File content as of revision 8:8f4d7f1c588f:

// 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

// 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;

// Assign interrupts to switches
InterruptIn btn1(p17); // Start sampling
InterruptIn btn2(p18); // Stop sampoling

// LED definitions
DigitalOut led1(LED1);
DigitalOut led2(LED2);

// Global variables
int start = 0;
int stop = 0;


// Generated when button 1 is pressed on rising edge START
void start_smpl()
{
    start = 1;
    stop = 0;
}

// Generated when button 1 is pressed on rising edge STOP
void stop_smpl()
{
    stop = 1;
    start = 0;
}

void parp( int times )
{
    int i;
    for( i = 0; i < times; i++) {
        led1 = 0;
        wait( 0.05);
        led1 = 1;
        wait( 0.05);
    }
    led2 = 1;
}
// Flipped every second
void flip()
{
    led2 = 0;
    wait(0.01);
    led2 = 1;
}


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;
}



void DumpAccelGyroRegs( void )
{
    char dest[ 0x34 ];
    int i;

    debug.printf("\n\r");
    //2CreadBytes( 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;
        }

    }


}


int main()
{
    led1= 1;
    char filename[256];
    char secs_str[256];

    struct tm t;
    time_t seconds;

    FILE *fpA;
    FILE *fpG;
    FILE *fpM;

    // 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 9DOF
    //lol.begin();
    if (!lol.begin()) {
        debug.printf("Failed to communicate with LSM9DS1.\n");
    }
    lol.calibrate();

    lol.configInt(XG_INT1, INT_DRDY_XL, INT_ACTIVE_LOW, INT_PUSH_PULL);   //INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
    lol.configInt(XG_INT2, INT_DRDY_G, INT_ACTIVE_LOW, INT_PUSH_PULL);   //INT2_CTRL (0x0D) + CTRL_REG8 (0x22)

    lol.configAccelInt(YHIE_XL|XHIE_XL, false);                                        // INT_GEN_CFG_XL (06h)
    lol.configAccelThs((uint8_t)0x25, X_AXIS, (uint8_t)0x00, false);                   // INT_GEN_THS_X_XL (07h)
    lol.configAccelThs((uint8_t)0x25, Y_AXIS, (uint8_t)0x00, false);                   // INT_GEN_THS_Y_XL (08h)
    lol.configAccelThs((uint8_t)0x25, Z_AXIS, (uint8_t)0x00, false);                   // INT_GEN_THS_Z_XL (09h)

    lol.configGyroInt(ZHIE_G|YHIE_G|XHIE_G, false, false);                              // INT_GEN_CFG_G (30h)
    lol.configGyroThs((int16_t )0x300, X_AXIS, (uint8_t) 0x02, false);                 // INT_GEN_THS_X_G (31h - 32h)
    lol.configGyroThs((int16_t )0x300, Y_AXIS, (uint8_t) 0x02, false);                 // INT_GEN_THS_Y_G (33h - 34h)
    lol.configGyroThs((int16_t )0x300, Z_AXIS, (uint8_t) 0x02, false);                 // INT_GEN_THS_Z_G (35h - 36h)


    debug.printf( "\n\r");
    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( "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));

    // 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));

    while(1) {
        debug.printf("Press Button 1 to Start sampling\n\r");
        debug.printf("Press Button 2 to Stop sampling\n\r");
        // Check for button 1 pressed
        while(!start) {
            led1 = 1;
        }
        // Start sampling
        //led1 = 0;
        parp(5);
        debug.printf("Started sampling\n\r");
        // Get the time and create a file with the number of seconds in hex appended
        seconds = rtc.time();
        sprintf(secs_str, "%s", ctime(&seconds));
        printf("Started at: %s\n\r", secs_str );
        sprintf(filename, "/sd/latch9DOFA_%08x.csv",seconds);
        fpA = fopen(filename, "w");
        // Verify that file can be created
        if ( fpA == NULL ) {
            debug.printf("Cannot create file %s\n\r", filename);
            wait(0.5);
            while(1) {
                led1 = !led1;
                wait(0.5);
            }
        } else
            debug.printf("File %s created successfully\n\r", filename);

        sprintf(filename, "/sd/latch9DOFG_%08x.csv",seconds);
        fpG = fopen(filename, "w");
        // Verify that file can be created
        if ( fpG == NULL ) {
            debug.printf("Cannot create file %s\n\r", filename);
            wait(0.5);
            while(1) {
                led1 = !led1;
                wait(0.5);
            }
        } else
            debug.printf("File %s created successfully\n\r", filename);

        sprintf(filename, "/sd/latch9DOFM_%08x.csv",seconds);
        fpM = fopen(filename, "w");
        // Verify that file can be created
        if ( fpM == NULL ) {
            debug.printf("Cannot create file %s\n\r", filename);
            wait(0.5);
            while(1) {
                led1 = !led1;
                wait(0.5);
            }
        } else
            debug.printf("File %s created successfully\n\r", filename);

        // Sample until button 2 is pressed
        while(!stop) {
            //led1 = 0;
            //lol.getAccelIntSrc();                       // INT_GEN_SRC_XL (26h)
            //I2CreadByte(0xD6, 0x27);
            if (lol.accelAvailable()) {
                lol.readAccel();
                debug.printf("ACC %d, %d, %d\n\r", lol.ax, lol.ay, lol.az);
                fprintf(fpA, "%d, %d, %d\n\r", lol.ax, lol.ay, lol.az);
            }
            //lol.getMagIntSrc();                         // INT_SRC_M (31h)
            //I2CreadByte(0xD6, 0x27);
            if ( lol.magAvailable(X_AXIS) && lol.magAvailable(X_AXIS) && lol.magAvailable(X_AXIS)) {
                lol.readMag();
                debug.printf("MAG %d, %d, %d\n\r", lol.mx, lol.my, lol.mz);
                fprintf(fpM, "%d, %d, %d\n\r", lol.mx, lol.my, lol.mz);
            }
            //lol.getGyroIntSrc();                        // INT_GEN_SRC_G (14h)
            if ( lol.gyroAvailable()) {
                lol.readGyro();
                debug.printf("GYR %d, %d, %d\n\r", lol.gx, lol.gy, lol.gz);
                fprintf(fpG, "%d, %d, %d\n\r", lol.gx, lol.gy, lol.gz);
            }
            //wait(0.1);
        }
        // Stop Sampling and close file
        parp(10);
        led1 = 1;
        debug.printf("Stopped sampling\n\r");
        debug.printf("Results stored in %s\n\r", filename);
        fclose(fpA);
        fclose(fpM);
        fclose(fpG);
    }
}