Antonio Mondragon / Mbed 2 deprecated Latch9DOF_LSM9DS1

Minor fixes

Dependencies:   LSM9DS1_Library SDFileSystem mbed nrf51_rtc

Fork of LSM303DLHTest by Toshihisa T

main.cpp@7:cbfdcc57f110, 2016-07-19 (annotated)

Committer:
afmiee
Date:
Tue Jul 19 20:53:52 2016 +0000
Revision:
7:cbfdcc57f110
Parent:
6:9db9f4bfaf98
Child:
8:8f4d7f1c588f
Made some correction to library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
afmiee 5:b1a689c55f59 1 // Latch Inc.
afmiee 5:b1a689c55f59 2 // Antonio F Mondragon
afmiee 5:b1a689c55f59 3 // 20160714
afmiee 5:b1a689c55f59 4 // for the Adafruit 9DOF Modulke and the Sparkfun microSD card shield
tosihisa 0:750784997b84 5
tosihisa 0:750784997b84 6 #include "mbed.h"
afmiee 6:9db9f4bfaf98 7 #include "LSM9DS1.h"
afmiee 5:b1a689c55f59 8 #include "SDFileSystem.h"
afmiee 5:b1a689c55f59 9 #include "nrf51_rtc.h"
afmiee 5:b1a689c55f59 10
afmiee 5:b1a689c55f59 11 #define M_PI 3.14158
afmiee 5:b1a689c55f59 12
afmiee 5:b1a689c55f59 13 // Create objects
afmiee 5:b1a689c55f59 14 Serial debug(USBTX,USBRX);
afmiee 5:b1a689c55f59 15 // For Nordic
afmiee 6:9db9f4bfaf98 16 LSM9DS1 lol(p30, p7, 0xD6, 0x3C);
afmiee 7:cbfdcc57f110 17 I2C i2c(p30, p7);
afmiee 5:b1a689c55f59 18 // Create the SD filesystem
afmiee 5:b1a689c55f59 19 SDFileSystem sd(p25, p28, p29, p20, "sd"); // MOSI, MISO, SCLK, SSEL
afmiee 5:b1a689c55f59 20
afmiee 5:b1a689c55f59 21 // Create a ticker to use the nRF51 RTC
afmiee 5:b1a689c55f59 22 Ticker flipper;
afmiee 5:b1a689c55f59 23
afmiee 5:b1a689c55f59 24 // Assign interrupts to switches
afmiee 5:b1a689c55f59 25 InterruptIn btn1(p17); // Start sampling
afmiee 5:b1a689c55f59 26 InterruptIn btn2(p18); // Stop sampoling
afmiee 5:b1a689c55f59 27
afmiee 5:b1a689c55f59 28 // LED definitions
afmiee 5:b1a689c55f59 29 DigitalOut led1(LED1);
afmiee 5:b1a689c55f59 30 DigitalOut led2(LED2);
afmiee 5:b1a689c55f59 31
afmiee 5:b1a689c55f59 32 // Global variables
afmiee 5:b1a689c55f59 33 int start = 0;
afmiee 5:b1a689c55f59 34 int stop = 0;
afmiee 5:b1a689c55f59 35
tosihisa 0:750784997b84 36
afmiee 5:b1a689c55f59 37 // Generated when button 1 is pressed on rising edge START
afmiee 5:b1a689c55f59 38 void start_smpl()
afmiee 5:b1a689c55f59 39 {
afmiee 5:b1a689c55f59 40 start = 1;
afmiee 5:b1a689c55f59 41 stop = 0;
afmiee 5:b1a689c55f59 42 }
afmiee 5:b1a689c55f59 43
afmiee 5:b1a689c55f59 44 // Generated when button 1 is pressed on rising edge STOP
afmiee 5:b1a689c55f59 45 void stop_smpl()
