Revision 10:e054891b3598, committed 2018-09-10

Comitter:

nfathurr

Date:

Mon Sep 10 10:01:49 2018 +0000

Parent:

9:6c803986dbde

Commit message:

Fixed algorithm to read 3 bytes of accelerometer data registers

Changed in this revision

--- a/ADXL35x/ADXL355.cpp	Mon Sep 03 10:39:56 2018 +0000
+++ b/ADXL35x/ADXL355.cpp	Mon Sep 10 10:01:49 2018 +0000
@@ -64,7 +64,8 @@
     cs = true;
     return ret_val;
 }
-uint16_t ADXL355::read_reg_u16(ADXL355_register_t reg){
+uint16_t ADXL355::read_reg_u16(ADXL355_register_t reg)
+{
     uint16_t ret_val = 0;
     adxl355.format(8, _SPI_MODE);
     cs = false;
@@ -74,86 +75,112 @@
     cs = true;
     return ret_val;
 }
-uint32_t ADXL355::read_reg_u20(ADXL355_register_t reg){
-    uint32_t ret_val = 0;
+uint32_t ADXL355::read_reg_u20(ADXL355_register_t reg)
+{
+    uint32_t ret_val = 0, valueH= 0, valueM= 0, valueL= 0;
+    
     adxl355.format(8, _SPI_MODE);
     cs = false;
-    adxl355.write((reg<<1) | _READ_REG_CMD);
-    ret_val = 0x0f & adxl355.write(_DUMMY_BYTE);
+    adxl355.write((reg<<1) | _READ_REG_CMD); //dummy read
+    /*
+    //alternative method from ADICUP360 ADXL355 code
+    valueH = adxl355.write(_DUMMY_BYTE);
+    valueM = adxl355.write(_DUMMY_BYTE);
+    valueL = adxl355.write(_DUMMY_BYTE);
+    
+    ret_val = ((valueH << 16)| (valueM << 8)| valueL);
+    ret_val = ret_val >> 4;
+    */
+    //Valeria's method version 2.0
+    ret_val = adxl355.write(_DUMMY_BYTE);
     ret_val = (ret_val<<8) | adxl355.write(_DUMMY_BYTE);
-    ret_val = (ret_val<<8) | adxl355.write(_DUMMY_BYTE);
+    ret_val = (ret_val<<4) | (adxl355.write(_DUMMY_BYTE) >> 4); 
+    
     cs = true;
     return ret_val;
 }
 /** ----------------------------------- */
 /** Sets the CTL registers              */
 /** ----------------------------------- */
-void ADXL355::set_power_ctl_reg(uint8_t data){
-     write_reg(POWER_CTL, data);
+void ADXL355::set_power_ctl_reg(uint8_t data)
+{
+    write_reg(POWER_CTL, data);
 }
-void ADXL355::set_filter_ctl_reg(ADXL355_filter_ctl_t hpf, ADXL355_filter_ctl_t odr){
+void ADXL355::set_filter_ctl_reg(ADXL355_filter_ctl_t hpf, ADXL355_filter_ctl_t odr)
+{
     write_reg(FILTER, static_cast<uint8_t>(hpf|odr));
 }
-void ADXL355::set_clk(ADXL355_sync_ctl_t data) {
+void ADXL355::set_clk(ADXL355_sync_ctl_t data)
+{
     write_reg(SYNC, static_cast<uint8_t>(data));
 }
-void ADXL355::set_device(ADXL355_range_ctl_t range) {
+void ADXL355::set_device(ADXL355_range_ctl_t range)
+{
     write_reg(RANGE, static_cast<uint8_t>(range));
-    switch(range){
+    switch(range) {
         case 0x01:
             axis355_sens = 3.9e-6;
-            axis357_sens = 19.5e-6;
+            axis357_sens = 19.5e-6; //scale factor g per LSB
             break;
         case 0x02:
             axis355_sens = 7.8e-6;
-            axis357_sens = 39e-6;
+            axis357_sens = 39e-6; //scale factor g per LSB
             break;
         case 0x03:
             axis355_sens = 15.6e-6;
-            axis357_sens = 78e-6;
+            axis357_sens = 78e-6; //scale factor g per LSB
             break;
-        }
+    }
 }
 /** ----------------------------------- */
 /** Read the STATUS registers           */
 /** ----------------------------------- */
-uint8_t ADXL355::read_status(){
+uint8_t ADXL355::read_status()
+{
     return read_reg(STATUS);
 }
 /** ----------------------------------- */
 /** ADXL must be set in measurement     */
 /** mode to read the data registers     */
 /** ----------------------------------- */
-uint32_t ADXL355::scanx(){
+uint32_t ADXL355::scanx()
+{
     return read_reg_u20(XDATA3);
 }
-uint32_t ADXL355::scany(){
+uint32_t ADXL355::scany()
+{
     return read_reg_u20(YDATA3);
 }
-uint32_t ADXL355::scanz(){
+uint32_t ADXL355::scanz()
+{
     return read_reg_u20(ZDATA3);
 }
-uint16_t ADXL355::scant(){
+uint16_t ADXL355::scant()
+{
     return read_reg_u16(TEMP2);
 }
 /** ----------------------------------- */
 /** Activity SetUp - the measured       */
-/** acceleration on any axis is above   */ 
+/** acceleration on any axis is above   */
 /** the ACT_THRESH bits for ACT_COUNT   */
 /** consecutive measurements.           */
 /** ----------------------------------- */
 
