalL=0;
unsigned short nvalA=0, nvalB=0;
float nvalF=0.0;
unsigned char zoutbuff[4];
unsigned short wChecksum = 0;
unsigned short wCalculatedCheckSum = 0;
zoutbuff[0] = 0xE5; // EEPROM command identifier
zoutbuff[1] = 0x00; // Required identifier
zoutbuff[2] = 0xFC; // Required identifier
zoutbuff[3] = address; // EEPROM address location
status = sendBuffData(portNum, &zoutbuff[0], 4);
if (DEBUG) printf(" eeprom read status is %d\n", status);
if (status == I3DMGX3_COMM_OK) {
status = receiveData(portNum, &Bresponse[0], 5);
if (status == I3DMGX3_COMM_OK) {
status = I3DMGX3_OK;
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&Bresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
nvalA = convert2ushort(&Bresponse[1]);
if (readFlag > 0) {
ConvertBuff[3] = Bresponse[2];
ConvertBuff[2] = Bresponse[1];
zoutbuff[3] = address + 2;
status = sendBuffData(portNum, &zoutbuff[0], 4);
if (status != I3DMGX3_COMM_OK)
return status;
status = receiveData(portNum, &BFresponse[0], 5);
if (status == I3DMGX3_COMM_OK) {
status = I3DMGX3_OK;
wChecksum = convert2ushort(&Bresponse[responseLength-2]);
wCalculatedCheckSum = i3dmgx3_Checksum(&BFresponse[0], responseLength-2); //calculate the checkusm, 29 = 31-2 don't include the checksum bytes
if(wChecksum != wCalculatedCheckSum)
return status = I3DMGX3_CHECKSUM_ERROR;
nvalB = convert2ushort(&BFresponse[1]);
ConvertBuff[1] = BFresponse[2];
ConvertBuff[0] = BFresponse[1];
nvalF = FloatFromBytes(&ConvertBuff[0]);
nvalL = convert2ulong(&ConvertBuff[0]);
if (readFlag == 1){
printf(" At addr.:0x%X where value is: %ld \n", zoutbuff[3], nvalL);
*readval = nvalL;
}
else{
printf(" At addr.:0x%X where value is: %f \n", zoutbuff[3], nvalF);
*readval = nvalF;
}
}else
return status = I3DMGX3_COMM_READ_ERROR;
}else{
printf(" At addr.:0x%X where value is: %d \t0x%X\n", address, nvalA, nvalA);
*readval = nvalA;
}
}else
return status = I3DMGX3_COMM_READ_ERROR;
}
return status;
}