Antonio Mondragon
Minor fixes
Dependencies: LSM9DS1_Library SDFileSystem mbed nrf51_rtc
Fork of
LSM303DLHTest
by 
Toshihisa T
main.cpp@12:f361ccfc191e, 2016-09-29 (annotated)
- Committer:
- afmiee
- Date:
- Thu Sep 29 22:03:48 2016 +0000
- Revision:
- 12:f361ccfc191e
- Parent:
- 11:a246c67d44b0
Minor fixes
Who changed what in which revision?
| User | Revision | Line number | New 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 | 11:a246c67d44b0 | 12 | //#define DEBUG 1 // Print Debug information to serial terminal |
| afmiee | 12:f361ccfc191e | 13 | //#define MOTION 1 // Define if operated by motion or by buttons |
| afmiee | 10:e7ab0493ed9f | 14 | |
| afmiee | 10:e7ab0493ed9f | 15 | // define threshold and Duration registers for interrupts |
| afmiee | 10:e7ab0493ed9f | 16 | #define ACT_THS_REG 0x10 // 0x04 |
| afmiee | 10:e7ab0493ed9f | 17 | #define ACT_DUR_REG 0x02 // 0x05 |
| afmiee | 5:b1a689c55f59 | 18 | |
| afmiee | 11:a246c67d44b0 | 19 | #define INT_GEN_THS_X_XL_REG 0x0C // 0x07 |
| afmiee | 10:e7ab0493ed9f | 20 | #define INT_GEN_THS_Y_YL_REG 0xFF // 0x08 |
| afmiee | 11:a246c67d44b0 | 21 | #define INT_GEN_THS_Z_XL_REG 0x0C // 0x09 |
| afmiee | 10:e7ab0493ed9f | 22 | #define INT_GEN_DUR_XL_REG 0x00 // 0x0A |
| afmiee | 10:e7ab0493ed9f | 23 | |
| afmiee | 10:e7ab0493ed9f | 24 | #define INT_GEN_THS_XHL_G_REG 0x0300 // 0x31-32 |
| afmiee | 10:e7ab0493ed9f | 25 | #define INT_GEN_THS_YHL_G_REG 0x0300 // 0x33-34 |
| afmiee | 10:e7ab0493ed9f | 26 | #define INT_GEN_THS_ZHL_G_REG 0x0300 // 0x35-36 |
| afmiee | 10:e7ab0493ed9f | 27 | #define INT_GEN_DUR_G_REG 0x02 // 0x37 |
| afmiee | 10:e7ab0493ed9f | 28 | |
| afmiee | 11:a246c67d44b0 | 29 | #define LED_ON 0 |
| afmiee | 11:a246c67d44b0 | 30 | #define LED_OFF 01 |
| afmiee | 11:a246c67d44b0 | 31 | #define DBG_ACTIVE 0 |
| afmiee | 11:a246c67d44b0 | 32 | #define DBG_INACTIVE 1 |
| afmiee | 11:a246c67d44b0 | 33 | |
| afmiee | 10:e7ab0493ed9f | 34 | typedef unsigned long int ulint; |
| afmiee | 11:a246c67d44b0 | 35 | |
| afmiee | 5:b1a689c55f59 | 36 | // Create objects |
| afmiee | 5:b1a689c55f59 | 37 | Serial debug(USBTX,USBRX); |
| afmiee | 5:b1a689c55f59 | 38 | // For Nordic |
| afmiee | 6:9db9f4bfaf98 | 39 | LSM9DS1 lol(p30, p7, 0xD6, 0x3C); |
| afmiee | 7:cbfdcc57f110 | 40 | I2C i2c(p30, p7); |
| afmiee | 10:e7ab0493ed9f | 41 | |
| afmiee | 5:b1a689c55f59 | 42 | // Create the SD filesystem |
| afmiee | 5:b1a689c55f59 | 43 | SDFileSystem sd(p25, p28, p29, p20, "sd"); // MOSI, MISO, SCLK, SSEL |
| afmiee | 5:b1a689c55f59 | 44 | |
| afmiee | 5:b1a689c55f59 | 45 | // Create a ticker to use the nRF51 RTC |
| afmiee | 5:b1a689c55f59 | 46 | Ticker flipper; |
| afmiee | 5:b1a689c55f59 | 47 | |
| afmiee | 11:a246c67d44b0 | 48 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 49 | // Assign interrupts to Interrupts from LSM9DS1 |
| afmiee | 9:61fcd186ac50 | 50 | InterruptIn int1(p12); // Start sampling |
| afmiee | 11:a246c67d44b0 | 51 | InterruptIn int2(p13); // Stop sampling |
| afmiee | 11:a246c67d44b0 | 52 | #else |
| afmiee | 11:a246c67d44b0 | 53 | // Assign interrupts to Buttons 1 and 2 on nrf51-DK |
| afmiee | 11:a246c67d44b0 | 54 | InterruptIn but1(p17); // Start sampling |
| afmiee | 11:a246c67d44b0 | 55 | InterruptIn but2(p18); // Stop sampling |
| afmiee | 11:a246c67d44b0 | 56 | #endif |
| afmiee | 5:b1a689c55f59 | 57 | |
| afmiee | 5:b1a689c55f59 | 58 | // LED definitions |
| afmiee | 5:b1a689c55f59 | 59 | DigitalOut led1(LED1); |
| afmiee | 5:b1a689c55f59 | 60 | DigitalOut led2(LED2); |
| afmiee | 11:a246c67d44b0 | 61 | DigitalOut led3(LED3); |
| afmiee | 11:a246c67d44b0 | 62 | |
| afmiee | 11:a246c67d44b0 | 63 | DigitalOut dbg1(p24); |
| afmiee | 11:a246c67d44b0 | 64 | DigitalOut dbg2(p0); |
| afmiee | 5:b1a689c55f59 | 65 | |
| afmiee | 5:b1a689c55f59 | 66 | // Global variables |
| afmiee | 11:a246c67d44b0 | 67 | volatile int start = 0; |
| afmiee | 11:a246c67d44b0 | 68 | volatile int stop = 0; |
| afmiee | 10:e7ab0493ed9f | 69 | time_t seconds; |
| afmiee | 5:b1a689c55f59 | 70 | |
| afmiee | 10:e7ab0493ed9f | 71 | FILE *fpA; |
| afmiee | 10:e7ab0493ed9f | 72 | FILE *fpG; |
| afmiee | 10:e7ab0493ed9f | 73 | FILE *fpM; |
| afmiee | 7:cbfdcc57f110 | 74 | |
| afmiee | 10:e7ab0493ed9f | 75 | char filename[80]; |
| afmiee | 10:e7ab0493ed9f | 76 | char secs_str[80]; |
| afmiee | 7:cbfdcc57f110 | 77 | |
| afmiee | 11:a246c67d44b0 | 78 | uint8_t I2CreadByte(uint8_t address, uint8_t subAddress); |
| afmiee | 11:a246c67d44b0 | 79 | uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); |
| afmiee | 11:a246c67d44b0 | 80 | int file_rename(const char *oldfname, const char *newfname); |
| afmiee | 11:a246c67d44b0 | 81 | int file_copy (const char *src, const char *dst); |
| afmiee | 11:a246c67d44b0 | 82 | void start_smpl(); |
| afmiee | 11:a246c67d44b0 | 83 | void stop_smpl(); |
| afmiee | 11:a246c67d44b0 | 84 | void parp( int times ); |
| afmiee | 11:a246c67d44b0 | 85 | void flip(); |
| afmiee | 11:a246c67d44b0 | 86 | void print_config_int_registers( void ); |
| afmiee | 11:a246c67d44b0 | 87 | void open_temp_files( void ); |
| afmiee | 11:a246c67d44b0 | 88 | void rename_files( void ); |
| afmiee | 11:a246c67d44b0 | 89 | void DumpAccelGyroRegs( void ); |
| afmiee | 11:a246c67d44b0 | 90 | |
| afmiee | 11:a246c67d44b0 | 91 | |
| afmiee | 11:a246c67d44b0 | 92 | int main() |
| afmiee | 11:a246c67d44b0 | 93 | { |
| afmiee | 11:a246c67d44b0 | 94 | led1 = 1; |
| afmiee | 11:a246c67d44b0 | 95 | led2 = 1; |
| afmiee | 11:a246c67d44b0 | 96 | |
| afmiee | 11:a246c67d44b0 | 97 | // debug pins |
| afmiee | 11:a246c67d44b0 | 98 | dbg1 = DBG_INACTIVE; |
| afmiee | 11:a246c67d44b0 | 99 | dbg2 = DBG_INACTIVE; |
| afmiee | 11:a246c67d44b0 | 100 | |
| afmiee | 11:a246c67d44b0 | 101 | struct tm t; |
| afmiee | 11:a246c67d44b0 | 102 | start = 0; |
| afmiee | 11:a246c67d44b0 | 103 | stop = 0; |
| afmiee | 11:a246c67d44b0 | 104 | |