-void ADXL355::set_activity_axis(ADXL355_act_ctl_t axis) {
+void ADXL355::set_activity_axis(ADXL355_act_ctl_t axis)
+{
     write_reg(ACT_EN, axis);
 }
-void ADXL355::set_activity_cnt(uint8_t count) {
+void ADXL355::set_activity_cnt(uint8_t count)
+{
     write_reg(ACT_COUNT, count);
 }
-void ADXL355::set_activity_threshold(uint8_t data_h, uint8_t data_l) {
+void ADXL355::set_activity_threshold(uint8_t data_h, uint8_t data_l)
+{
     uint16_t ret_val = static_cast<uint16_t>((data_h<<8)|data_l);
     write_reg_u16(ACT_THRESH_H, ret_val);
 }
-void ADXL355::set_inactivity() {
+void ADXL355::set_inactivity()
+{
     write_reg(ACT_EN, 0x00);
 }
 /** ----------------------------------- */
@@ -171,16 +198,19 @@
 /** ----------------------------------- */
 /** FIFO set up and read operation      */
 /** ----------------------------------- */
-uint8_t ADXL355::fifo_read_nr_of_entries(){
+uint8_t ADXL355::fifo_read_nr_of_entries()
+{
     return read_reg(FIFO_ENTRIES);
 }
-void ADXL355::fifo_setup(uint8_t nr_of_entries){
+void ADXL355::fifo_setup(uint8_t nr_of_entries)
+{
     if (nr_of_entries > 0x60) {
         nr_of_entries = nr_of_entries;
     }
     write_reg(FIFO_SAMPLES, nr_of_entries);
-}    
-uint32_t ADXL355::fifo_read_u32() {
+}
+uint32_t ADXL355::fifo_read_u32()
+{
     uint32_t ret_val = 0;
     adxl355.format(8, _SPI_MODE);
     cs = false;
@@ -190,8 +220,9 @@
     ret_val = (ret_val<<4) | static_cast<uint8_t>(adxl355.write(_DUMMY_BYTE)>>4);
     cs = true;
     return ret_val;
-    }
-uint64_t ADXL355::fifo_scan() {
+}
+uint64_t ADXL355::fifo_scan()
+{
     uint64_t ret_val = 0;
     uint32_t x = 0, y = 0, z = 0, dummy;
     adxl355.format(8, _SPI_MODE);
@@ -213,7 +244,7 @@
                 z = dummy;
                 break;
         }
-    } 
+    }
     cs = true;
     // format (24)xx(24)yy(24)zz
     ret_val = static_cast<uint64_t> (x) << 48;
@@ -223,14 +254,18 @@
 }
 /** ----------------------------------- */
 /** CALIBRATION AND CONVERSION          */
-/** ----------------------------------- */    
-float ADXL355::convert(uint32_t data){
+/** ----------------------------------- */
+float ADXL355::convert(uint32_t data)
+{
+    float result = 0;
+    
     // If a positive value, return it
-    if ((data & 0x80000) == 0)
-    {
-        return float(data);
+    if ((data & 0x80000) == 0) {
+        result= float(data);
+    } else {
+        // Otherwise perform the 2's complement math on the value
+        result = float((~(data - 0x01)) & 0xfffff) * -1;
     }
-    //uint32_t rawValue = data<<(32-nbit);
-    // Otherwise perform the 2's complement math on the value
-    return float((~(data - 0x01)) & 0xfffff) * -1;
+
+    return result;
 }
\ No newline at end of file

