Antonio Mondragon
Minor fixes
Dependencies: LSM9DS1_Library SDFileSystem mbed nrf51_rtc
Fork of
LSM303DLHTest
by 
Toshihisa T
Diff: temp.txt
- Revision:
- 12:f361ccfc191e
- Parent:
- 11:a246c67d44b0
--- a/temp.txt Wed Jul 27 21:55:46 2016 +0000
+++ b/temp.txt Thu Sep 29 22:03:48 2016 +0000
@@ -1,3 +1,80 @@
+// Latch Inc.
+// Antonio F Mondragon
+// 20160714
+// for the Adafruit 9DOF Modulke and the Sparkfun microSD card shield
+
+#include "mbed.h"
+#include "LSM9DS1.h"
+#include "SDFileSystem.h"
+#include "nrf51_rtc.h"
+
+#define M_PI 3.14158
+//#define DEBUG 1 // Print Debug information to serial terminal
+//#define MOTION 1 // Define if operated by motion or by buttons
+
+// define threshold and Duration registers for interrupts
+#define ACT_THS_REG 0x10 // 0x04
+#define ACT_DUR_REG 0x02 // 0x05
+
+#define INT_GEN_THS_X_XL_REG 0x0C // 0x07
+#define INT_GEN_THS_Y_YL_REG 0xFF // 0x08
+#define INT_GEN_THS_Z_XL_REG 0x0C // 0x09
+#define INT_GEN_DUR_XL_REG 0x00 // 0x0A
+
+#define INT_GEN_THS_XHL_G_REG 0x0300 // 0x31-32
+#define INT_GEN_THS_YHL_G_REG 0x0300 // 0x33-34
+#define INT_GEN_THS_ZHL_G_REG 0x0300 // 0x35-36
+#define INT_GEN_DUR_G_REG 0x02 // 0x37
+
+#define LED_ON 0
+#define LED_OFF 01
+#define DBG_ACTIVE 0
+#define DBG_INACTIVE 1
+
+typedef unsigned long int ulint;
+
+// Create objects
+Serial debug(USBTX,USBRX);
+// For Nordic
+LSM9DS1 lol(p30, p7, 0xD6, 0x3C);
+I2C i2c(p30, p7);
+
+// Create the SD filesystem
+SDFileSystem sd(p25, p28, p29, p20, "sd"); // MOSI, MISO, SCLK, SSEL
+
+// Create a ticker to use the nRF51 RTC
+Ticker flipper;
+
+#ifdef MOTION
+// Assign interrupts to Interrupts from LSM9DS1
+InterruptIn int1(p12); // Start sampling
+InterruptIn int2(p13); // Stop sampling
+#else
+// Assign interrupts to Buttons 1 and 2 on nrf51-DK
+InterruptIn but1(p17); // Start sampling
+InterruptIn but2(p18); // Stop sampling
+#endif
+
+// LED definitions
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+
+DigitalOut dbg1(p24);
+DigitalOut dbg2(p0);
+
+// Global variables
+volatile int start = 0;
+volatile int stop = 0;
+time_t seconds;
+
+FILE *fpA;
+FILE *fpG;
+FILE *fpM;
+
+char filename[80];
+char secs_str[80];
+
uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
int file_rename(const char *oldfname, const char *newfname);
@@ -12,5 +89,685 @@
void DumpAccelGyroRegs( void );
+int main()
+{
+ led1 = 1;
+ led2 = 1;
+
+ // debug pins
+ dbg1 = DBG_INACTIVE;
+ dbg2 = DBG_INACTIVE;
+
+ struct tm t;
+ start = 0;
+ stop = 0;
+
+#ifdef MOTION
+ int1.fall(&start_smpl);
+ int2.fall(&stop_smpl);
+#else
+ but1.rise(&start_smpl);
+ but2.rise(&stop_smpl);
+#endif
+
+ // Attach functions to interrupts
+ 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);
+
+#ifdef DEBUG
+ debug.printf("LSM9DS1 Test\x0d\x0a");
+#endif
+
+ // Initialize 9DOF
+ if (!lol.begin()) {
+ debug.printf("Failed to communicate with LSM9DS1.\n");
+ wait(0.5);
+ while(1) {
+ led1 = !led1;
+ wait(0.5);
+ }
+ } else {
+ debug.printf("Communication with the LSM9DS1 successfully\n\r");
+ }
+
+ lol.calibrate(true);
