File content as of revision 12:f361ccfc191e:

// 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);
int file_copy (const char *src, const char *dst);
void start_smpl();
void stop_smpl();
void parp( int times );
void flip();
void print_config_int_registers( void );
void open_temp_files( void );
void rename_files( void );
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 );

}