Diff: main.cpp

Revision:

6:9db9f4bfaf98

Parent:

5:b1a689c55f59

Child:

7:cbfdcc57f110

--- a/main.cpp	Thu Jul 14 20:24:09 2016 +0000
+++ b/main.cpp	Fri Jul 15 22:39:42 2016 +0000
@@ -4,8 +4,7 @@
 // for the Adafruit 9DOF Modulke and the Sparkfun microSD card shield
 
 #include "mbed.h"
-#include "LSM303DLHC.h"
-#include "L3GD20.h"
+#include "LSM9DS1.h"
 #include "SDFileSystem.h"
 #include "nrf51_rtc.h"
 
@@ -14,8 +13,7 @@
 // Create objects
 Serial debug(USBTX,USBRX);
 // For Nordic
-LSM303DLHC compass(p7, p30);
-L3GD20 gyro(p7, p30);
+LSM9DS1 lol(p30, p7, 0xD6, 0x3C);
 
 // Create the SD filesystem
 SDFileSystem sd(p25, p28, p29, p20, "sd"); // MOSI, MISO, SCLK, SSEL
@@ -58,9 +56,6 @@
 
 int main()
 {
-    int acc[3];
-    int mag[3];
-    float g[3];
     led1= 1;
     char filename[256];
     char secs_str[256];
@@ -69,23 +64,25 @@
     time_t seconds;
 
     FILE *fp;
-    
+
     // Attach functions to interrupts
     btn1.rise(&start_smpl);
     btn2.rise(&stop_smpl);
     flipper.attach(&flip, 1.0); // the address of the function to be attached (flip) and the interval (2 seconds)
-    
+
     // Enable serial port
     debug.format(8,Serial::None,1);
     debug.baud(115200);
     debug.printf("LSM303DLH Test\x0d\x0a");
-    
-    // Initialize compass
-    compass.init();
-    compass.setOffset(0.00,0.00,0.00); // example calibration
-    compass.setScale(1.00,1.00,1.00);    // example calibration
 
-//    // Initialize current time if needed  
+    // Initialize 9DOF
+    lol.begin();
+    if (!lol.begin()) {
+        debug.printf("Failed to communicate with LSM9DS1.\n");
+    }
+    lol.calibrate();
+
+//    // Initialize current time if needed
 //    printf("Enter current date and time:\n");
 //    printf("YYYY MM DD HH MM SS[enter]\n");
 //    scanf("%d %d %d %d %d %d", &t.tm_year, &t.tm_mon, &t.tm_mday
@@ -109,7 +106,7 @@
         led1 = 0;
         debug.printf("Started sampling\n\r");
         // Get the time and create a file with the number of seconds in hex appended
-        seconds = rtc.time(); 
+        seconds = rtc.time();
         sprintf(secs_str, "%s", ctime(&seconds));
         printf("Started at: %s\n\r", secs_str );
         sprintf(filename, "/sd/latch9DOF_%08x",seconds);
@@ -124,14 +121,19 @@
             }
         } else
             debug.printf("File %s created successfully\n\r", filename);
-        
-        // Sample until button 2 is pressed    
+
+        // Sample until button 2 is pressed
         while(!stop) {
             led1 = 0;
-            compass.read(acc,mag);
-            gyro.read(&g[0],&g[1],&g[2]);
-            debug.printf("%6d,\t%6d,\t%6d,\t%6d,\t%6d,\t%6d,\t%6.2f,\t%6.2f,\t%6.2f\n\r",acc[0],acc[1],acc[2],mag[0],mag[1],mag[2],g[0],g[1],g[2]);
-            fprintf(fp,  "%6d,\t%6d,\t%6d,\t%6d,\t%6d,\t%6d,\t%6.2f,\t%6.2f,\t%6.2f\n\r",acc[0],acc[1],acc[2],mag[0],mag[1],mag[2],g[0],g[1],g[2]);
+            lol.readAccel();
+            lol.readMag();
+            lol.readGyro();
+            debug.printf("%d, %d, %d, ", lol.ax, lol.ay, lol.az);
+            debug.printf("%d, %d, %d,", lol.mx, lol.my, lol.mz);
+            debug.printf("%d, %d, %d\n\r", lol.gx, lol.gy, lol.gz);
+            fprintf(fp, "%d, %d, %d, ", lol.ax, lol.ay, lol.az);
+            fprintf(fp, "%d, %d, %d,", lol.mx, lol.my, lol.mz);
+            fprintf(fp, "%d, %d, %d\n\r", lol.gx, lol.gy, lol.gz);
             wait(0.1);
         }
         // Stop Sampling and close file
@@ -139,5 +141,5 @@
         debug.printf("Stopped sampling\n\r");
         debug.printf("Results stored in %s\n\r", filename);
         fclose(fp);
-     }
+    }
 }