| afmiee | 11:a246c67d44b0 | 105 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 106 | int1.fall(&start_smpl); |
| afmiee | 11:a246c67d44b0 | 107 | int2.fall(&stop_smpl); |
| afmiee | 11:a246c67d44b0 | 108 | #else |
| afmiee | 11:a246c67d44b0 | 109 | but1.rise(&start_smpl); |
| afmiee | 11:a246c67d44b0 | 110 | but2.rise(&stop_smpl); |
| afmiee | 11:a246c67d44b0 | 111 | #endif |
| afmiee | 11:a246c67d44b0 | 112 | |
| afmiee | 11:a246c67d44b0 | 113 | // Attach functions to interrupts |
| afmiee | 11:a246c67d44b0 | 114 | flipper.attach(&flip, 1.0); // the address of the function to be attached (flip) and the interval (2 seconds) |
| afmiee | 11:a246c67d44b0 | 115 | |
| afmiee | 11:a246c67d44b0 | 116 | // Enable serial port |
| afmiee | 11:a246c67d44b0 | 117 | debug.format(8,Serial::None,1); |
| afmiee | 11:a246c67d44b0 | 118 | debug.baud(115200); |
| afmiee | 11:a246c67d44b0 | 119 | |
| afmiee | 11:a246c67d44b0 | 120 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 121 | debug.printf("LSM9DS1 Test\x0d\x0a"); |
| afmiee | 11:a246c67d44b0 | 122 | #endif |
| afmiee | 11:a246c67d44b0 | 123 | |
| afmiee | 11:a246c67d44b0 | 124 | // Initialize 9DOF |
| afmiee | 11:a246c67d44b0 | 125 | if (!lol.begin()) { |
| afmiee | 11:a246c67d44b0 | 126 | debug.printf("Failed to communicate with LSM9DS1.\n"); |
| afmiee | 11:a246c67d44b0 | 127 | wait(0.5); |
| afmiee | 11:a246c67d44b0 | 128 | while(1) { |
| afmiee | 11:a246c67d44b0 | 129 | led1 = !led1; |
| afmiee | 11:a246c67d44b0 | 130 | wait(0.5); |
| afmiee | 11:a246c67d44b0 | 131 | } |
| afmiee | 11:a246c67d44b0 | 132 | } else { |
| afmiee | 11:a246c67d44b0 | 133 | debug.printf("Communication with the LSM9DS1 successfully\n\r"); |
| afmiee | 11:a246c67d44b0 | 134 | } |
| afmiee | 11:a246c67d44b0 | 135 | |
| afmiee | 11:a246c67d44b0 | 136 | lol.calibrate(true); |
| afmiee | 11:a246c67d44b0 | 137 | lol.setFIFO(FIFO_CONT, 0x1F); |
| afmiee | 11:a246c67d44b0 | 138 | |
| afmiee | 11:a246c67d44b0 | 139 | lol.getStatus(); |
| afmiee | 11:a246c67d44b0 | 140 | lol.getAccelIntSrc(); |
| afmiee | 11:a246c67d44b0 | 141 | lol.readAccel(); |
| afmiee | 11:a246c67d44b0 | 142 | lol.readGyro(); |
| afmiee | 11:a246c67d44b0 | 143 | |
| afmiee | 11:a246c67d44b0 | 144 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 145 | // Configure |
| afmiee | 11:a246c67d44b0 | 146 | lol.configAccelThs((uint8_t)INT_GEN_THS_X_XL_REG, X_AXIS, (uint8_t)INT_GEN_DUR_XL_REG, false); // INT_GEN_THS_X_XL (07h) |
| afmiee | 11:a246c67d44b0 | 147 | lol.configAccelThs((uint8_t)INT_GEN_THS_Y_YL_REG, Y_AXIS, (uint8_t)INT_GEN_DUR_XL_REG, false); // INT_GEN_THS_Y_XL (08h) |
| afmiee | 11:a246c67d44b0 | 148 | lol.configAccelThs((uint8_t)INT_GEN_THS_Z_XL_REG, Z_AXIS, (uint8_t)INT_GEN_DUR_XL_REG, false); // INT_GEN_THS_Z_XL (09h) |
| afmiee | 11:a246c67d44b0 | 149 | |
| afmiee | 11:a246c67d44b0 | 150 | lol.configGyroThs((int16_t )INT_GEN_THS_XHL_G_REG, X_AXIS, (uint8_t) INT_GEN_DUR_G_REG, false); // INT_GEN_THS_X_G (31h - 32h) |
| afmiee | 11:a246c67d44b0 | 151 | lol.configGyroThs((int16_t )INT_GEN_THS_YHL_G_REG, Y_AXIS, (uint8_t) INT_GEN_DUR_G_REG, false); // INT_GEN_THS_Y_G (33h - 34h) |
| afmiee | 11:a246c67d44b0 | 152 | lol.configGyroThs((int16_t )INT_GEN_THS_ZHL_G_REG, Z_AXIS, (uint8_t) INT_GEN_DUR_G_REG, false); // INT_GEN_THS_Z_G (35h - 36h) |
| afmiee | 11:a246c67d44b0 | 153 | //lol.configGyroInt(ZHIE_G|YHIE_G|XHIE_G, false, false); // INT_GEN_CFG_G (30h) |
| afmiee | 11:a246c67d44b0 | 154 | |
| afmiee | 11:a246c67d44b0 | 155 | lol.configInt(XG_INT1, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22) |
| afmiee | 11:a246c67d44b0 | 156 | lol.configInt(XG_INT2, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22) |
| afmiee | 11:a246c67d44b0 | 157 | #endif |
| afmiee | 11:a246c67d44b0 | 158 | |
| afmiee | 11:a246c67d44b0 | 159 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 160 | print_config_int_registers(); |
| afmiee | 11:a246c67d44b0 | 161 | #endif |
| afmiee | 11:a246c67d44b0 | 162 | // Dump all registers |
| afmiee | 11:a246c67d44b0 | 163 | //DumpAccelGyroRegs(); |
| afmiee | 11:a246c67d44b0 | 164 | // // Initialize current time if needed |
| afmiee | 11:a246c67d44b0 | 165 | // printf("Enter current date and time:\n"); |
| afmiee | 11:a246c67d44b0 | 166 | // printf("YYYY MM DD HH MM SS[enter]\n"); |
| afmiee | 11:a246c67d44b0 | 167 | // scanf("%d %d %d %d %d %d", &t.tm_year, &t.tm_mon, &t.tm_mday |
| afmiee | 11:a246c67d44b0 | 168 | // , &t.tm_hour, &t.tm_min, &t.tm_sec); |
| afmiee | 11:a246c67d44b0 | 169 | |
| afmiee | 11:a246c67d44b0 | 170 | // adjust for tm structure required values |
| afmiee | 11:a246c67d44b0 | 171 | t.tm_year = t.tm_year - 1900; |
| afmiee | 11:a246c67d44b0 | 172 | t.tm_mon = t.tm_mon - 1; |
| afmiee | 11:a246c67d44b0 | 173 | |
| afmiee | 11:a246c67d44b0 | 174 | // set the time |
| afmiee | 11:a246c67d44b0 | 175 | rtc.set_time(mktime(&t)); |
| afmiee | 11:a246c67d44b0 | 176 | // Set the interrupt service routines |
| afmiee | 11:a246c67d44b0 | 177 | |
| afmiee | 11:a246c67d44b0 | 178 | // Wait for the start Signal generated by the accelerometer interrupt |
| afmiee | 11:a246c67d44b0 | 179 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 180 | // Read the interrupt to clear it |
| afmiee | 11:a246c67d44b0 | 181 | lol.getStatus(); |
| afmiee | 11:a246c67d44b0 | 182 | lol.getAccelIntSrc(); |
| afmiee | 11:a246c67d44b0 | 183 | // Disable the interrupt |
| afmiee | 11:a246c67d44b0 | 184 | lol.configAccelInt(0, false); // INT_GEN_CFG_XL (06h) |
| afmiee | 11:a246c67d44b0 | 185 | lol.configInt(XG_INT1, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22) |
| afmiee | 11:a246c67d44b0 | 186 | #endif |
| afmiee | 11:a246c67d44b0 | 187 | |
| afmiee | 11:a246c67d44b0 | 188 | |
| afmiee | 11:a246c67d44b0 | 189 | while(1) { |
| afmiee | 11:a246c67d44b0 | 190 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 191 | lol.getStatus(); |
| afmiee | 11:a246c67d44b0 | 192 | lol.getAccelIntSrc(); |