afmiee 5:b1a689c55f59 46 {
afmiee 5:b1a689c55f59 47 stop = 1;
afmiee 5:b1a689c55f59 48 start = 0;
afmiee 5:b1a689c55f59 49 }
afmiee 5:b1a689c55f59 50
afmiee 7:cbfdcc57f110 51 void parp( int times )
afmiee 7:cbfdcc57f110 52 {
afmiee 7:cbfdcc57f110 53 int i;
afmiee 7:cbfdcc57f110 54 for( i = 0; i < times; i++) {
afmiee 7:cbfdcc57f110 55 led1 = 0;
afmiee 7:cbfdcc57f110 56 wait( 0.05);
afmiee 7:cbfdcc57f110 57 led1 = 1;
afmiee 7:cbfdcc57f110 58 wait( 0.05);
afmiee 7:cbfdcc57f110 59 }
afmiee 7:cbfdcc57f110 60 led2 = 1;
afmiee 7:cbfdcc57f110 61 }
afmiee 7:cbfdcc57f110 62 // Flipped every second
afmiee 5:b1a689c55f59 63 void flip()
afmiee 5:b1a689c55f59 64 {
afmiee 7:cbfdcc57f110 65 led2 = 0;
afmiee 7:cbfdcc57f110 66 wait(0.01);
afmiee 7:cbfdcc57f110 67 led2 = 1;
afmiee 7:cbfdcc57f110 68 }
afmiee 7:cbfdcc57f110 69
afmiee 7:cbfdcc57f110 70
afmiee 7:cbfdcc57f110 71 uint8_t I2CreadByte(uint8_t address, uint8_t subAddress)
afmiee 7:cbfdcc57f110 72 {
afmiee 7:cbfdcc57f110 73 char data;
afmiee 7:cbfdcc57f110 74 char temp= subAddress;
afmiee 7:cbfdcc57f110 75
afmiee 7:cbfdcc57f110 76 //i2c.write(address, temp, 1);
afmiee 7:cbfdcc57f110 77 //temp[1] = 0x00;
afmiee 7:cbfdcc57f110 78 i2c.write(address, &temp, 1);
afmiee 7:cbfdcc57f110 79 int a = i2c.read(address, &data, 1);
afmiee 7:cbfdcc57f110 80 return data;
afmiee 5:b1a689c55f59 81 }
afmiee 5:b1a689c55f59 82
afmiee 5:b1a689c55f59 83 int main()
afmiee 5:b1a689c55f59 84 {
afmiee 5:b1a689c55f59 85 led1= 1;
afmiee 5:b1a689c55f59 86 char filename[256];
afmiee 5:b1a689c55f59 87 char secs_str[256];
afmiee 5:b1a689c55f59 88
afmiee 5:b1a689c55f59 89 struct tm t;
afmiee 5:b1a689c55f59 90 time_t seconds;
tosihisa 0:750784997b84 91
afmiee 5:b1a689c55f59 92 FILE *fp;
afmiee 6:9db9f4bfaf98 93
afmiee 5:b1a689c55f59 94 // Attach functions to interrupts
afmiee 5:b1a689c55f59 95 btn1.rise(&start_smpl);
afmiee 5:b1a689c55f59 96 btn2.rise(&stop_smpl);
afmiee 5:b1a689c55f59 97 flipper.attach(&flip, 1.0); // the address of the function to be attached (flip) and the interval (2 seconds)
afmiee 6:9db9f4bfaf98 98
afmiee 5:b1a689c55f59 99 // Enable serial port
afmiee 5:b1a689c55f59 100 debug.format(8,Serial::None,1);
afmiee 5:b1a689c55f59 101 debug.baud(115200);
afmiee 5:b1a689c55f59 102 debug.printf("LSM303DLH Test\x0d\x0a");
afmiee 5:b1a689c55f59 103
afmiee 6:9db9f4bfaf98 104 // Initialize 9DOF
afmiee 7:cbfdcc57f110 105 //lol.begin();
afmiee 6:9db9f4bfaf98 106 if (!lol.begin()) {