--- a/ADXL35x/ADXL355.h	Mon Sep 03 10:39:56 2018 +0000
+++ b/ADXL35x/ADXL355.h	Mon Sep 10 10:01:49 2018 +0000
@@ -4,15 +4,15 @@
 
 class ADXL355
 {
-public: 
+public:
     // -------------------------- //
-    // CONST AND VARIABLES        // 
-    const static float t_sens = -9.05;    
-    const static float t_bias = 1852;    
+    // CONST AND VARIABLES        //
+    const static float t_sens = -9.05;
+    const static float t_bias = 1852;
     float axis355_sens;
-    float axis357_sens;     
+    float axis357_sens; //scale factor in ug per LSB
     // -------------------------- //
-    // REGISTERS                  // 
+    // REGISTERS                  //
     // -------------------------- //
     typedef enum {
         DEVID_AD = 0x00,
@@ -55,20 +55,20 @@
     // -------------------------- //
     // REGISTERS - DEFAULT VALUES //
     // -------------------------- //
-    // Modes - POWER_CTL  
+    // Modes - POWER_CTL
     typedef enum {
         DRDY_OFF = 0x04,
         TEMP_OFF = 0x02,
         STANDBY = 0x01,
         MEASUREMENT = 0x00
-    } ADXL355_modes_t;    
-    // Activate Threshold - ACT_EN  
+    } ADXL355_modes_t;
+    // Activate Threshold - ACT_EN
     typedef enum {
         ACT_Z = 0x04,
         ACT_Y = 0x02,
         ACT_X = 0x01
     } ADXL355_act_ctl_t;
-    // High-Pass and Low-Pass Filter - FILTER 
+    // High-Pass and Low-Pass Filter - FILTER
     typedef enum {
         HPFOFF = 0x00,
         HPF247 = 0x10,
@@ -89,20 +89,20 @@
         ODR7Hz = 0x09,
         ODR3HZ = 0x0A
     } ADXL355_filter_ctl_t;
-    // External timing register - INT_MAP 
+    // External timing register - INT_MAP
     typedef enum {
         OVR_EN = 0x04,
         FULL_EN = 0x02,
         RDY_EN = 0x01
     } ADXL355_intmap_ctl_t;
-    // External timing register - SYNC 
+    // External timing register - SYNC
     typedef enum {
         EXT_CLK = 0x04,
         INT_SYNC = 0x00,
         EXT_SYNC_NO_INT = 0x01,
         EXT_SYNC_INT = 0x02
-    } ADXL355_sync_ctl_t; 
-    // polarity and range - RANGE 
+    } ADXL355_sync_ctl_t;
+    // polarity and range - RANGE
     typedef enum {
         RANGE2G = 0x01,
         RANGE4G = 0x02,
@@ -111,41 +111,41 @@
         RANGE20 = 0x02,
         RANGE40 = 0x03
     } ADXL355_range_ctl_t;
-    // self test interrupt - INT 
+    // self test interrupt - INT
     typedef enum {
         ST2 = 0x02,
         ST1 = 0x01
     } ADXL355_int_ctl_t;
     // -------------------------- //
-    // FUNCTIONS                  //  
+    // FUNCTIONS                  //
     // -------------------------- //
-    // SPI configuration & constructor 
+    // SPI configuration & constructor
     ADXL355(PinName cs_pin , PinName MOSI , PinName MISO , PinName SCK );