| afmiee | 11:a246c67d44b0 | 193 | lol.readAccel(); |
| afmiee | 11:a246c67d44b0 | 194 | lol.getGyroIntSrc(); |
| afmiee | 11:a246c67d44b0 | 195 | lol.readGyro(); |
| afmiee | 11:a246c67d44b0 | 196 | // Disable the interrupt |
| afmiee | 11:a246c67d44b0 | 197 | lol.configAccelInt(0, false); // INT_GEN_CFG_XL (06h) |
| afmiee | 11:a246c67d44b0 | 198 | lol.configInt(XG_INT1, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22) |
| afmiee | 11:a246c67d44b0 | 199 | // Read the interrupt to clear it |
| afmiee | 11:a246c67d44b0 | 200 | #endif |
| afmiee | 11:a246c67d44b0 | 201 | // Create temporary files |
| afmiee | 11:a246c67d44b0 | 202 | led3 = LED_ON; |
| afmiee | 11:a246c67d44b0 | 203 | open_temp_files(); |
| afmiee | 11:a246c67d44b0 | 204 | led3 = LED_OFF; |
| afmiee | 11:a246c67d44b0 | 205 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 206 | debug.printf( "\n\r"); |
| afmiee | 11:a246c67d44b0 | 207 | debug.printf( "Status (27h) %02x\n\r", lol.getStatus()); // STATUS_REG (27h) |
| afmiee | 11:a246c67d44b0 | 208 | debug.printf( "GyroIntSrc (14h) %02x\n\r", lol.getGyroIntSrc()); // INT_GEN_SRC_G (14h) |
| afmiee | 11:a246c67d44b0 | 209 | debug.printf( "AccelIntSrc(26h) %02x\n\r", lol.getAccelIntSrc()); // INT_GEN_SRC_XL (26h) |
| afmiee | 11:a246c67d44b0 | 210 | debug.printf( "MagIntSrc (31h) %02x\n\r", lol.getMagIntSrc()); // INT_SRC_M (31h) |
| afmiee | 11:a246c67d44b0 | 211 | debug.printf( "Inactivity (17h) %02x\n\r", lol.getInactivity()); // STATUS_REG (17h) |
| afmiee | 11:a246c67d44b0 | 212 | debug.printf( "\n\r"); |
| afmiee | 11:a246c67d44b0 | 213 | #endif |
| afmiee | 11:a246c67d44b0 | 214 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 215 | print_config_int_registers(); |
| afmiee | 11:a246c67d44b0 | 216 | #endif |
| afmiee | 11:a246c67d44b0 | 217 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 218 | // Program the motion interrupt on accelerometer |
| afmiee | 11:a246c67d44b0 | 219 | lol.configAccelInt(ZHIE_XL|YHIE_XL|XHIE_XL, false); // INT_GEN_CFG_XL (06h) |
| afmiee | 11:a246c67d44b0 | 220 | lol.configInt(XG_INT1, INT1_IG_XL, INT_ACTIVE_LOW, INT_PUSH_PULL); // INT1_CTRL (0x0C) + CTRL_REG8 (0x22) |
| afmiee | 11:a246c67d44b0 | 221 | #endif |
| afmiee | 11:a246c67d44b0 | 222 | // Check for button 1 pressed or |
| afmiee | 11:a246c67d44b0 | 223 | // Wait for the start Signal generated by the accelerometer interrupt |
| afmiee | 11:a246c67d44b0 | 224 | // Depends if MOTION is defined |
| afmiee | 11:a246c67d44b0 | 225 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 226 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 227 | debug.printf("Waiting for motion to start sampling\n\r"); |
| afmiee | 11:a246c67d44b0 | 228 | #else |
| afmiee | 11:a246c67d44b0 | 229 | debug.printf("Waiting for Button 1 to be pressed to start sampling\n\r"); |
| afmiee | 11:a246c67d44b0 | 230 | #endif |
| afmiee | 11:a246c67d44b0 | 231 | #endif |
| afmiee | 11:a246c67d44b0 | 232 | while(start==0); |
| afmiee | 11:a246c67d44b0 | 233 | dbg1 = DBG_ACTIVE; |
| afmiee | 11:a246c67d44b0 | 234 | dbg2 = DBG_INACTIVE; |
| afmiee | 11:a246c67d44b0 | 235 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 236 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 237 | debug.printf("Motion Detected\n\r"); |
| afmiee | 11:a246c67d44b0 | 238 | #else |
| afmiee | 11:a246c67d44b0 | 239 | debug.printf("Button 1 pressed\n\r"); |
| afmiee | 11:a246c67d44b0 | 240 | #endif |
| afmiee | 11:a246c67d44b0 | 241 | #endif |
| afmiee | 11:a246c67d44b0 | 242 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 243 | // Reset the Interrupt |
| afmiee | 11:a246c67d44b0 | 244 | lol.getStatus(); |
| afmiee | 11:a246c67d44b0 | 245 | lol.getAccelIntSrc(); |
| afmiee | 11:a246c67d44b0 | 246 | |
| afmiee | 11:a246c67d44b0 | 247 | // Disable the interrupt |
| afmiee | 11:a246c67d44b0 | 248 | lol.configAccelInt(0, false); // INT_GEN_CFG_XL (06h) |
| afmiee | 11:a246c67d44b0 | 249 | lol.configInt(XG_INT1, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22) |
| afmiee | 11:a246c67d44b0 | 250 | // Read the interrupt to clear it |
| afmiee | 11:a246c67d44b0 | 251 | #endif |
| afmiee | 11:a246c67d44b0 | 252 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 253 | debug.printf("Started sampling\n\r"); |
| afmiee | 11:a246c67d44b0 | 254 | // Get the time and create a file with the number of seconds in hex appended |
| afmiee | 11:a246c67d44b0 | 255 | #endif |
| afmiee | 11:a246c67d44b0 | 256 | // Caoture the seconds since Turn-on to name the files |
| afmiee | 11:a246c67d44b0 | 257 | seconds = rtc.time(); |
| afmiee | 11:a246c67d44b0 | 258 | sprintf(secs_str, "%s", ctime(&seconds)); |
| afmiee | 11:a246c67d44b0 | 259 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 260 | debug.printf("\n\rStarted at: %s\n\r\n\r", secs_str ); |
| afmiee | 11:a246c67d44b0 | 261 | #endif |
| afmiee | 11:a246c67d44b0 | 262 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 263 | // program inactivity timer |
| afmiee | 11:a246c67d44b0 | 264 | lol.configInactivity(ACT_THS_REG, ACT_DUR_REG, true); |
| afmiee | 11:a246c67d44b0 | 265 | lol.configInt(XG_INT2, INT2_INACT, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT2_CTRL (0x0D) + CTRL_REG8 (0x22) |
| afmiee | 11:a246c67d44b0 | 266 | #endif |
| afmiee | 11:a246c67d44b0 | 267 | //Execute until inactivity timer is triggered |
| afmiee | 11:a246c67d44b0 | 268 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 269 | print_config_int_registers(); |
| afmiee | 11:a246c67d44b0 | 270 | #endif |
| afmiee | 11:a246c67d44b0 | 271 | |
| afmiee | 11:a246c67d44b0 | 272 | while(!stop) { |
| afmiee | 11:a246c67d44b0 | 273 | dbg1 = DBG_INACTIVE; |
| afmiee | 11:a246c67d44b0 | 274 | dbg2 = DBG_ACTIVE; |
| afmiee | 11:a246c67d44b0 | 275 | if (lol.accelAvailable()) { |
| afmiee | 11:a246c67d44b0 | 276 | lol.readAccel(); |
| afmiee | 11:a246c67d44b0 | 277 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 278 | debug.printf("ACC %d, %d, %d\n\r", lol.ax, lol.ay, lol.az); |