afmiee 6:9db9f4bfaf98 107 debug.printf("Failed to communicate with LSM9DS1.\n");
afmiee 6:9db9f4bfaf98 108 }
afmiee 6:9db9f4bfaf98 109 lol.calibrate();
afmiee 6:9db9f4bfaf98 110
afmiee 7:cbfdcc57f110 111 lol.configInt(XG_INT1, INT1_IG_G|INT1_IG_XL, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
afmiee 7:cbfdcc57f110 112 lol.configInt(XG_INT2, INT2_DRDY_G|INT2_DRDY_XL, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT2_CTRL (0x0D) + CTRL_REG8 (0x22)
afmiee 7:cbfdcc57f110 113
afmiee 7:cbfdcc57f110 114 lol.configAccelInt(YHIE_XL|XHIE_XL, false); // INT_GEN_CFG_XL (06h)
afmiee 7:cbfdcc57f110 115 lol.configAccelThs((uint8_t)0x25, X_AXIS, (uint8_t)0x00, false); // INT_GEN_THS_X_XL (07h)
afmiee 7:cbfdcc57f110 116 lol.configAccelThs((uint8_t)0x25, Y_AXIS, (uint8_t)0x00, false); // INT_GEN_THS_Y_XL (08h)
afmiee 7:cbfdcc57f110 117 lol.configAccelThs((uint8_t)0x25, Z_AXIS, (uint8_t)0x00, false); // INT_GEN_THS_Z_XL (09h)
afmiee 7:cbfdcc57f110 118
afmiee 7:cbfdcc57f110 119 lol.configGyroInt(ZLIE_G|YLIE_G|XLIE_G, false, true); // INT_GEN_CFG_G (30h)
afmiee 7:cbfdcc57f110 120 lol.configGyroThs((int16_t )0x300, X_AXIS, (uint8_t) 0x00, false); // INT_GEN_THS_X_G (31h - 32h)
afmiee 7:cbfdcc57f110 121 lol.configGyroThs((int16_t )0x300, Y_AXIS, (uint8_t) 0x00, false); // INT_GEN_THS_Y_G (33h - 34h)
afmiee 7:cbfdcc57f110 122 lol.configGyroThs((int16_t )0x300, Z_AXIS, (uint8_t) 0x00, false); // INT_GEN_THS_Z_G (35h - 36h)
afmiee 7:cbfdcc57f110 123 debug.printf( "\n\r");
afmiee 7:cbfdcc57f110 124 debug.printf( "GyroIntSrc (14h) %02x\n\r", lol.getGyroIntSrc()); // INT_GEN_SRC_G (14h)
afmiee 7:cbfdcc57f110 125 debug.printf( "AccelIntSrc(26h) %02x\n\r", lol.getAccelIntSrc()); // INT_GEN_SRC_XL (26h)
afmiee 7:cbfdcc57f110 126 debug.printf( "MagIntSrc (31h) %02x\n\r", lol.getMagIntSrc()); // INT_SRC_M (31h)
afmiee 7:cbfdcc57f110 127 debug.printf( "Inactivity (17h) %02x\n\r", lol.getInactivity()); // STATUS_REG (17h)
afmiee 7:cbfdcc57f110 128
afmiee 7:cbfdcc57f110 129 debug.printf( "INT1_CTRL (0Ch) %02x\n\r", I2CreadByte(0xD6, 0x0C));
afmiee 7:cbfdcc57f110 130 debug.printf( "INT2_CTRL (0CD) %02x\n\r", I2CreadByte(0xD6, 0x0D));
afmiee 7:cbfdcc57f110 131 debug.printf( "CTRL_REG8 (22h) %02x\n\r", I2CreadByte(0xD6, 0x22));
afmiee 7:cbfdcc57f110 132 debug.printf( "\n\r");
afmiee 7:cbfdcc57f110 133 debug.printf( "INT_GEN_CFG_XL (06h) %02x\n\r", I2CreadByte(0xD6, 0x06));