+ lol.setFIFO(FIFO_CONT, 0x1F);
+
+ lol.getStatus();
+ lol.getAccelIntSrc();
+ lol.readAccel();
+ lol.readGyro();
+
+#ifdef MOTION
+ // Configure
+ 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)
+ 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)
+ 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)
+
+ 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)
+ 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)
+ 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)
+ //lol.configGyroInt(ZHIE_G|YHIE_G|XHIE_G, false, false); // INT_GEN_CFG_G (30h)
+
+ lol.configInt(XG_INT1, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
+ lol.configInt(XG_INT2, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
+#endif
+
+#ifdef DEBUG
+ print_config_int_registers();
+#endif
+// Dump all registers
+ //DumpAccelGyroRegs();
+// // 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
+// , &t.tm_hour, &t.tm_min, &t.tm_sec);
+
+ // adjust for tm structure required values
+ t.tm_year = t.tm_year - 1900;
+ t.tm_mon = t.tm_mon - 1;
+
+ // set the time
+ rtc.set_time(mktime(&t));
+ // Set the interrupt service routines
+
+ // Wait for the start Signal generated by the accelerometer interrupt
+#ifdef MOTION
+ // Read the interrupt to clear it
+ lol.getStatus();
+ lol.getAccelIntSrc();
+ // Disable the interrupt
+ lol.configAccelInt(0, false); // INT_GEN_CFG_XL (06h)
+ lol.configInt(XG_INT1, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
+#endif
+ while(1) {
+#ifdef MOTION
+ lol.getStatus();
+ lol.getAccelIntSrc();
+ lol.readAccel();
+ lol.getGyroIntSrc();
+ lol.readGyro();
+ // Disable the interrupt
+ lol.configAccelInt(0, false); // INT_GEN_CFG_XL (06h)
+ lol.configInt(XG_INT1, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
+ // Read the interrupt to clear it
+#endif
+ // Create temporary files
+ led3 = LED_ON;
+ open_temp_files();
+ led3 = LED_OFF;
+#ifdef DEBUG
+ debug.printf( "\n\r");
+ debug.printf( "Status (27h) %02x\n\r", lol.getStatus()); // STATUS_REG (27h)
+ debug.printf( "GyroIntSrc (14h) %02x\n\r", lol.getGyroIntSrc()); // INT_GEN_SRC_G (14h)
+ debug.printf( "AccelIntSrc(26h) %02x\n\r", lol.getAccelIntSrc()); // INT_GEN_SRC_XL (26h)
+ debug.printf( "MagIntSrc (31h) %02x\n\r", lol.getMagIntSrc()); // INT_SRC_M (31h)
+ debug.printf( "Inactivity (17h) %02x\n\r", lol.getInactivity()); // STATUS_REG (17h)
+ debug.printf( "\n\r");
+#endif
+#ifdef DEBUG
+ print_config_int_registers();
+#endif
+#ifdef MOTION
+ // Program the motion interrupt on accelerometer
+ lol.configAccelInt(ZHIE_XL|YHIE_XL|XHIE_XL, false); // INT_GEN_CFG_XL (06h)
+ lol.configInt(XG_INT1, INT1_IG_XL, INT_ACTIVE_LOW, INT_PUSH_PULL); // INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
+#endif
+ // Check for button 1 pressed or
+ // Wait for the start Signal generated by the accelerometer interrupt
+ // Depends if MOTION is defined
+#ifdef DEBUG
+#ifdef MOTION
+ debug.printf("Waiting for motion to start sampling\n\r");
+#else
+ debug.printf("Waiting for Button 1 to be pressed to start sampling\n\r");