| afmiee | 11:a246c67d44b0 | 279 | #endif |
| afmiee | 11:a246c67d44b0 | 280 | fprintf(fpA, "%d, %d, %d\n\r", lol.ax, lol.ay, lol.az); |
| afmiee | 11:a246c67d44b0 | 281 | } |
| afmiee | 11:a246c67d44b0 | 282 | if ( lol.magAvailable(X_AXIS) && lol.magAvailable(Y_AXIS) && lol.magAvailable(Z_AXIS)) { |
| afmiee | 11:a246c67d44b0 | 283 | lol.readMag(); |
| afmiee | 11:a246c67d44b0 | 284 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 285 | debug.printf("MAG %d, %d, %d\n\r", lol.mx, lol.my, lol.mz); |
| afmiee | 11:a246c67d44b0 | 286 | #endif |
| afmiee | 11:a246c67d44b0 | 287 | fprintf(fpM, "%d, %d, %d\n\r", lol.mx, lol.my, lol.mz); |
| afmiee | 11:a246c67d44b0 | 288 | } |
| afmiee | 11:a246c67d44b0 | 289 | if ( lol.gyroAvailable()) { |
| afmiee | 11:a246c67d44b0 | 290 | lol.readGyro(); |
| afmiee | 11:a246c67d44b0 | 291 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 292 | debug.printf("GYR %d, %d, %d\n\r", lol.gx, lol.gy, lol.gz); |
| afmiee | 11:a246c67d44b0 | 293 | #endif |
| afmiee | 11:a246c67d44b0 | 294 | fprintf(fpG, "%d, %d, %d\n\r", lol.gx, lol.gy, lol.gz); |
| afmiee | 11:a246c67d44b0 | 295 | } |
| afmiee | 11:a246c67d44b0 | 296 | } |
| afmiee | 11:a246c67d44b0 | 297 | #ifdef MOTION |
| afmiee | 11:a246c67d44b0 | 298 | //Disable inactivity interrupt |
| afmiee | 11:a246c67d44b0 | 299 | lol.configInt(XG_INT2, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT2_CTRL (0x0D) + CTRL_REG8 (0x22) |
| afmiee | 11:a246c67d44b0 | 300 | #endif |
| afmiee | 11:a246c67d44b0 | 301 | // Stop Sampling and close file |
| afmiee | 11:a246c67d44b0 | 302 | //parp(10); |
| afmiee | 11:a246c67d44b0 | 303 | #ifdef DEBUG |
| afmiee | 11:a246c67d44b0 | 304 | debug.printf("Stopped sampling\n\r"); |
| afmiee | 11:a246c67d44b0 | 305 | #endif |
| afmiee | 11:a246c67d44b0 | 306 | led3 = LED_ON; |
| afmiee | 11:a246c67d44b0 | 307 | fclose(fpA); |
| afmiee | 11:a246c67d44b0 | 308 | fclose(fpM); |
| afmiee | 11:a246c67d44b0 | 309 | fclose(fpG); |
| afmiee | 11:a246c67d44b0 | 310 | rename_files(); |
| afmiee | 11:a246c67d44b0 | 311 | led3 = LED_OFF; |
| afmiee | 11:a246c67d44b0 | 312 | } |
| afmiee | 11:a246c67d44b0 | 313 | } |
| afmiee | 11:a246c67d44b0 | 314 | |
| afmiee | 7:cbfdcc57f110 | 315 | uint8_t I2CreadByte(uint8_t address, uint8_t subAddress) |
| afmiee | 7:cbfdcc57f110 | 316 | { |
| afmiee | 7:cbfdcc57f110 | 317 | char data; |
| afmiee | 7:cbfdcc57f110 | 318 | char temp= subAddress; |
| afmiee | 7:cbfdcc57f110 | 319 | |
| afmiee | 7:cbfdcc57f110 | 320 | i2c.write(address, &temp, 1); |
| afmiee | 7:cbfdcc57f110 | 321 | int a = i2c.read(address, &data, 1); |
| afmiee | 7:cbfdcc57f110 | 322 | return data; |
| afmiee | 5:b1a689c55f59 | 323 | } |
| afmiee | 5:b1a689c55f59 | 324 | |
| afmiee | 8:8f4d7f1c588f | 325 | uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count) |
| afmiee | 8:8f4d7f1c588f | 326 | { |
| afmiee | 8:8f4d7f1c588f | 327 | int i; |
| afmiee | 8:8f4d7f1c588f | 328 | char temp_dest[count]; |
| afmiee | 8:8f4d7f1c588f | 329 | char temp = subAddress; |
| afmiee | 8:8f4d7f1c588f | 330 | i2c.write(address, &temp, 1); |
| afmiee | 8:8f4d7f1c588f | 331 | i2c.read(address, temp_dest, count); |
| afmiee | 8:8f4d7f1c588f | 332 | |
| afmiee | 8:8f4d7f1c588f | 333 | //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion |
| afmiee | 8:8f4d7f1c588f | 334 | for (i=0; i < count; i++) { |
| afmiee | 8:8f4d7f1c588f | 335 | dest[i] = temp_dest[i]; |
| afmiee | 8:8f4d7f1c588f | 336 | } |
| afmiee | 8:8f4d7f1c588f | 337 | return count; |
| afmiee | 8:8f4d7f1c588f | 338 | } |
| afmiee | 10:e7ab0493ed9f | 339 | //*********************************************************** |
| afmiee | 10:e7ab0493ed9f | 340 | // file_rename: renames a file (via copy & delete). |
| afmiee | 10:e7ab0493ed9f | 341 | // Moves data instead of adjusting the file name in the |
| afmiee | 10:e7ab0493ed9f | 342 | // file directory. Checks to insure the file was renamed. |
| afmiee | 10:e7ab0493ed9f | 343 | // Returns -1 = error; 0 = success |
| afmiee | 10:e7ab0493ed9f | 344 | //*********************************************************** |
| afmiee | 10:e7ab0493ed9f | 345 | int file_rename(const char *oldfname, const char *newfname) |
| afmiee | 10:e7ab0493ed9f | 346 | { |
| afmiee | 10:e7ab0493ed9f | 347 | int retval = 0; |
| afmiee | 10:e7ab0493ed9f | 348 | int ch; |
| afmiee | 8:8f4d7f1c588f | 349 | |
| afmiee | 10:e7ab0493ed9f | 350 | FILE *fpold = fopen(oldfname, "r"); // src file |
| afmiee | 10:e7ab0493ed9f | 351 | FILE *fpnew = fopen(newfname, "w"); // dest file |
| afmiee | 8:8f4d7f1c588f | 352 | |
| afmiee | 10:e7ab0493ed9f | 353 | while (1) { // Copy src to dest |
| afmiee | 10:e7ab0493ed9f | 354 | ch = fgetc(fpold); // until src EOF read. |
| afmiee | 10:e7ab0493ed9f | 355 | if (ch == EOF) break; |
| afmiee | 10:e7ab0493ed9f | 356 | fputc(ch, fpnew); |
| afmiee | 10:e7ab0493ed9f | 357 | } |
| afmiee | 10:e7ab0493ed9f | 358 | |
| afmiee | 10:e7ab0493ed9f | 359 | fclose(fpnew); |
| afmiee | 10:e7ab0493ed9f | 360 | fclose(fpold); |
| afmiee | 10:e7ab0493ed9f | 361 | |
| afmiee | 10:e7ab0493ed9f | 362 | fpnew = fopen(newfname, "r"); // Reopen dest to insure |
| afmiee | 10:e7ab0493ed9f | 363 | if(fpnew == NULL) { // that it was created. |
| afmiee | 10:e7ab0493ed9f | 364 | retval = (-1); // Return Error. |
| afmiee | 10:e7ab0493ed9f | 365 | } else { |
| afmiee | 10:e7ab0493ed9f | 366 | fclose(fpnew); |
| afmiee | 10:e7ab0493ed9f | 367 | remove(oldfname); // Remove original file. |
| afmiee | 10:e7ab0493ed9f | 368 | retval = (0); // Return Success. |
| afmiee | 10:e7ab0493ed9f | 369 | } |
| afmiee | 10:e7ab0493ed9f | 370 | return (retval); |
| afmiee | 10:e7ab0493ed9f | 371 | } |
| afmiee | 10:e7ab0493ed9f | 372 | |
| afmiee | 10:e7ab0493ed9f | 373 | //*********************************************************** |
| afmiee | 10:e7ab0493ed9f | 374 | // file_copy: Copies a file |