afmiee 7:cbfdcc57f110 134 debug.printf( "INT_GEN_SRC_XL (26h) %02x\n\r", I2CreadByte(0xD6, 0x26));
afmiee 7:cbfdcc57f110 135 debug.printf( "INT_GEN_THS_X_XL (07h) %02x\n\r", I2CreadByte(0xD6, 0x07));
afmiee 7:cbfdcc57f110 136 debug.printf( "INT_GEN_THS_Y_XL (08h) %02x\n\r", I2CreadByte(0xD6, 0x08));
afmiee 7:cbfdcc57f110 137 debug.printf( "INT_GEN_THS_Z_XL (09h) %02x\n\r", I2CreadByte(0xD6, 0x09));
afmiee 7:cbfdcc57f110 138 debug.printf( "INT_GEN_DUR_XL (0ah) %02x\n\r", I2CreadByte(0xD6, 0x0a));
afmiee 7:cbfdcc57f110 139 debug.printf( "\n\r");
afmiee 7:cbfdcc57f110 140 debug.printf( "INT_GEN_CFG_G (30h) %02x\n\r", I2CreadByte(0xD6, 0x30));
afmiee 7:cbfdcc57f110 141 debug.printf( "INT_GEN_SRC_G (14h) %02x\n\r", I2CreadByte(0xD6, 0x14));
afmiee 7:cbfdcc57f110 142 debug.printf( "INT_GEN_THS_XH_G (31h) %02x\n\r", I2CreadByte(0xD6, 0x31));
afmiee 7:cbfdcc57f110 143 debug.printf( "INT_GEN_THS_XL_G (32h) %02x\n\r", I2CreadByte(0xD6, 0x32));
afmiee 7:cbfdcc57f110 144 debug.printf( "INT_GEN_THS_YH_G (33h) %02x\n\r", I2CreadByte(0xD6, 0x33));
afmiee 7:cbfdcc57f110 145 debug.printf( "INT_GEN_THS_YL_G (34h) %02x\n\r", I2CreadByte(0xD6, 0x34));
afmiee 7:cbfdcc57f110 146 debug.printf( "INT_GEN_THS_ZH_G (35h) %02x\n\r", I2CreadByte(0xD6, 0x35));
afmiee 7:cbfdcc57f110 147 debug.printf( "INT_GEN_THS_ZL_G (36h) %02x\n\r", I2CreadByte(0xD6, 0x36));
afmiee 7:cbfdcc57f110 148 debug.printf( "INT_GEN_DUR_G (37h) %02x\n\r", I2CreadByte(0xD6, 0x37));
afmiee 7:cbfdcc57f110 149
afmiee 6:9db9f4bfaf98 150 // // Initialize current time if needed
afmiee 5:b1a689c55f59 151 // printf("Enter current date and time:\n");
afmiee 5:b1a689c55f59 152 // printf("YYYY MM DD HH MM SS[enter]\n");
afmiee 5:b1a689c55f59 153 // scanf("%d %d %d %d %d %d", &t.tm_year, &t.tm_mon, &t.tm_mday
afmiee 5:b1a689c55f59 154 // , &t.tm_hour, &t.tm_min, &t.tm_sec);
afmiee 5:b1a689c55f59 155
afmiee 5:b1a689c55f59 156 // adjust for tm structure required values
afmiee 5:b1a689c55f59 157 t.tm_year = t.tm_year - 1900;
afmiee 5:b1a689c55f59 158 t.tm_mon = t.tm_mon - 1;
afmiee 5:b1a689c55f59 159
afmiee 5:b1a689c55f59 160 // set the time
afmiee 5:b1a689c55f59 161 rtc.set_time(mktime(&t));
afmiee 5:b1a689c55f59 162
afmiee 5:b1a689c55f59 163 while(1) {
afmiee 5:b1a689c55f59 164 debug.printf("Press Button 1 to Start sampling\n\r");
afmiee 5:b1a689c55f59 165 debug.printf("Press Button 2 to Stop sampling\n\r");
afmiee 5:b1a689c55f59 166 // Check for button 1 pressed
afmiee 5:b1a689c55f59 167 while(!start) {