+#endif
+#endif
+ while(start==0);
+ dbg1 = DBG_ACTIVE;
+ dbg2 = DBG_INACTIVE;
+#ifdef DEBUG
+#ifdef MOTION
+ debug.printf("Motion Detected\n\r");
+#else
+ debug.printf("Button 1 pressed\n\r");
+#endif
+#endif
+#ifdef MOTION
+ // Reset the Interrupt
+ lol.getStatus();
+ lol.getAccelIntSrc();
+
+ // Disable the interrupt
+ lol.configAccelInt(0, false); // INT_GEN_CFG_XL (06h)
+ lol.configInt(XG_INT1, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
+ // Read the interrupt to clear it
+#endif
+#ifdef DEBUG
+ debug.printf("Started sampling\n\r");
+ // Get the time and create a file with the number of seconds in hex appended
+#endif
+ // Caoture the seconds since Turn-on to name the files
+ seconds = rtc.time();
+ sprintf(secs_str, "%s", ctime(&seconds));
+#ifdef DEBUG
+ debug.printf("\n\rStarted at: %s\n\r\n\r", secs_str );
+#endif
+#ifdef MOTION
+ // program inactivity timer
+ lol.configInactivity(ACT_THS_REG, ACT_DUR_REG, true);
+ lol.configInt(XG_INT2, INT2_INACT, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT2_CTRL (0x0D) + CTRL_REG8 (0x22)
+#endif
+ //Execute until inactivity timer is triggered
+#ifdef DEBUG
+ print_config_int_registers();
+#endif
+
+ while(!stop) {
+ dbg1 = DBG_INACTIVE;
+ dbg2 = DBG_ACTIVE;
+ if (lol.accelAvailable()) {
+ lol.readAccel();
+#ifdef DEBUG
+ debug.printf("ACC %d, %d, %d\n\r", lol.ax, lol.ay, lol.az);
+#endif
+ fprintf(fpA, "%d, %d, %d\n\r", lol.ax, lol.ay, lol.az);
+ }
+ if ( lol.magAvailable(X_AXIS) && lol.magAvailable(Y_AXIS) && lol.magAvailable(Z_AXIS)) {
+ lol.readMag();
+#ifdef DEBUG
+ debug.printf("MAG %d, %d, %d\n\r", lol.mx, lol.my, lol.mz);
+#endif
+ fprintf(fpM, "%d, %d, %d\n\r", lol.mx, lol.my, lol.mz);
+ }
+ if ( lol.gyroAvailable()) {
+ lol.readGyro();
+#ifdef DEBUG
+ debug.printf("GYR %d, %d, %d\n\r", lol.gx, lol.gy, lol.gz);
+#endif
+ fprintf(fpG, "%d, %d, %d\n\r", lol.gx, lol.gy, lol.gz);
+ }
+ }
+#ifdef MOTION
+ //Disable inactivity interrupt
+ lol.configInt(XG_INT2, 0, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT2_CTRL (0x0D) + CTRL_REG8 (0x22)
+#endif
+ // Stop Sampling and close file
+ //parp(10);
+#ifdef DEBUG
+ debug.printf("Stopped sampling\n\r");
+#endif
+ led3 = LED_ON;
+ fclose(fpA);
+ fclose(fpM);
+ fclose(fpG);
+ rename_files();
+ led3 = LED_OFF;
+ }
+}
+
+uint8_t I2CreadByte(uint8_t address, uint8_t subAddress)
+{
+ char data;
+ char temp= subAddress;
+
+ i2c.write(address, &temp, 1);
+ int a = i2c.read(address, &data, 1);
+ return data;
+}
+
+uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
+{
+ int i;
+ char temp_dest[count];
+ char temp = subAddress;
+ i2c.write(address, &temp, 1);
+ i2c.read(address, temp_dest, count);
+
+ //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion
+ for (i=0; i < count; i++) {
+ dest[i] = temp_dest[i];
+ }
+ return count;
+}
+//***********************************************************
+// file_rename: renames a file (via copy & delete).
+// Moves data instead of adjusting the file name in the
+// file directory. Checks to insure the file was renamed.