| afmiee | 10:e7ab0493ed9f | 375 | // Checks to insure destination file was created. |
| afmiee | 10:e7ab0493ed9f | 376 | // Returns -1 = error; 0 = success |
| afmiee | 10:e7ab0493ed9f | 377 | //*********************************************************** |
| afmiee | 10:e7ab0493ed9f | 378 | int file_copy (const char *src, const char *dst) |
| afmiee | 10:e7ab0493ed9f | 379 | { |
| afmiee | 10:e7ab0493ed9f | 380 | int retval = 0; |
| afmiee | 10:e7ab0493ed9f | 381 | int ch; |
| afmiee | 10:e7ab0493ed9f | 382 | |
| afmiee | 10:e7ab0493ed9f | 383 | FILE *fpsrc = fopen(src, "r"); // src file |
| afmiee | 10:e7ab0493ed9f | 384 | FILE *fpdst = fopen(dst, "w"); // dest file |
| afmiee | 10:e7ab0493ed9f | 385 | |
| afmiee | 10:e7ab0493ed9f | 386 | while (1) { // Copy src to dest |
| afmiee | 10:e7ab0493ed9f | 387 | ch = fgetc(fpsrc); // until src EOF read. |
| afmiee | 10:e7ab0493ed9f | 388 | if (ch == EOF) break; |
| afmiee | 10:e7ab0493ed9f | 389 | fputc(ch, fpdst); |
| afmiee | 10:e7ab0493ed9f | 390 | } |
| afmiee | 10:e7ab0493ed9f | 391 | fclose(fpsrc); |
| afmiee | 10:e7ab0493ed9f | 392 | fclose(fpdst); |
| afmiee | 10:e7ab0493ed9f | 393 | |
| afmiee | 10:e7ab0493ed9f | 394 | fpdst = fopen(dst, "r"); // Reopen dest to insure |
| afmiee | 10:e7ab0493ed9f | 395 | if(fpdst == NULL) { // that it was created. |
| afmiee | 10:e7ab0493ed9f | 396 | retval = (-1); // Return error. |
| afmiee | 10:e7ab0493ed9f | 397 | } else { |
| afmiee | 10:e7ab0493ed9f | 398 | fclose(fpdst); |
| afmiee | 10:e7ab0493ed9f | 399 | retval = (0); // Return success. |
| afmiee | 10:e7ab0493ed9f | 400 | } |
| afmiee | 10:e7ab0493ed9f | 401 | return (retval); |
| afmiee | 10:e7ab0493ed9f | 402 | } |
| afmiee | 10:e7ab0493ed9f | 403 | // Generated when button 1 is pressed on rising edge START |
| afmiee | 10:e7ab0493ed9f | 404 | // Modified to be generated by Interrupt 1 |
| afmiee | 10:e7ab0493ed9f | 405 | void start_smpl() |
| afmiee | 10:e7ab0493ed9f | 406 | { |
| afmiee | 10:e7ab0493ed9f | 407 | start = 1; |
| afmiee | 10:e7ab0493ed9f | 408 | stop = 0; |
| afmiee | 11:a246c67d44b0 | 409 | //dbg1 = 1; |
| afmiee | 11:a246c67d44b0 | 410 | //dbg2 = 0; |
| afmiee | 10:e7ab0493ed9f | 411 | } |
| afmiee | 10:e7ab0493ed9f | 412 | |
| afmiee | 10:e7ab0493ed9f | 413 | // Generated when button 1 is pressed on rising edge STOP |
| afmiee | 10:e7ab0493ed9f | 414 | // Modified to be generated by Interrupt 2 |
| afmiee | 10:e7ab0493ed9f | 415 | void stop_smpl() |
| afmiee | 10:e7ab0493ed9f | 416 | { |
| afmiee | 10:e7ab0493ed9f | 417 | stop = 1; |
| afmiee | 10:e7ab0493ed9f | 418 | start = 0; |
| afmiee | 11:a246c67d44b0 | 419 | //dbg1 = 0; |
| afmiee | 11:a246c67d44b0 | 420 | //dbg2 = 1; |
| afmiee | 10:e7ab0493ed9f | 421 | } |
| afmiee | 10:e7ab0493ed9f | 422 | |
| afmiee | 10:e7ab0493ed9f | 423 | void parp( int times ) |
| afmiee | 10:e7ab0493ed9f | 424 | { |
| afmiee | 10:e7ab0493ed9f | 425 | int i; |
| afmiee | 10:e7ab0493ed9f | 426 | for( i = 0; i < times; i++) { |
| afmiee | 11:a246c67d44b0 | 427 | led1 = LED_ON; |
| afmiee | 10:e7ab0493ed9f | 428 | wait( 0.05); |
| afmiee | 11:a246c67d44b0 | 429 | led1 = LED_OFF; |
| afmiee | 10:e7ab0493ed9f | 430 | wait( 0.05); |
| afmiee | 10:e7ab0493ed9f | 431 | } |
| afmiee | 10:e7ab0493ed9f | 432 | led2 = 1; |
| afmiee | 10:e7ab0493ed9f | 433 | } |
| afmiee | 11:a246c67d44b0 | 434 | |
| afmiee | 10:e7ab0493ed9f | 435 | // Flipped every second |
| afmiee | 10:e7ab0493ed9f | 436 | void flip() |
| afmiee | 10:e7ab0493ed9f | 437 | { |
| afmiee | 11:a246c67d44b0 | 438 | led2 = LED_ON; |
| afmiee | 10:e7ab0493ed9f | 439 | wait(0.01); |
| afmiee | 11:a246c67d44b0 | 440 | led2 = LED_OFF; |
| afmiee | 11:a246c67d44b0 | 441 | if ( start && !stop ) { |
| afmiee | 11:a246c67d44b0 | 442 | led1 = LED_ON; |
| afmiee | 10:e7ab0493ed9f | 443 | wait(0.01); |
| afmiee | 11:a246c67d44b0 | 444 | led1 = LED_OFF; |
| afmiee | 10:e7ab0493ed9f | 445 | } |
| afmiee | 10:e7ab0493ed9f | 446 | } |
| afmiee | 10:e7ab0493ed9f | 447 | |
| afmiee | 10:e7ab0493ed9f | 448 | void print_config_int_registers( void ) |
| afmiee | 10:e7ab0493ed9f | 449 | { |
| afmiee | 10:e7ab0493ed9f | 450 | #ifdef DEBUG |
| afmiee | 10:e7ab0493ed9f | 451 | debug.printf( "\n\r"); |
| afmiee | 10:e7ab0493ed9f | 452 | debug.printf( "INT1_CTRL (0Ch) %02x\n\r", I2CreadByte(0xD6, 0x0C)); |
| afmiee | 10:e7ab0493ed9f | 453 | debug.printf( "INT2_CTRL (0Dh) %02x\n\r", I2CreadByte(0xD6, 0x0D)); |
| afmiee | 10:e7ab0493ed9f | 454 | debug.printf( "CTRL_REG8 (22h) %02x\n\r", I2CreadByte(0xD6, 0x22)); |
| afmiee | 10:e7ab0493ed9f | 455 | debug.printf( "STATUS_REG (27h) %02x\n\r", I2CreadByte(0xD6, 0x27)); |
| afmiee | 10:e7ab0493ed9f | 456 | debug.printf( "\n\r"); |
| afmiee | 10:e7ab0493ed9f | 457 | debug.printf( "INT_GEN_CFG_XL (06h) %02x\n\r", I2CreadByte(0xD6, 0x06)); |
| afmiee | 10:e7ab0493ed9f | 458 | debug.printf( "INT_GEN_SRC_XL (26h) %02x\n\r", I2CreadByte(0xD6, 0x26)); |
| afmiee | 10:e7ab0493ed9f | 459 | debug.printf( "INT_GEN_THS_X_XL (07h) %02x\n\r", I2CreadByte(0xD6, 0x07)); |
| afmiee | 10:e7ab0493ed9f | 460 | debug.printf( "INT_GEN_THS_Y_XL (08h) %02x\n\r", I2CreadByte(0xD6, 0x08)); |
| afmiee | 10:e7ab0493ed9f | 461 | debug.printf( "INT_GEN_THS_Z_XL (09h) %02x\n\r", I2CreadByte(0xD6, 0x09)); |
| afmiee | 10:e7ab0493ed9f | 462 | debug.printf( "INT_GEN_DUR_XL (0ah) %02x\n\r", I2CreadByte(0xD6, 0x0a)); |
| afmiee | 10:e7ab0493ed9f | 463 | debug.printf( "\n\r"); |
| afmiee | 10:e7ab0493ed9f | 464 | debug.printf( "INT_GEN_CFG_G (30h) %02x\n\r", I2CreadByte(0xD6, 0x30)); |
| afmiee | 10:e7ab0493ed9f | 465 | debug.printf( "INT_GEN_SRC_G (14h) %02x\n\r", I2CreadByte(0xD6, 0x14)); |
| afmiee | 10:e7ab0493ed9f | 466 | debug.printf( "INT_GEN_THS_XH_G (31h) %02x\n\r", I2CreadByte(0xD6, 0x31)); |
| afmiee | 10:e7ab0493ed9f | 467 | debug.printf( "INT_GEN_THS_XL_G (32h) %02x\n\r", I2CreadByte(0xD6, 0x32)); |