     void frequency(int hz);
-    // Low level SPI bus comm methods 
+    // Low level SPI bus comm methods
     void reset(void);
     void write_reg(ADXL355_register_t reg, uint8_t data);
     void write_reg_u16(ADXL355_register_t reg, uint16_t data);
     uint8_t read_reg(ADXL355_register_t reg);
     uint16_t read_reg_u16(ADXL355_register_t reg);
     uint32_t read_reg_u20(ADXL355_register_t reg);
-    // ADXL general register R/W methods 
+    // ADXL general register R/W methods
     void set_power_ctl_reg(uint8_t data);
     void set_filter_ctl_reg(ADXL355_filter_ctl_t hpf, ADXL355_filter_ctl_t odr);
     void set_clk(ADXL355_sync_ctl_t data);
     void set_device(ADXL355_range_ctl_t range);
     uint8_t read_status();
-    // ADXL X/Y/Z/T scanning methods   
+    // ADXL X/Y/Z/T scanning methods
     uint32_t scanx();
     uint32_t scany();
     uint32_t scanz();
     uint16_t scant();
-    // ADXL activity methods 
+    // ADXL activity methods
     void set_activity_axis(ADXL355_act_ctl_t axis);
     void set_activity_cnt(uint8_t count);
     void set_activity_threshold(uint8_t data_h, uint8_t data_l);
     void set_inactivity();
-    // ADXL interrupt methods 
+    // ADXL interrupt methods
     void set_interrupt1_pin(PinName in, ADXL355_intmap_ctl_t mode);
     void set_interrupt2_pin(PinName in, ADXL355_intmap_ctl_t mode);
     void enable_interrupt1();
@@ -156,24 +156,25 @@
     void set_polling_interrupt2_pin(uint8_t data);
     bool get_int1();
     bool get_int2();
-    // ADXL FIFO methods 
+    // ADXL FIFO methods
     uint8_t fifo_read_nr_of_entries();
     void fifo_setup(uint8_t nr_of_entries);
     uint32_t fifo_read_u32();
     uint64_t fifo_scan();
     // ADXL conversion
     float convert(uint32_t data);
-    
+
 private:
     // SPI adxl355;                 ///< SPI instance of the ADXL
-    SPI adxl355; DigitalOut cs;
-    const static uint8_t _DEVICE_AD = 0xAD;     // contect of DEVID_AD (only-read) register 
-    const static uint8_t _RESET = 0x52;         // reset code 
+    SPI adxl355;
+    DigitalOut cs;
+    const static uint8_t _DEVICE_AD = 0xAD;     // contect of DEVID_AD (only-read) register
+    const static uint8_t _RESET = 0x52;         // reset code
     const static uint8_t _DUMMY_BYTE = 0xAA;    // 10101010
     const static uint8_t _WRITE_REG_CMD = 0x00; // write register
     const static uint8_t _READ_REG_CMD = 0x01;  // read register
     const static uint8_t _READ_FIFO_CMD = 0x23; // read FIFO
     const static uint8_t _SPI_MODE = 0;         // timing scheme
 };
- 
+
 #endif
\ No newline at end of file

--- a/COG4050_adxl362.lib	Mon Sep 03 10:39:56 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://os.mbed.com/users/APS_Lab/code/COG4050_ADT7420/#74a0756399ff