+// Returns -1 = error; 0 = success
+//***********************************************************
+int file_rename(const char *oldfname, const char *newfname)
+{
+ int retval = 0;
+ int ch;
+
+ FILE *fpold = fopen(oldfname, "r"); // src file
+ FILE *fpnew = fopen(newfname, "w"); // dest file
+
+ while (1) { // Copy src to dest
+ ch = fgetc(fpold); // until src EOF read.
+ if (ch == EOF) break;
+ fputc(ch, fpnew);
+ }
+
+ fclose(fpnew);
+ fclose(fpold);
+
+ fpnew = fopen(newfname, "r"); // Reopen dest to insure
+ if(fpnew == NULL) { // that it was created.
+ retval = (-1); // Return Error.
+ } else {
+ fclose(fpnew);
+ remove(oldfname); // Remove original file.
+ retval = (0); // Return Success.
+ }
+ return (retval);
+}
+
+//***********************************************************
+// file_copy: Copies a file
+// Checks to insure destination file was created.
+// Returns -1 = error; 0 = success
+//***********************************************************
+int file_copy (const char *src, const char *dst)
+{
+ int retval = 0;
+ int ch;
+
+ FILE *fpsrc = fopen(src, "r"); // src file
+ FILE *fpdst = fopen(dst, "w"); // dest file
+
+ while (1) { // Copy src to dest
+ ch = fgetc(fpsrc); // until src EOF read.
+ if (ch == EOF) break;
+ fputc(ch, fpdst);
+ }
+ fclose(fpsrc);
+ fclose(fpdst);
+
+ fpdst = fopen(dst, "r"); // Reopen dest to insure
+ if(fpdst == NULL) { // that it was created.
+ retval = (-1); // Return error.
+ } else {
+ fclose(fpdst);
+ retval = (0); // Return success.
+ }
+ return (retval);
+}
+// Generated when button 1 is pressed on rising edge START
+// Modified to be generated by Interrupt 1
+void start_smpl()
+{
+ start = 1;
+ stop = 0;
+ //dbg1 = 1;
+ //dbg2 = 0;
+}
+
+// Generated when button 1 is pressed on rising edge STOP
+// Modified to be generated by Interrupt 2
+void stop_smpl()
+{
+ stop = 1;
+ start = 0;
+ //dbg1 = 0;
+ //dbg2 = 1;
+}
+
+void parp( int times )
+{
+ int i;
+ for( i = 0; i < times; i++) {
+ led1 = LED_ON;
+ wait( 0.05);
+ led1 = LED_OFF;
+ wait( 0.05);
+ }
+ led2 = 1;
+}
+
+// Flipped every second
+void flip()
+{
+ led2 = LED_ON;
+ wait(0.01);
+ led2 = LED_OFF;
+ if ( start && !stop ) {
+ led1 = LED_ON;
+ wait(0.01);
+ led1 = LED_OFF;
+ }
+}
+
+void print_config_int_registers( void )
+{
+#ifdef DEBUG
+ debug.printf( "\n\r");
+ debug.printf( "INT1_CTRL (0Ch) %02x\n\r", I2CreadByte(0xD6, 0x0C));
+ debug.printf( "INT2_CTRL (0Dh) %02x\n\r", I2CreadByte(0xD6, 0x0D));
+ debug.printf( "CTRL_REG8 (22h) %02x\n\r", I2CreadByte(0xD6, 0x22));
+ debug.printf( "STATUS_REG (27h) %02x\n\r", I2CreadByte(0xD6, 0x27));
+ debug.printf( "\n\r");
