Diff: main.cpp

Revision:

11:a246c67d44b0

Parent:

10:e7ab0493ed9f

Child:

12:f361ccfc191e

diff -r e7ab0493ed9f -r a246c67d44b0 main.cpp
--- a/main.cpp	Tue Jul 26 21:18:15 2016 +0000
+++ b/main.cpp	Wed Jul 27 21:55:46 2016 +0000
@@ -7,18 +7,18 @@
 #include "LSM9DS1.h"
 #include "SDFileSystem.h"
 #include "nrf51_rtc.h"
-//#include "utilities.h"
 
 #define M_PI 3.14158
-#define DEBUG 1
+//#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 0x10       // 0x07
+#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 0x10       // 0x09
+#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
@@ -26,7 +26,13 @@
 #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
@@ -39,19 +45,27 @@
 // Create a ticker to use the nRF51 RTC
 Ticker flipper;
 
-// Assign interrupts to switches
+#ifdef MOTION
+// Assign interrupts to Interrupts from LSM9DS1
 InterruptIn int1(p12); // Start sampling
-InterruptIn int2(p13); // Stop sampoling
+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 dbg1(p16);
-DigitalOut dbg2(p17);
+DigitalOut led3(LED3);
+
+DigitalOut dbg1(p24);
+DigitalOut dbg2(p0);
 
 // Global variables
-int start = 0;
-int stop = 0;
+volatile int start = 0;
+volatile int stop = 0;
 time_t seconds;
 
 FILE *fpA;
@@ -61,6 +75,243 @@
 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;
@@ -153,10 +404,10 @@
 // Modified to be generated by Interrupt 1
 void start_smpl()
 {
-    //lol.readAccel();
     start = 1;
     stop = 0;
-    //dbg2 = 1;
+    //dbg1 = 1;
+    //dbg2 = 0;
 }
 
 // Generated when button 1 is pressed on rising edge STOP
@@ -165,30 +416,32 @@
 {
     stop = 1;
     start = 0;
-    //dbg2 = 0;
+    //dbg1 = 0;
+    //dbg2 = 1;
 }
 
 void parp( int times )
 {
     int i;
     for( i = 0; i < times; i++) {
-        led1 = 0;
+        led1 = LED_ON;
         wait( 0.05);
-        led1 = 1;
+        led1 = LED_OFF;
         wait( 0.05);
     }
     led2 = 1;
 }
+
 // Flipped every second
 void flip()
 {
-    led2 = 0;
+    led2 = LED_ON;
     wait(0.01);
-    led2 = 1;
-    if ( !stop ) {
-        led1 = 0;
+    led2 = LED_OFF;
+    if ( start && !stop ) {
+        led1 = LED_ON;
         wait(0.01);
-        led1 = 1;
+        led1 = LED_OFF;
     }
 }
 
@@ -222,6 +475,7 @@
 
 void open_temp_files( void )
 {
+    debug.printf("\n\r");
     fpA = fopen("/sd/ACC.csv", "w");
     // Verify that file can be created
     if ( fpA == NULL ) {
@@ -262,194 +516,23 @@
 void rename_files( void )
 {
     sprintf(filename, "/sd/latch9DOFA_%08x.csv",seconds);
-    if((file_rename("/sd/ACC.csv",filename )) == 0) {
-        debug.printf("File ACC.csv renamed successfully to %s\n\r", filename);
+    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 rename the file ACC.csv");
+        debug.printf("Error: unable to copy the file ACC.csv");
     }
     sprintf(filename, "/sd/latch9DOFM_%08x.csv",seconds);
-    if((file_rename("/sd/MAG.csv",filename )) == 0) {
-        debug.printf("File MAG.csv renamed successfully to %s\n\r", filename);
+    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 rename the file MAG.csv");
+        debug.printf("Error: unable to copy the file MAG.csv");
     }
     sprintf(filename, "/sd/latch9DOFG_%08x.csv",seconds);
-    if((file_rename("/sd/GYR.csv",filename )) == 0) {
-        debug.printf("File GYR.csv renamed successfully to %s\n\r", filename);
-    } else {
-        debug.printf("Error: unable to rename the file GYR.csv");
-    }
-}
-
-int main()
-{
-    led1= 1;
-
-    struct tm t;
-    // debug pins
-    dbg1 = 0;
-    dbg2 = 0;
-
-    // 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);
-        }
+    if((file_copy("/sd/GYR.csv",filename )) == 0) {
+        debug.printf("File GYR.csv copied successfully to %s\n\r", filename);
     } else {
-        debug.printf("Communication with the LSM9DS1 successfully\n\r");
-    }
-
-    lol.calibrate(true);
-    //lol.getStatus();
-    //lol.getAccelIntSrc();
-    //lol.readAccel();
-    //lol.readGyro();
-
-    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)
-#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
-    int1.fall(&start_smpl);
-    int2.fall(&stop_smpl);
-
-    // Wait for the start Signal generated by the accelerometer interrupt
-    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)
-    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)
-
-    while(1) {
-        // Check for button 1 pressed
-#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
-        // Wait for the start Signal generated by the accelerometer interrupt
-        //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)
-        //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)
-
-#ifdef DEBUG
-        print_config_int_registers();
-#endif
-        open_temp_files();
-        start = 0;
-        while(!start) {
-            led1 = 1;
-        }
-        dbg1 = 1;
-        // 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
-        //lol.getStatus();
-        // lol.getAccelIntSrc();
-        //lol.readAccel();
-        //lol.getGyroIntSrc();
-        //lol.readGyro();
-
-        dbg1 = 0;
-        // Start sampling
-        //led1 = 0;
-        //parp(5);
-#ifdef DEBUG
-        debug.printf("Started sampling\n\r");
-        // Get the time and create a file with the number of seconds in hex appended
-#endif
-        seconds = rtc.time();
-
-        sprintf(secs_str, "%s", ctime(&seconds));
-#ifdef DEBUG
-        debug.printf("\n\rStarted at: %s\n\r\n\r", secs_str );
-#endif
-        // 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)
-        // Execute until inctivity timer is triggered
-#ifdef DEBUG
-        print_config_int_registers();
-#endif
-        while(!stop) {
-            dbg2 = 1;
-            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);
-            }
-        }
-        dbg2 = 0;
-        //lol.configInt(XG_INT2, 0, INT_ACTIVE_LOW, INT_PUSH_PULL);   //INT2_CTRL (0x0D) + CTRL_REG8 (0x22)
-
-        // Stop Sampling and close file
-        parp(10);
-#ifdef DEBUG
-        debug.printf("Stopped sampling\n\r");
-#endif
-        fclose(fpA);
-        fclose(fpM);
-        fclose(fpG);
-        rename_files();
+        debug.printf("Error: unable to copy the file GYR.csv");
     }
 }