--- a/COG4050_blink.lib	Mon Sep 03 10:39:56 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://os.mbed.com/users/APS_Lab/code/COG4050_ADT7420/#74a0756399ff

--- a/READMEconnection.md	Mon Sep 03 10:39:56 2018 +0000
+++ b/READMEconnection.md	Mon Sep 10 10:01:49 2018 +0000
@@ -3,15 +3,17 @@
 ADXL35x on the EV-GEAR-EXPANDER1Z
 CONNECTION DIAGRAM through P4 PMOD_SP1
 
-SIGNAL_NAME     PIN NUM     EVAL-ADXL35xZ
-SPI1_CS0        PMOD-P4 1   P2 2
-SPI1_MOSI       PMOD-P4 2   P2 6
-SPI1_MISO       PMOD-P4 3   P2 5
-SPI1_CLK        PMOD-P4 4   P2 4
-GND             PMOD-P4 5   P1 5
-FT_EXT_VDD_OUT  PMOD-P4 6   P1 1
-FT_EXT_VDD_OUT  PMOD-P4 12  P1 3
-
+SIGNAL_NAME     PIN NUM     EVAL-ADXL35xZ   ADXL357
+SPI1_CS0        PMOD-P4 1       P2 2        CS/CSL
+SPI1_MOSI       PMOD-P4 2       P2 6        MOSI/SDA
+SPI1_MISO       PMOD-P4 3       P2 5        MISO/ASEL
+SPI1_CLK        PMOD-P4 4       P2 4        SCLK/VSSIO
+GND             PMOD-P4 5       P1 5        GND
+FT_EXT_VDD_OUT  PMOD-P4 6       P1 1        V1P8ANA
+FT_EXT_VDD_OUT  PMOD-P4 12      P1 3        V1P8DIG
+xxx             PMOD-P4 x       P1 2        INT1
+xxx             PMOD-P4 x       P1 4        INT2/EXT_CLK
+xxx             PMOD-P4 x       P1 6        DRDY/SYNC
 