+ debug.printf( "INT_GEN_CFG_XL (06h) %02x\n\r", I2CreadByte(0xD6, 0x06));
+ debug.printf( "INT_GEN_SRC_XL (26h) %02x\n\r", I2CreadByte(0xD6, 0x26));
+ debug.printf( "INT_GEN_THS_X_XL (07h) %02x\n\r", I2CreadByte(0xD6, 0x07));
+ debug.printf( "INT_GEN_THS_Y_XL (08h) %02x\n\r", I2CreadByte(0xD6, 0x08));
+ debug.printf( "INT_GEN_THS_Z_XL (09h) %02x\n\r", I2CreadByte(0xD6, 0x09));
+ debug.printf( "INT_GEN_DUR_XL (0ah) %02x\n\r", I2CreadByte(0xD6, 0x0a));
+ debug.printf( "\n\r");
+ debug.printf( "INT_GEN_CFG_G (30h) %02x\n\r", I2CreadByte(0xD6, 0x30));
+ debug.printf( "INT_GEN_SRC_G (14h) %02x\n\r", I2CreadByte(0xD6, 0x14));
+ debug.printf( "INT_GEN_THS_XH_G (31h) %02x\n\r", I2CreadByte(0xD6, 0x31));
+ debug.printf( "INT_GEN_THS_XL_G (32h) %02x\n\r", I2CreadByte(0xD6, 0x32));
+ debug.printf( "INT_GEN_THS_YH_G (33h) %02x\n\r", I2CreadByte(0xD6, 0x33));
+ debug.printf( "INT_GEN_THS_YL_G (34h) %02x\n\r", I2CreadByte(0xD6, 0x34));
+ debug.printf( "INT_GEN_THS_ZH_G (35h) %02x\n\r", I2CreadByte(0xD6, 0x35));
+ debug.printf( "INT_GEN_THS_ZL_G (36h) %02x\n\r", I2CreadByte(0xD6, 0x36));
+ debug.printf( "INT_GEN_DUR_G (37h) %02x\n\r", I2CreadByte(0xD6, 0x37));
+#endif
+}
+
+void open_temp_files( void )
+{
+ debug.printf("\n\r");
+ fpA = fopen("/sd/ACC.csv", "w");
+ // Verify that file can be created
+ if ( fpA == NULL ) {
+ debug.printf("Cannot create file ACC.csv\n\r");
+ wait(0.5);
+ while(1) {
+ led1 = !led1;
+ wait(0.5);
+ }
+ } else
+ debug.printf("File ACC.csv created successfully\n\r");
+
+ fpG = fopen("/sd/GYR.csv", "w");
+ // Verify that file can be created
+ if ( fpG == NULL ) {
+ debug.printf("Cannot create file GYR.csv\n\r");
+ wait(0.5);
+ while(1) {
+ led1 = !led1;
+ wait(0.5);
+ }
+ } else
+ debug.printf("File GYR.csv created successfully\n\r");
+
+ fpM = fopen("/sd/MAG.csv", "w");
+ // Verify that file can be created
+ if ( fpM == NULL ) {
+ debug.printf("Cannot create file MAG.csv\n\r");
+ wait(0.5);
+ while(1) {
+ led1 = !led1;
+ wait(0.5);
+ }
+ } else
+ debug.printf("File MAG.csv created successfully\n\r");
+}
+
+void rename_files( void )
+{
+ sprintf(filename, "/sd/latch9DOFA_%08x.csv",seconds);
+ debug.printf("\n\r");
+ if((file_copy("/sd/ACC.csv",filename )) == 0) {
+ debug.printf("File ACC.csv copied successfully to %s\n\r", filename);
+ } else {
+ debug.printf("Error: unable to copy the file ACC.csv");
+ }
+ sprintf(filename, "/sd/latch9DOFM_%08x.csv",seconds);
+ if((file_copy("/sd/MAG.csv",filename )) == 0) {
+ debug.printf("File MAG.csv copied successfully to %s\n\r", filename);
+ } else {
+ debug.printf("Error: unable to copy the file MAG.csv");
+ }
