File content as of revision 4:cc2b1a6de723:

#include "mbed.h"
#include "ADXL345_I2C.h"
#include "ITG3200.h"
#include "HMC5883L.h"
#include "SDFileSystem.h"

ADXL345_I2C accelerometer(p9, p10);
ITG3200 gyro(p9, p10);
HMC5883L compass(p9, p10);
SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
Serial pc(USBTX, USBRX);

#define N 3

int preparing_acc();

int main(){ 
    
    float dt = 0.01;
    float t  = 0;    
    pc.baud(921600);
    int    bitAcc[N]    =   {0};    // Buffer of the accelerometer
    int    getMag[N]    =   {0};    // Buffer of the compass
    double Acc  [N]    =   {0};
    double Gyro [N]    =   {0};
    int    Mag  [N]    =   {0};
    
    // SD file system
    mkdir("/sd/mydir", 0777);
     
    FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
    if( fp==NULL ){     error("Could not open file for write\n");   }
    
    // ***  Setting up sensors ***    
    int preparing_acc();
    gyro.setLpBandwidth(LPFBW_42HZ);
    compass.setDefault();
    wait(0.1);                        // Wait some time for all sensors (Need at least 5ms)
    
    pc.printf("\n\rStarting ADXL345, ITG3200 and HMC5883L test...\n\r");
    pc.printf("   Time     AccX     AccY     AccZ    GyroX    GyroY    GyroZ   MagX   MagY   MagZ\n\r");
                
    //while(1){
    for( int i=0;i<10000;i++ ){
    
        // Updating accelerometer and compass
        accelerometer.getOutput(bitAcc);
        compass.readData(getMag);
        
        // Transfering units (Acc[g], Gyro[deg/s], Compass[Ga])
        // Calibration YAL 9DOF Acc:X+6, Y-12, Z+44
        // Calibration green Acc:X+1, Y-18, Z+45
        Acc[0]  =  ((int16_t)bitAcc[0])*0.004;
        Acc[1]  =  ((int16_t)bitAcc[1])*0.004;
        Acc[2]  =  ((int16_t)bitAcc[2])*0.004;
        // Calibration YAL 9DOF Gyro:X+28, Y-45, Z+34 
        // Calibration green Gyro:X+135, Y-12, Z-53 
        Gyro[0] =  (gyro.getGyroX())/14.375;
        Gyro[1] =  (gyro.getGyroY())/14.375;
        Gyro[2] =  (gyro.getGyroZ())/14.375;
        // Calibration YAL 9DOF Compass:X, Y, Z
        Mag[0]  =  (int16_t)getMag[0];
        Mag[1]  =  (int16_t)getMag[1];
        Mag[2]  =  (int16_t)getMag[2];
        
        // Low pass filter for acc
        //for ( int i=0;i<N;i++ ){
        //    if( -0.05<Acc[i] && Acc[i]<0.05 ){    Acc[i]=0;  }
        //}
        
        // Low pass filter for gyro
        //for ( int i=0;i<N;i++ ){
        //    if( -1.0<Gyro[i] && Gyro[i]<1.0 ){    Gyro[i]=0;  }
        //}

        //pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f, %5d, %5d, %5d\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2], Mag[0], Mag[1], Mag[2]);
        pc.printf("%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2]);
        //pc.printf("%7.1f, %7.1f, %7.1f\n\r",Gyro[0], Gyro[1], Gyro[2]);
        fprintf(fp, "%7.2f, %7.3f, %7.3f, %7.3f, %7.1f, %7.1f, %7.1f\n\r", t, Acc[0], Acc[1], Acc[2], Gyro[0], Gyro[1], Gyro[2]);
        
        t += dt;
        wait(dt);
        
    }
    
    fclose(fp);
    
 }
 
int preparing_acc(){
 
    // These are here to test whether any of the initialization fails. It will print the failure.
    if (accelerometer.setPowerControl(0x00)){
        pc.printf("didn't intitialize power control\n\r"); 
        return 0;
    }
    // Full resolution, +/-16g, 4mg/LSB.
    wait(.001);
     
    if(accelerometer.setDataFormatControl(0x0B)){
        pc.printf("didn't set data format\n\r");
        return 0;
    }
    wait(.001);
     
    // 3.2kHz data rate.
    if(accelerometer.setDataRate(ADXL345_3200HZ)){
        pc.printf("didn't set data rate\n\r");
        return 0;
    }
    wait(.001);
      
    if(accelerometer.setPowerControl(MeasurementMode)) {
        pc.printf("didn't set the power control to measurement\n\r"); 
        return 0;
    } 
 
    return 0;
 
}