Diff: main.cpp

Revision:

5:cd414aaa44f6

Parent:

4:65f91237b687

--- a/main.cpp	Thu Jun 23 22:29:04 2016 +0000
+++ b/main.cpp	Mon Jul 11 21:29:17 2016 +0000
@@ -20,6 +20,8 @@
 #include "ble/services/UARTService.h"
 #include "BNO055/BNO055.h"
 
+#include "nrf51_rtc.h"
+
 BNO055 imu(p30, p7);
 Serial pc(p9, p11);
 
@@ -66,11 +68,16 @@
                 imu.setpowermode(POWER_MODE_SUSPEND);
                 break;
             case 50:
-                DEBUG("Low power\n\r");
+                DEBUG("Accelerometer Low, Gyro Off, Magnetometer Off\r");
                 imu.setpowermode(POWER_MODE_LOWPOWER);
                 break;
             case 51:
-                DEBUG("No high power available for this sensor\n\r");
+                DEBUG("Accelerometer High, Gyro Off\n\r");
+//                imu.setpowermode(POWER_MODE_NORMAL);
+                imu.setpowermode3();
+                break;
+            case 52:
+                DEBUG("Accelerometer High, Gyro High\n\r");
                 imu.setpowermode(POWER_MODE_NORMAL);
                 break;
             default:
@@ -92,6 +99,7 @@
 
 void periodicCallback(void)
 {
+    ble.waitForEvent();
     ledAlive = !ledAlive;
 }
 
@@ -108,6 +116,8 @@
 
 int main(void)
 {
+    time_t rawtime = 0;
+    
     // turn all LED off
     ledAlive = 1;
     ledIntrG = 1;
@@ -145,15 +155,14 @@
     intrGX.rise(&flip4);
 
     while (true) {
-        ble.waitForEvent();
+        rawtime = rtc.time();
         
         imu.setmode(OPERATION_MODE_AMG);
+        
         imu.get_accel();
-        pc.printf("%2f,%2f,%2f\r\n", imu.accel.x, imu.accel.y, imu.accel.z);
         imu.get_gyro();
-        pc.printf("%2f,%2f,%2f\r\n", imu.gyro.x, imu.gyro.y, imu.gyro.z);
         imu.get_mag();
-        pc.printf("%2f,%2f,%2f\r\n", imu.mag.x, imu.mag.y, imu.mag.z);
+        pc.printf("%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n", rawtime,imu.accel.rawx,imu.accel.rawy,imu.accel.rawz,imu.gyro.rawx, imu.gyro.rawy, imu.gyro.rawz,imu.mag.rawx, imu.mag.rawy, imu.mag.rawz);
         
         // Interrupt stats: This is only enabled in Low Power Mode
         // 0 - no interrupt
@@ -167,7 +176,5 @@
 //            pc.printf("rx before: %d\r\n", imu.test3);
 //            pc.printf("rx after: %d\r\n", imu.test4);
 //        }
-        
-        wait(1.0);
     }
 }