| afmiee | 10:e7ab0493ed9f | 468 | debug.printf( "INT_GEN_THS_YH_G (33h) %02x\n\r", I2CreadByte(0xD6, 0x33)); |
| afmiee | 10:e7ab0493ed9f | 469 | debug.printf( "INT_GEN_THS_YL_G (34h) %02x\n\r", I2CreadByte(0xD6, 0x34)); |
| afmiee | 10:e7ab0493ed9f | 470 | debug.printf( "INT_GEN_THS_ZH_G (35h) %02x\n\r", I2CreadByte(0xD6, 0x35)); |
| afmiee | 10:e7ab0493ed9f | 471 | debug.printf( "INT_GEN_THS_ZL_G (36h) %02x\n\r", I2CreadByte(0xD6, 0x36)); |
| afmiee | 10:e7ab0493ed9f | 472 | debug.printf( "INT_GEN_DUR_G (37h) %02x\n\r", I2CreadByte(0xD6, 0x37)); |
| afmiee | 10:e7ab0493ed9f | 473 | #endif |
| afmiee | 10:e7ab0493ed9f | 474 | } |
| afmiee | 10:e7ab0493ed9f | 475 | |
| afmiee | 10:e7ab0493ed9f | 476 | void open_temp_files( void ) |
| afmiee | 10:e7ab0493ed9f | 477 | { |
| afmiee | 11:a246c67d44b0 | 478 | debug.printf("\n\r"); |
| afmiee | 10:e7ab0493ed9f | 479 | fpA = fopen("/sd/ACC.csv", "w"); |
| afmiee | 10:e7ab0493ed9f | 480 | // Verify that file can be created |
| afmiee | 10:e7ab0493ed9f | 481 | if ( fpA == NULL ) { |
| afmiee | 10:e7ab0493ed9f | 482 | debug.printf("Cannot create file ACC.csv\n\r"); |
| afmiee | 10:e7ab0493ed9f | 483 | wait(0.5); |
| afmiee | 10:e7ab0493ed9f | 484 | while(1) { |
| afmiee | 10:e7ab0493ed9f | 485 | led1 = !led1; |
| afmiee | 10:e7ab0493ed9f | 486 | wait(0.5); |
| afmiee | 10:e7ab0493ed9f | 487 | } |
| afmiee | 10:e7ab0493ed9f | 488 | } else |
| afmiee | 10:e7ab0493ed9f | 489 | debug.printf("File ACC.csv created successfully\n\r"); |
| afmiee | 10:e7ab0493ed9f | 490 | |
| afmiee | 10:e7ab0493ed9f | 491 | fpG = fopen("/sd/GYR.csv", "w"); |
| afmiee | 10:e7ab0493ed9f | 492 | // Verify that file can be created |
| afmiee | 10:e7ab0493ed9f | 493 | if ( fpG == NULL ) { |
| afmiee | 10:e7ab0493ed9f | 494 | debug.printf("Cannot create file GYR.csv\n\r"); |
| afmiee | 10:e7ab0493ed9f | 495 | wait(0.5); |
| afmiee | 10:e7ab0493ed9f | 496 | while(1) { |
| afmiee | 10:e7ab0493ed9f | 497 | led1 = !led1; |
| afmiee | 10:e7ab0493ed9f | 498 | wait(0.5); |
| afmiee | 10:e7ab0493ed9f | 499 | } |
| afmiee | 10:e7ab0493ed9f | 500 | } else |
| afmiee | 10:e7ab0493ed9f | 501 | debug.printf("File GYR.csv created successfully\n\r"); |
| afmiee | 10:e7ab0493ed9f | 502 | |
| afmiee | 10:e7ab0493ed9f | 503 | fpM = fopen("/sd/MAG.csv", "w"); |
| afmiee | 10:e7ab0493ed9f | 504 | // Verify that file can be created |
| afmiee | 10:e7ab0493ed9f | 505 | if ( fpM == NULL ) { |
| afmiee | 10:e7ab0493ed9f | 506 | debug.printf("Cannot create file MAG.csv\n\r"); |
| afmiee | 10:e7ab0493ed9f | 507 | wait(0.5); |
| afmiee | 10:e7ab0493ed9f | 508 | while(1) { |
| afmiee | 10:e7ab0493ed9f | 509 | led1 = !led1; |
| afmiee | 10:e7ab0493ed9f | 510 | wait(0.5); |
| afmiee | 10:e7ab0493ed9f | 511 | } |
| afmiee | 10:e7ab0493ed9f | 512 | } else |
| afmiee | 10:e7ab0493ed9f | 513 | debug.printf("File MAG.csv created successfully\n\r"); |
| afmiee | 10:e7ab0493ed9f | 514 | } |
| afmiee | 10:e7ab0493ed9f | 515 | |
| afmiee | 10:e7ab0493ed9f | 516 | void rename_files( void ) |
| afmiee | 10:e7ab0493ed9f | 517 | { |
| afmiee | 10:e7ab0493ed9f | 518 | sprintf(filename, "/sd/latch9DOFA_%08x.csv",seconds); |
| afmiee | 11:a246c67d44b0 | 519 | debug.printf("\n\r"); |
| afmiee | 11:a246c67d44b0 | 520 | if((file_copy("/sd/ACC.csv",filename )) == 0) { |
| afmiee | 11:a246c67d44b0 | 521 | debug.printf("File ACC.csv copied successfully to %s\n\r", filename); |
| afmiee | 10:e7ab0493ed9f | 522 | } else { |
| afmiee | 11:a246c67d44b0 | 523 | debug.printf("Error: unable to copy the file ACC.csv"); |
| afmiee | 10:e7ab0493ed9f | 524 | } |
| afmiee | 10:e7ab0493ed9f | 525 | sprintf(filename, "/sd/latch9DOFM_%08x.csv",seconds); |
| afmiee | 11:a246c67d44b0 | 526 | if((file_copy("/sd/MAG.csv",filename )) == 0) { |
| afmiee | 11:a246c67d44b0 | 527 | debug.printf("File MAG.csv copied successfully to %s\n\r", filename); |
| afmiee | 10:e7ab0493ed9f | 528 | } else { |
| afmiee | 11:a246c67d44b0 | 529 | debug.printf("Error: unable to copy the file MAG.csv"); |
| afmiee | 10:e7ab0493ed9f | 530 | } |
| afmiee | 10:e7ab0493ed9f | 531 | sprintf(filename, "/sd/latch9DOFG_%08x.csv",seconds); |
| afmiee | 11:a246c67d44b0 | 532 | if((file_copy("/sd/GYR.csv",filename )) == 0) { |
| afmiee | 11:a246c67d44b0 | 533 | debug.printf("File GYR.csv copied successfully to %s\n\r", filename); |
| afmiee | 10:e7ab0493ed9f | 534 | } else { |
| afmiee | 11:a246c67d44b0 | 535 | debug.printf("Error: unable to copy the file GYR.csv"); |
| afmiee | 10:e7ab0493ed9f | 536 | } |
| afmiee | 10:e7ab0493ed9f | 537 | } |
| afmiee | 8:8f4d7f1c588f | 538 | |
| afmiee | 8:8f4d7f1c588f | 539 | void DumpAccelGyroRegs( void ) |
| afmiee | 8:8f4d7f1c588f | 540 | { |
| afmiee | 8:8f4d7f1c588f | 541 | char dest[ 0x34 ]; |
| afmiee | 8:8f4d7f1c588f | 542 | int i; |
| afmiee | 8:8f4d7f1c588f | 543 | |
| afmiee | 8:8f4d7f1c588f | 544 | debug.printf("\n\r"); |
| afmiee | 9:61fcd186ac50 | 545 | I2CreadBytes( 0xD6, 0x04, (uint8_t *)dest, 0x34 ); |
| afmiee | 9:61fcd186ac50 | 546 | |
| afmiee | 8:8f4d7f1c588f | 547 | for( i = 0; i < 0x34; i++ ) { |
| afmiee | 9:61fcd186ac50 | 548 | //I2CreadByte(0xD6, i + 0x04); |
| afmiee | 8:8f4d7f1c588f | 549 | switch( i + 0x04 ) { |
| afmiee | 8:8f4d7f1c588f | 550 | case 0x04: |
| afmiee | 8:8f4d7f1c588f | 551 | debug.printf("ACT_THS 0x04 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 552 | break; |
| afmiee | 8:8f4d7f1c588f | 553 | case 0x05: |
| afmiee | 8:8f4d7f1c588f | 554 | debug.printf("ACT_DUR 0x05 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 555 | break; |
| afmiee | 8:8f4d7f1c588f | 556 | case 0x06: |
| afmiee | 8:8f4d7f1c588f | 557 | debug.printf("INT_GEN_CFG_XL 0x06 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 558 | break; |
| afmiee | 8:8f4d7f1c588f | 559 | case 0x07: |
| afmiee | 8:8f4d7f1c588f | 560 | debug.printf("INT_GEN_THS_X_XL 0x07 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 561 | break; |
| afmiee | 8:8f4d7f1c588f | 562 | case 0x08: |
