Diff: main.cpp

Revision:

3:c0d70871aa4d

Parent:

2:514af7294ad0

Child:

4:65f91237b687

--- a/main.cpp	Mon Jun 20 20:10:37 2016 +0000
+++ b/main.cpp	Tue Jun 21 18:13:49 2016 +0000
@@ -34,6 +34,7 @@
 
 BLEDevice  ble;
 DigitalOut led1(LED1);
+DigitalOut led4(LED4);
 
 UARTService *uartServicePtr;
 
@@ -45,12 +46,14 @@
 }
 
 void onDataWritten(const GattWriteCallbackParams *params)
-{
+{   
     if ((uartServicePtr != NULL) && (params->handle == uartServicePtr->getTXCharacteristicHandle())) {
         uint16_t bytesRead = params->len;
         uint8_t value = *(params->data);
         DEBUG("received %u bytes\n\r", bytesRead);
         DEBUG("recevied %d data\n\r", value);
+
+        imu.reset();
         
         // Set power mode, POWER_MODE_NORMAL(default), POWER_MODE_LOWPOWER, or POWER_MODE_SUSPEND(sleep)
         // By default, I2C will pull high when bus is free(pg90 of datasheet)
@@ -86,6 +89,11 @@
     led1 = !led1;
 }
 
+// Interrupt signal
+void flip() {
+    led4 = !led4;
+}
+
 int main(void)
 {
     led1 = 1;
@@ -114,9 +122,29 @@
     
     // setup baud rate and reset sensor
     pc.baud(115200);
-    imu.reset();
+    led4 = 1; 
 
     while (true) {
         ble.waitForEvent();
+        
+        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);
+        // Interrupt stats: This is only enabled in Low Power Mode
+        // 0 - no interrupt
+        // 64 - interrupt
+        // 128 - sleep
+        imu.get_intr();
+        pc.printf("intr: %d\r\n", imu.intr);
+        if(imu.intr != 0) {
+            pc.printf(" == interrupted == \r\n");
+            flip();
+        }
+        
+        wait(1.0);
     }
 }