Antonio Mondragon
Minor fixes
Dependencies: LSM9DS1_Library SDFileSystem mbed nrf51_rtc
Fork of
LSM303DLHTest
by 
Toshihisa T
Diff: main.cpp
- Revision:
- 8:8f4d7f1c588f
- Parent:
- 7:cbfdcc57f110
- Child:
- 9:61fcd186ac50
diff -r cbfdcc57f110 -r 8f4d7f1c588f main.cpp
--- a/main.cpp Tue Jul 19 20:53:52 2016 +0000
+++ b/main.cpp Wed Jul 20 21:39:19 2016 +0000
@@ -73,13 +73,201 @@
char data;
char temp= subAddress;
- //i2c.write(address, temp, 1);
- //temp[1] = 0x00;
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;
@@ -89,7 +277,9 @@
struct tm t;
time_t seconds;
- FILE *fp;
+ FILE *fpA;
+ FILE *fpG;
+ FILE *fpM;
// Attach functions to interrupts
btn1.rise(&start_smpl);
@@ -108,18 +298,20 @@
}
lol.calibrate();
- lol.configInt(XG_INT1, INT1_IG_G|INT1_IG_XL, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT1_CTRL (0x0C) + CTRL_REG8 (0x22)
- lol.configInt(XG_INT2, INT2_DRDY_G|INT2_DRDY_XL, INT_ACTIVE_LOW, INT_PUSH_PULL); //INT2_CTRL (0x0D) + CTRL_REG8 (0x22)
+ 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(ZLIE_G|YLIE_G|XLIE_G, false, true); // INT_GEN_CFG_G (30h)
- lol.configGyroThs((int16_t )0x300, X_AXIS, (uint8_t) 0x00, false); // INT_GEN_THS_X_G (31h - 32h)
- lol.configGyroThs((int16_t )0x300, Y_AXIS, (uint8_t) 0x00, false); // INT_GEN_THS_Y_G (33h - 34h)
- lol.configGyroThs((int16_t )0x300, Z_AXIS, (uint8_t) 0x00, false); // INT_GEN_THS_Z_G (35h - 36h)
+ 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)
@@ -127,8 +319,9 @@
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 (0CD) %02x\n\r", I2CreadByte(0xD6, 0x0D));
+ 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));
@@ -147,6 +340,8 @@
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");
@@ -175,10 +370,36 @@
seconds = rtc.time();
sprintf(secs_str, "%s", ctime(&seconds));
printf("Started at: %s\n\r", secs_str );
- sprintf(filename, "/sd/latch9DOF_%08x",seconds);
- fp = fopen(filename, "w");
+ sprintf(filename, "/sd/latch9DOFA_%08x.csv",seconds);
+ fpA = fopen(filename, "w");
// Verify that file can be created
- if ( fp == NULL ) {
+ 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) {
@@ -191,23 +412,36 @@
// Sample until button 2 is pressed
while(!stop) {
//led1 = 0;
- 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);
+ //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(fp);
+ fclose(fpA);
+ fclose(fpM);
+ fclose(fpG);
}
}