| afmiee | 8:8f4d7f1c588f | 563 | debug.printf("INT_GEN_THS_Y_XL 0x08 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 564 | break; |
| afmiee | 8:8f4d7f1c588f | 565 | case 0x09: |
| afmiee | 8:8f4d7f1c588f | 566 | debug.printf("INT_GEN_THS_Z_XL 0x09 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 567 | break; |
| afmiee | 8:8f4d7f1c588f | 568 | case 0x0A: |
| afmiee | 8:8f4d7f1c588f | 569 | debug.printf("INT_GEN_DUR_XL 0x0A %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 570 | break; |
| afmiee | 8:8f4d7f1c588f | 571 | case 0x0B: |
| afmiee | 8:8f4d7f1c588f | 572 | debug.printf("REFERENCE_G 0x0B %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 573 | break; |
| afmiee | 8:8f4d7f1c588f | 574 | case 0x0C: |
| afmiee | 8:8f4d7f1c588f | 575 | debug.printf("INT1_CTRL 0x0C %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 576 | break; |
| afmiee | 8:8f4d7f1c588f | 577 | case 0x0D: |
| afmiee | 8:8f4d7f1c588f | 578 | debug.printf("INT2_CTRL 0x0D %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 579 | break; |
| afmiee | 8:8f4d7f1c588f | 580 | case 0x0F: |
| afmiee | 8:8f4d7f1c588f | 581 | debug.printf("WHO_AM_I_XG 0x0F %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 582 | break; |
| afmiee | 8:8f4d7f1c588f | 583 | case 0x10: |
| afmiee | 8:8f4d7f1c588f | 584 | debug.printf("CTRL_REG1_G 0x10 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 585 | break; |
| afmiee | 8:8f4d7f1c588f | 586 | case 0x11: |
| afmiee | 8:8f4d7f1c588f | 587 | debug.printf("CTRL_REG2_G 0x11 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 588 | break; |
| afmiee | 8:8f4d7f1c588f | 589 | case 0x12: |
| afmiee | 8:8f4d7f1c588f | 590 | debug.printf("CTRL_REG3_G 0x12 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 591 | break; |
| afmiee | 8:8f4d7f1c588f | 592 | case 0x13: |
| afmiee | 8:8f4d7f1c588f | 593 | debug.printf("ORIENT_CFG_G 0x13 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 594 | break; |
| afmiee | 8:8f4d7f1c588f | 595 | case 0x14: |
| afmiee | 8:8f4d7f1c588f | 596 | debug.printf("INT_GEN_SRC_G 0x14 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 597 | break; |
| afmiee | 8:8f4d7f1c588f | 598 | case 0x15: |
| afmiee | 8:8f4d7f1c588f | 599 | debug.printf("OUT_TEMP_L 0x15 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 600 | break; |
| afmiee | 8:8f4d7f1c588f | 601 | case 0x16: |
| afmiee | 8:8f4d7f1c588f | 602 | debug.printf("OUT_TEMP_H 0x16 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 603 | break; |
| afmiee | 8:8f4d7f1c588f | 604 | case 0x17: |
| afmiee | 8:8f4d7f1c588f | 605 | debug.printf("STATUS_REG_0 0x17 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 606 | break; |
| afmiee | 8:8f4d7f1c588f | 607 | case 0x18: |
| afmiee | 8:8f4d7f1c588f | 608 | debug.printf("OUT_X_L_G 0x18 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 609 | break; |
| afmiee | 8:8f4d7f1c588f | 610 | case 0x19: |
| afmiee | 8:8f4d7f1c588f | 611 | debug.printf("OUT_X_H_G 0x19 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 612 | break; |
| afmiee | 8:8f4d7f1c588f | 613 | case 0x1A: |
| afmiee | 8:8f4d7f1c588f | 614 | debug.printf("OUT_Y_L_G 0x1A %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 615 | break; |
| afmiee | 8:8f4d7f1c588f | 616 | case 0x1B: |
| afmiee | 8:8f4d7f1c588f | 617 | debug.printf("OUT_Y_H_G 0x1B %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 618 | break; |
| afmiee | 8:8f4d7f1c588f | 619 | case 0x1C: |
| afmiee | 8:8f4d7f1c588f | 620 | debug.printf("OUT_Z_L_G 0x1C %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 621 | break; |
| afmiee | 8:8f4d7f1c588f | 622 | case 0x1D: |
| afmiee | 8:8f4d7f1c588f | 623 | debug.printf("OUT_Z_H_G 0x1D %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 624 | break; |
| afmiee | 8:8f4d7f1c588f | 625 | case 0x1E: |
| afmiee | 8:8f4d7f1c588f | 626 | debug.printf("CTRL_REG4 0x1E %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 627 | break; |
| afmiee | 8:8f4d7f1c588f | 628 | case 0x1F: |
| afmiee | 8:8f4d7f1c588f | 629 | debug.printf("CTRL_REG5_XL 0x1F %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 630 | break; |
| afmiee | 8:8f4d7f1c588f | 631 | case 0x20: |
| afmiee | 8:8f4d7f1c588f | 632 | debug.printf("CTRL_REG6_XL 0x20 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 633 | break; |
| afmiee | 8:8f4d7f1c588f | 634 | case 0x21: |
| afmiee | 8:8f4d7f1c588f | 635 | debug.printf("CTRL_REG7_XL 0x21 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 636 | break; |
| afmiee | 8:8f4d7f1c588f | 637 | case 0x22: |
| afmiee | 8:8f4d7f1c588f | 638 | debug.printf("CTRL_REG8 0x22 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 639 | break; |
| afmiee | 8:8f4d7f1c588f | 640 | case 0x23: |
| afmiee | 8:8f4d7f1c588f | 641 | debug.printf("CTRL_REG9 0x23 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 642 | break; |
| afmiee | 8:8f4d7f1c588f | 643 | case 0x24: |
| afmiee | 8:8f4d7f1c588f | 644 | debug.printf("CTRL_REG10 0x24 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 645 | break; |
| afmiee | 8:8f4d7f1c588f | 646 | case 0x26: |
| afmiee | 8:8f4d7f1c588f | 647 | debug.printf("INT_GEN_SRC_XL 0x26 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 648 | break; |
| afmiee | 8:8f4d7f1c588f | 649 | case 0x27: |
| afmiee | 8:8f4d7f1c588f | 650 | debug.printf("STATUS_REG_1 0x27 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 651 | break; |
| afmiee | 8:8f4d7f1c588f | 652 | case 0x28: |
| afmiee | 8:8f4d7f1c588f | 653 | debug.printf("OUT_X_L_XL 0x28 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 654 | break; |
| afmiee | 8:8f4d7f1c588f | 655 | case 0x29: |
| afmiee | 8:8f4d7f1c588f | 656 | debug.printf("OUT_X_H_XL 0x29 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 657 | break; |
| afmiee | 8:8f4d7f1c588f | 658 | case 0x2A: |
| afmiee | 8:8f4d7f1c588f | 659 | debug.printf("OUT_Y_L_XL 0x2A %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 660 | break; |