afmiee 5:b1a689c55f59 168 led1 = 1;
afmiee 5:b1a689c55f59 169 }
afmiee 5:b1a689c55f59 170 // Start sampling
afmiee 7:cbfdcc57f110 171 //led1 = 0;
afmiee 7:cbfdcc57f110 172 parp(5);
afmiee 5:b1a689c55f59 173 debug.printf("Started sampling\n\r");
afmiee 5:b1a689c55f59 174 // Get the time and create a file with the number of seconds in hex appended
afmiee 6:9db9f4bfaf98 175 seconds = rtc.time();
afmiee 5:b1a689c55f59 176 sprintf(secs_str, "%s", ctime(&seconds));
afmiee 5:b1a689c55f59 177 printf("Started at: %s\n\r", secs_str );
afmiee 5:b1a689c55f59 178 sprintf(filename, "/sd/latch9DOF_%08x",seconds);
afmiee 5:b1a689c55f59 179 fp = fopen(filename, "w");
afmiee 5:b1a689c55f59 180 // Verify that file can be created
afmiee 5:b1a689c55f59 181 if ( fp == NULL ) {
afmiee 5:b1a689c55f59 182 debug.printf("Cannot create file %s\n\r", filename);
afmiee 5:b1a689c55f59 183 wait(0.5);
afmiee 5:b1a689c55f59 184 while(1) {
afmiee 5:b1a689c55f59 185 led1 = !led1;
afmiee 5:b1a689c55f59 186 wait(0.5);
afmiee 5:b1a689c55f59 187 }
afmiee 5:b1a689c55f59 188 } else
afmiee 5:b1a689c55f59 189 debug.printf("File %s created successfully\n\r", filename);
afmiee 6:9db9f4bfaf98 190
afmiee 6:9db9f4bfaf98 191 // Sample until button 2 is pressed
afmiee 5:b1a689c55f59 192 while(!stop) {
afmiee 7:cbfdcc57f110 193 //led1 = 0;
afmiee 6:9db9f4bfaf98 194 lol.readAccel();
afmiee 6:9db9f4bfaf98 195 lol.readMag();
afmiee 6:9db9f4bfaf98 196 lol.readGyro();
afmiee 6:9db9f4bfaf98 197 debug.printf("%d, %d, %d, ", lol.ax, lol.ay, lol.az);
afmiee 6:9db9f4bfaf98 198 debug.printf("%d, %d, %d,", lol.mx, lol.my, lol.mz);
afmiee 6:9db9f4bfaf98 199 debug.printf("%d, %d, %d\n\r", lol.gx, lol.gy, lol.gz);
afmiee 6:9db9f4bfaf98 200 fprintf(fp, "%d, %d, %d, ", lol.ax, lol.ay, lol.az);
afmiee 6:9db9f4bfaf98 201 fprintf(fp, "%d, %d, %d,", lol.mx, lol.my, lol.mz);
afmiee 6:9db9f4bfaf98 202 fprintf(fp, "%d, %d, %d\n\r", lol.gx, lol.gy, lol.gz);
afmiee 5:b1a689c55f59 203 wait(0.1);
afmiee 5:b1a689c55f59 204 }
afmiee 5:b1a689c55f59 205 // Stop Sampling and close file
afmiee 7:cbfdcc57f110 206 parp(10);
afmiee 5:b1a689c55f59 207 led1 = 1;
afmiee 5:b1a689c55f59 208 debug.printf("Stopped sampling\n\r");
afmiee 5:b1a689c55f59 209 debug.printf("Results stored in %s\n\r", filename);
afmiee 5:b1a689c55f59 210 fclose(fp);
afmiee 6:9db9f4bfaf98 211 }
tosihisa 4:3c677edffb13 212 }
afmiee 7:cbfdcc57f110 213
afmiee 7:cbfdcc57f110 214
afmiee 7:cbfdcc57f110 215