+ sprintf(filename, "/sd/latch9DOFG_%08x.csv",seconds);
+ if((file_copy("/sd/GYR.csv",filename )) == 0) {
+ debug.printf("File GYR.csv copied successfully to %s\n\r", filename);
+ } else {
+ debug.printf("Error: unable to copy the file GYR.csv");
+ }
+}
+
+void DumpAccelGyroRegs( void )
+{
+ char dest[ 0x34 ];
+ int i;
+
+ debug.printf("\n\r");
+ I2CreadBytes( 0xD6, 0x04, (uint8_t *)dest, 0x34 );
+
+ for( i = 0; i < 0x34; i++ ) {
+ //I2CreadByte(0xD6, i + 0x04);
+ switch( i + 0x04 ) {
+ case 0x04:
+ debug.printf("ACT_THS 0x04 %02x\n\r", dest[i]);
+ break;
+ case 0x05:
+ debug.printf("ACT_DUR 0x05 %02x\n\r", dest[i]);
+ break;
+ case 0x06:
+ debug.printf("INT_GEN_CFG_XL 0x06 %02x\n\r", dest[i]);
+ break;
+ case 0x07:
+ debug.printf("INT_GEN_THS_X_XL 0x07 %02x\n\r", dest[i]);
+ break;
+ case 0x08:
+ debug.printf("INT_GEN_THS_Y_XL 0x08 %02x\n\r", dest[i]);
+ break;
+ case 0x09:
+ debug.printf("INT_GEN_THS_Z_XL 0x09 %02x\n\r", dest[i]);
+ break;
+ case 0x0A:
+ debug.printf("INT_GEN_DUR_XL 0x0A %02x\n\r", dest[i]);
+ break;
+ case 0x0B:
+ debug.printf("REFERENCE_G 0x0B %02x\n\r", dest[i]);
+ break;
+ case 0x0C:
+ debug.printf("INT1_CTRL 0x0C %02x\n\r", dest[i]);
+ break;
+ case 0x0D:
+ debug.printf("INT2_CTRL 0x0D %02x\n\r", dest[i]);
+ break;
+ case 0x0F:
+ debug.printf("WHO_AM_I_XG 0x0F %02x\n\r", dest[i]);
+ break;
+ case 0x10:
+ debug.printf("CTRL_REG1_G 0x10 %02x\n\r", dest[i]);
+ break;
+ case 0x11:
+ debug.printf("CTRL_REG2_G 0x11 %02x\n\r", dest[i]);
+ break;
+ case 0x12:
+ debug.printf("CTRL_REG3_G 0x12 %02x\n\r", dest[i]);
+ break;
+ case 0x13:
+ debug.printf("ORIENT_CFG_G 0x13 %02x\n\r", dest[i]);
+ break;
+ case 0x14:
+ debug.printf("INT_GEN_SRC_G 0x14 %02x\n\r", dest[i]);
+ break;
+ case 0x15:
+ debug.printf("OUT_TEMP_L 0x15 %02x\n\r", dest[i]);
+ break;
+ case 0x16:
+ debug.printf("OUT_TEMP_H 0x16 %02x\n\r", dest[i]);
+ break;
+ case 0x17:
+ debug.printf("STATUS_REG_0 0x17 %02x\n\r", dest[i]);
+ break;
+ case 0x18:
+ debug.printf("OUT_X_L_G 0x18 %02x\n\r", dest[i]);
+ break;
+ case 0x19:
+ debug.printf("OUT_X_H_G 0x19 %02x\n\r", dest[i]);
+ break;
+ case 0x1A:
+ debug.printf("OUT_Y_L_G 0x1A %02x\n\r", dest[i]);
+ break;
+ case 0x1B:
+ debug.printf("OUT_Y_H_G 0x1B %02x\n\r", dest[i]);
+ break;
+ case 0x1C:
+ debug.printf("OUT_Z_L_G 0x1C %02x\n\r", dest[i]);
+ break;
+ case 0x1D:
+ debug.printf("OUT_Z_H_G 0x1D %02x\n\r", dest[i]);
+ break;
+ case 0x1E:
+ debug.printf("CTRL_REG4 0x1E %02x\n\r", dest[i]);
+ break;
+ case 0x1F:
+ debug.printf("CTRL_REG5_XL 0x1F %02x\n\r", dest[i]);
+ break;
+ case 0x20:
+ debug.printf("CTRL_REG6_XL 0x20 %02x\n\r", dest[i]);
+ break;