| afmiee | 8:8f4d7f1c588f | 661 | case 0x2B: |
| afmiee | 8:8f4d7f1c588f | 662 | debug.printf("OUT_Y_H_XL 0x2B %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 663 | break; |
| afmiee | 8:8f4d7f1c588f | 664 | case 0x2C: |
| afmiee | 8:8f4d7f1c588f | 665 | debug.printf("OUT_Z_L_XL 0x2C %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 666 | break; |
| afmiee | 8:8f4d7f1c588f | 667 | case 0x2D: |
| afmiee | 8:8f4d7f1c588f | 668 | debug.printf("OUT_Z_H_XL 0x2D %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 669 | break; |
| afmiee | 8:8f4d7f1c588f | 670 | case 0x2E: |
| afmiee | 8:8f4d7f1c588f | 671 | debug.printf("FIFO_CTRL 0x2E %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 672 | break; |
| afmiee | 8:8f4d7f1c588f | 673 | case 0x2F: |
| afmiee | 8:8f4d7f1c588f | 674 | debug.printf("FIFO_SRC 0x2F %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 675 | break; |
| afmiee | 8:8f4d7f1c588f | 676 | case 0x30: |
| afmiee | 8:8f4d7f1c588f | 677 | debug.printf("INT_GEN_CFG_G 0x30 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 678 | break; |
| afmiee | 8:8f4d7f1c588f | 679 | case 0x31: |
| afmiee | 8:8f4d7f1c588f | 680 | debug.printf("INT_GEN_THS_XH_G 0x31 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 681 | break; |
| afmiee | 8:8f4d7f1c588f | 682 | case 0x32: |
| afmiee | 8:8f4d7f1c588f | 683 | debug.printf("INT_GEN_THS_XL_G 0x32 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 684 | break; |
| afmiee | 8:8f4d7f1c588f | 685 | case 0x33: |
| afmiee | 8:8f4d7f1c588f | 686 | debug.printf("INT_GEN_THS_YH_G 0x33 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 687 | break; |
| afmiee | 8:8f4d7f1c588f | 688 | case 0x34: |
| afmiee | 8:8f4d7f1c588f | 689 | debug.printf("INT_GEN_THS_YL_G 0x34 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 690 | break; |
| afmiee | 8:8f4d7f1c588f | 691 | case 0x35: |
| afmiee | 8:8f4d7f1c588f | 692 | debug.printf("INT_GEN_THS_ZH_G 0x35 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 693 | break; |
| afmiee | 8:8f4d7f1c588f | 694 | case 0x36: |
| afmiee | 8:8f4d7f1c588f | 695 | debug.printf("INT_GEN_THS_ZL_G 0x36 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 696 | break; |
| afmiee | 8:8f4d7f1c588f | 697 | case 0x37: |
| afmiee | 8:8f4d7f1c588f | 698 | debug.printf("INT_GEN_DUR_G 0x37 %02x\n\r", dest[i]); |
| afmiee | 8:8f4d7f1c588f | 699 | break; |
| afmiee | 8:8f4d7f1c588f | 700 | default: |
| afmiee | 8:8f4d7f1c588f | 701 | debug.printf("Register Not Valid 0x%02x\n\r"); |
| afmiee | 8:8f4d7f1c588f | 702 | break; |
| afmiee | 8:8f4d7f1c588f | 703 | } |
| afmiee | 8:8f4d7f1c588f | 704 | } |
| afmiee | 8:8f4d7f1c588f | 705 | } |
| afmiee | 8:8f4d7f1c588f | 706 | |
| afmiee | 8:8f4d7f1c588f | 707 | |
| afmiee | 5:b1a689c55f59 | 708 | |
| afmiee | 10:e7ab0493ed9f | 709 | #define DEPTH 64 |
| afmiee | 10:e7ab0493ed9f | 710 | #define DEPP2 6 |
| afmiee | 9:61fcd186ac50 | 711 | |
| afmiee | 9:61fcd186ac50 | 712 | |
| afmiee | 10:e7ab0493ed9f | 713 | ulint mag_vec( int ax, int ay, int az ) |
| afmiee | 10:e7ab0493ed9f | 714 | { |
| afmiee | 10:e7ab0493ed9f | 715 | static int x[DEPTH]; |
| afmiee | 10:e7ab0493ed9f | 716 | static int y[DEPTH]; |
| afmiee | 10:e7ab0493ed9f | 717 | static int z[DEPTH]; |
| afmiee | 8:8f4d7f1c588f | 718 | |
| afmiee | 10:e7ab0493ed9f | 719 | int i; |
| afmiee | 10:e7ab0493ed9f | 720 | int sx,sy,sz; |
| afmiee | 10:e7ab0493ed9f | 721 | |
| afmiee | 10:e7ab0493ed9f | 722 | x[0] = ax; |
| afmiee | 10:e7ab0493ed9f | 723 | y[0] = ay; |
| afmiee | 10:e7ab0493ed9f | 724 | z[0] = az; |
| afmiee | 10:e7ab0493ed9f | 725 | sx = 0; |
| afmiee | 10:e7ab0493ed9f | 726 | sy = 0; |
| afmiee | 10:e7ab0493ed9f | 727 | sz = 0; |
| afmiee | 8:8f4d7f1c588f | 728 | |
| afmiee | 10:e7ab0493ed9f | 729 | for( i = 0; i < DEPTH; i++ ) { |
| afmiee | 10:e7ab0493ed9f | 730 | sx+= x[i]; |
| afmiee | 10:e7ab0493ed9f | 731 | sy+= y[i]; |
| afmiee | 10:e7ab0493ed9f | 732 | sz+= z[i]; |
| afmiee | 10:e7ab0493ed9f | 733 | } |
| afmiee | 10:e7ab0493ed9f | 734 | sx >>= DEPP2; |
| afmiee | 10:e7ab0493ed9f | 735 | sy >>= DEPP2; |
| afmiee | 10:e7ab0493ed9f | 736 | sz >>= DEPP2; |
| afmiee | 9:61fcd186ac50 | 737 | |
| afmiee | 10:e7ab0493ed9f | 738 | for( i = 0; i < DEPTH-1; i++ ) { |
| afmiee | 10:e7ab0493ed9f | 739 | x[i+1] = x[i]; |
| afmiee | 10:e7ab0493ed9f | 740 | y[i+1] = y[i]; |
| afmiee | 10:e7ab0493ed9f | 741 | z[i+1] = z[i]; |
| afmiee | 6:9db9f4bfaf98 | 742 | } |
| afmiee | 10:e7ab0493ed9f | 743 | return( (ulint)(sx*sx + sy*sy + sz*sz) ); |
| tosihisa | 4:3c677edffb13 | 744 | } |
| afmiee | 7:cbfdcc57f110 | 745 | |
| afmiee | 7:cbfdcc57f110 | 746 | |
| afmiee | 10:e7ab0493ed9f | 747 | ulint maxvec( ulint vec, int reset ) |
| afmiee | 10:e7ab0493ed9f | 748 | { |
| afmiee | 10:e7ab0493ed9f | 749 | ulint static max; |
| afmiee | 7:cbfdcc57f110 | 750 | |
| afmiee | 10:e7ab0493ed9f | 751 | if( reset == 0 ) |
| afmiee | 10:e7ab0493ed9f | 752 | max = 0; |
| afmiee | 10:e7ab0493ed9f | 753 | |
| afmiee | 10:e7ab0493ed9f | 754 | if ( vec > max ) { |
| afmiee | 10:e7ab0493ed9f | 755 | max = vec; |
| afmiee | 10:e7ab0493ed9f | 756 | } |
| afmiee | 10:e7ab0493ed9f | 757 | return( max ); |
| afmiee | 10:e7ab0493ed9f | 758 | } |
| afmiee | 10:e7ab0493ed9f | 759 | |
| afmiee | 10:e7ab0493ed9f | 760 | ulint minvec( ulint vec, int reset ) |
| afmiee | 10:e7ab0493ed9f | 761 | { |
| afmiee | 10:e7ab0493ed9f | 762 | ulint static min; |
| afmiee | 10:e7ab0493ed9f | 763 | if ( reset == 0) |
| afmiee | 10:e7ab0493ed9f | 764 | min = 0xFFFFFFFF; |
| afmiee | 10:e7ab0493ed9f | 765 | |
| afmiee | 10:e7ab0493ed9f | 766 | if ( vec < min ) { |
| afmiee | 10:e7ab0493ed9f | 767 | min = vec; |
| afmiee | 10:e7ab0493ed9f | 768 | } |
| afmiee | 10:e7ab0493ed9f | 769 | return( min ); |
| afmiee | 10:e7ab0493ed9f | 770 | |
| afmiee | 10:e7ab0493ed9f | 771 | } |
| afmiee | 10:e7ab0493ed9f | 772 | |
| afmiee | 10:e7ab0493ed9f | 773 |