 ADXRS290 on the EV-GEAR-EXPANDER1Z
 CONNECTION DIAGRAM through A5 ARDUINO UNO COMPATIBLE 

--- a/main.cpp	Mon Sep 03 10:39:56 2018 +0000
+++ b/main.cpp	Mon Sep 10 10:01:49 2018 +0000
@@ -3,167 +3,122 @@
 #include <inttypes.h>
 #include "ADXL355.h"
 #include "CALIBRATION.h"
- 
+
 Serial pc(USBTX, USBRX);
- 
+
 ADXL355 accl(SPI1_CS0, SPI1_MOSI, SPI1_MISO, SPI1_SCLK);    // PMOD port
+
 CALIBRATION test;
+
 #define pi 3.14159265;
+
 float angle[3][12] = {  {-55, -125, -147, 33, -128, 52, 0, 0, 0, 0, 0, 0},
-                        {6, -6, 20, -20, -69, 69, 0, 0, 0, 0, 0, 0 }, 
-                        {1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0}}; 
+    {6, -6, 20, -20, -69, 69, 0, 0, 0, 0, 0, 0 },
+    {1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0}
+};
+
 float meas[3][12] =  {  {-0.09, 0.16,  -0.31,  0.37,  0.91,  -0.88},
-                            {-0.78, 0.81,  -0.46,  0.49,  -0.28,  0.32},
-                            {0.54,  -0.55, -0.78,  0.76,  -0.20,  0.20}};   
-int main(){
-    pc.baud(9600);
-    pc.printf("SPI ADXL355 and ADXL357 Demo\n");
-    pc.printf("GET device ID\n");
-    accl.reset();
-    uint8_t d; 
-    d=accl.read_reg(accl.DEVID_AD);
-    pc.printf("AD id = %x \r\n",d);
-    d=accl.read_reg(accl.DEVID_MST);
-    pc.printf("MEMS id = %x \r\n",d);
-    d=accl.read_reg(accl.PARTID);
-    pc.printf("device id = %x \r\n",d);
-    d=accl.read_reg(accl.REVID);
-    pc.printf("revision id = %x \r\n",d);
-    pc.printf("GET device data [x, y, z, t] \r\n");
+    {-0.78, 0.81,  -0.46,  0.49,  -0.28,  0.32},
+    {0.54,  -0.55, -0.78,  0.76,  -0.20,  0.20}
+};
+void adxl_init()
+{
+    uint8_t res;
+    
+    //getting Analog Device ID
+    res = accl.read_reg(accl.DEVID_AD);
+    pc.printf("AD id = %x \r\n",res);
+    //getting MEMS ID
+    res = accl.read_reg(accl.DEVID_MST);
+    pc.printf("MEMS id = %x \r\n",res);
+    //getting DEVICE ID
+    res = accl.read_reg(accl.PARTID);
+    pc.printf("DEVICE id = %x \r\n",res);
+    //getting REVISION ID
+    res = accl.read_reg(accl.REVID);
+    pc.printf("REVISION id = %x \r\n",res);
+    
+    //setting RANGE
+    accl.set_device(accl.RANGE20);
+    res = accl.read_reg(accl.RANGE);
+    pc.printf("RANGE register value = %x \r\n",res); 
+    if(res == 0x01 | res == 0x81 | res == 0xC1 | res == 0x41) {
+        //range of +/-10G
+        pc.printf("RANGE is +/-10G \r\n",res);
+        pc.printf("Sensitivity is %f \r\n",accl.axis357_sens);
+    } else if(res == 0x02 | res == 0x82 | res == 0xC2 | res == 0x42) {
+        //range of +/-20G
+        pc.printf("RANGE is +/-20G \r\n",res);
+        pc.printf("Sensitivity is %f \r\n",accl.axis357_sens);
+    } else if (res == 0x03 | res == 0x83 | res == 0xC3 | res == 0x43) {
+        //range of +/-40G
+        pc.printf("RANGE is +/-30G \r\n",res);
+        pc.printf("Sensitivity is %f \r\n",accl.axis357_sens);
+    } else {
+        pc.printf("Unable to read RANGE Register\r\n");
+
+    }
+  
+    //setting FILTER
+    //accl.set_filter_ctl_reg(accl.HPFOFF , accl.ODR3HZ);
+    //setting MODE 
     accl.set_power_ctl_reg(accl.MEASUREMENT);
-    d=accl.read_reg(accl.POWER_CTL);
-    pc.printf("power control on measurement mode = %x \r\n",d);
-    float x, y, z, w, k, h;
+    
+    //reading PWR CTL Register
+    res = accl.read_reg(accl.POWER_CTL);
+    pc.printf("power control on measurement mode = %x \r\n",res);
+}
+
+void adxl_stream_results()
+{
+    float x, y, z;
     float t;
+    uint32_t raw_x, raw_y, raw_z, raw_t;
     // save data info a file
-    pc.printf("x \t y \t z \t t\r\n");
-    for(int i=0; i<100; i++) {
-        x = accl.convert(accl.scanx())*accl.axis355_sens;
-        y = accl.convert(accl.scany())*accl.axis355_sens;
-        z = accl.convert(accl.scanz())*accl.axis355_sens;
+     pc.printf("GET device data [x, y, z, t] \r\n");
+    pc.printf("x \t raw x \t y \t raw \t y \t z \t raw z \t t \t raw t \r\n");
+    for(int i=0; i<20; i++) {
+        raw_x = accl.scanx();
+        raw_y = accl.scany();
+        raw_z = accl.scanz();
+        x = accl.convert(raw_x)*accl.axis357_sens;
+        y = accl.convert(raw_y)*accl.axis357_sens;
+        z = accl.convert(raw_z)*accl.axis357_sens;