+ case 0x21:
+ debug.printf("CTRL_REG7_XL 0x21 %02x\n\r", dest[i]);
+ break;
+ case 0x22:
+ debug.printf("CTRL_REG8 0x22 %02x\n\r", dest[i]);
+ break;
+ case 0x23:
+ debug.printf("CTRL_REG9 0x23 %02x\n\r", dest[i]);
+ break;
+ case 0x24:
+ debug.printf("CTRL_REG10 0x24 %02x\n\r", dest[i]);
+ break;
+ case 0x26:
+ debug.printf("INT_GEN_SRC_XL 0x26 %02x\n\r", dest[i]);
+ break;
+ case 0x27:
+ debug.printf("STATUS_REG_1 0x27 %02x\n\r", dest[i]);
+ break;
+ case 0x28:
+ debug.printf("OUT_X_L_XL 0x28 %02x\n\r", dest[i]);
+ break;
+ case 0x29:
+ debug.printf("OUT_X_H_XL 0x29 %02x\n\r", dest[i]);
+ break;
+ case 0x2A:
+ debug.printf("OUT_Y_L_XL 0x2A %02x\n\r", dest[i]);
+ break;
+ case 0x2B:
+ debug.printf("OUT_Y_H_XL 0x2B %02x\n\r", dest[i]);
+ break;
+ case 0x2C:
+ debug.printf("OUT_Z_L_XL 0x2C %02x\n\r", dest[i]);
+ break;
+ case 0x2D:
+ debug.printf("OUT_Z_H_XL 0x2D %02x\n\r", dest[i]);
+ break;
+ case 0x2E:
+ debug.printf("FIFO_CTRL 0x2E %02x\n\r", dest[i]);
+ break;
+ case 0x2F:
+ debug.printf("FIFO_SRC 0x2F %02x\n\r", dest[i]);
+ break;
+ case 0x30:
+ debug.printf("INT_GEN_CFG_G 0x30 %02x\n\r", dest[i]);
+ break;
+ case 0x31:
+ debug.printf("INT_GEN_THS_XH_G 0x31 %02x\n\r", dest[i]);
+ break;
+ case 0x32:
+ debug.printf("INT_GEN_THS_XL_G 0x32 %02x\n\r", dest[i]);
+ break;
+ case 0x33:
+ debug.printf("INT_GEN_THS_YH_G 0x33 %02x\n\r", dest[i]);
+ break;
+ case 0x34:
+ debug.printf("INT_GEN_THS_YL_G 0x34 %02x\n\r", dest[i]);
+ break;
+ case 0x35:
+ debug.printf("INT_GEN_THS_ZH_G 0x35 %02x\n\r", dest[i]);
+ break;
+ case 0x36:
+ debug.printf("INT_GEN_THS_ZL_G 0x36 %02x\n\r", dest[i]);
+ break;
+ case 0x37:
+ debug.printf("INT_GEN_DUR_G 0x37 %02x\n\r", dest[i]);
+ break;
+ default:
+ debug.printf("Register Not Valid 0x%02x\n\r");
+ break;
+ }
+ }
+}
+
+
+
+#define DEPTH 64
+#define DEPP2 6
+
+
+ulint mag_vec( int ax, int ay, int az )
+{
+ static int x[DEPTH];
+ static int y[DEPTH];
+ static int z[DEPTH];
+
+ int i;
+ int sx,sy,sz;
+
+ x[0] = ax;
+ y[0] = ay;
+ z[0] = az;
+ sx = 0;
+ sy = 0;
+ sz = 0;
+
+ for( i = 0; i < DEPTH; i++ ) {
+ sx+= x[i];
+ sy+= y[i];
+ sz+= z[i];
+ }
+ sx >>= DEPP2;
+ sy >>= DEPP2;
+ sz >>= DEPP2;
+
+ for( i = 0; i < DEPTH-1; i++ ) {
+ x[i+1] = x[i];
+ y[i+1] = y[i];
+ z[i+1] = z[i];
+ }
+ return( (ulint)(sx*sx + sy*sy + sz*sz) );
+}
+
+
+ulint maxvec( ulint vec, int reset )
+{
+ ulint static max;
+
+ if( reset == 0 )
+ max = 0;
+
+ if ( vec > max ) {
+ max = vec;
+ }
+ return( max );
+}
+
+ulint minvec( ulint vec, int reset )
+{
+ ulint static min;
+ if ( reset == 0)
+ min = 0xFFFFFFFF;
+
+ if ( vec < min ) {
+ min = vec;
+ }
+ return( min );
+
+}
+
+