         t = 25+float(accl.scant()-1852)/(-9.05);
-        pc.printf("%f \t %f \t %f  \t %f   \r\n" , x,y,z,t);
-        wait(0.1);}    
-   // test the calibration procedure
-   test.matrix_reset();
-   pc.printf("Start calibration test (y/n)?\r\n");
-   char calib = pc.getc();
-   switch(calib){
-       case 'y': pc.printf("Select the calibration procedure: 2point or 4point? (2/4)\r\n");
-                char point = pc.getc();
-                if(point == '2'){
-                    pc.printf("Place the device verticaly to obtain x value close to -1, press any character to start the aquisition \r\n");
-                    pc.getc();
-                    x = accl.convert(accl.scanx())*accl.axis355_sens; y = x;
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        if (x<y) {y=x;}
-                        pc.printf("%f  \t %f \r\n" , x,y);
-                        wait(0.1);}
-                    pc.printf("Place the device verticaly to obtain x value close to +1, press any character to start the aquisition \r\n");
-                    pc.getc();
-                    x = accl.convert(accl.scanx())*accl.axis355_sens; z = x;
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        if (x>z) {z=x;}
-                        pc.printf("%f  \t %f \r\n" , x,z);
-                        wait(0.1);}     
-                    float meas[] = {z, y};
-                    test.convert_2p(meas, 0);
-                    pc.printf("The input for the calibration process are: %f  \t %f \r\n" , meas[0], meas[1]);
-                    pc.printf("The result (Sensibility and Bias) is: %f  \t %f \r\n" , test.adxl355_sensitivity.S[0], test.adxl355_sensitivity.B[0]);
-                    }
-                else if(point == '4'){
-                    pc.printf("Place the device verticaly to obtain x value close to 0, press any character to start the aquisition \r\n");
-                    pc.getc();
-                    x = accl.convert(accl.scanx())*accl.axis355_sens; y = x;
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        y=(y+x)/2;
-                        pc.printf("%f  \t %f \r\n" , x,y);
-                        wait(0.1);}
-                    pc.printf("Rotate the device to obtain x value close to -1, press any character to start the aquisition \r\n");
-                    pc.getc();
-                    x = accl.convert(accl.scanx())*accl.axis355_sens; z = x;
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        if (x<z) {z=x;}
-                        pc.printf("%f  \t %f \r\n" , x,z);
-                        wait(0.1);}
-                    pc.printf("Place the device verticaly to obtain x value close to 0, press any character to start the aquisition \r\n");
-                    pc.getc();
-                    x = accl.convert(accl.scanx())*accl.axis355_sens; w = x;
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        w=(w+x)/2;
-                        pc.printf("%f  \t %f \r\n" , x,w);
-                        wait(0.1);}
-                    pc.printf("Rotate the device verticaly to obtain x value close to +1, press any character to start the aquisition \r\n");
-                    pc.getc();
-                    x = accl.convert(accl.scanx())*accl.axis355_sens; k = x;
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        if (x>k) {k=x;}
-                        pc.printf("%f  \t %f \r\n" , x,k);
-                        wait(0.1);}     
-                    float meas[] = {y, z, w, k};
-                    test.convert_4p(meas, 0);
-                    pc.printf("The input for the calibration process are: %f  \t %f \t %f \t %f \t \r\n" , y, z, w, k);
-                    pc.printf("The result (Sensibility and Bias) is: %f  \t %f \r\n" , test.adxl355_sensitivity.S[0], test.adxl355_sensitivity.B[0]);
-                    }
-                else {pc.printf("Input value not recognized \r\n"); pc.printf("%c \r\n",point);}
+        pc.printf("%f \t %d \t %f \t %d \t %f \t %d \t %f \t %d \r\n" , x, raw_x, y, raw_y, z, raw_z, t, raw_t);
+        wait(0.1);
+    }
+}
+
+
+int main()
+{
+    pc.baud(9600);
+    pc.printf("SPI ADXL355 and ADXL357 Demo\r\n");
+    pc.printf("04/09/2018 V1.0\r\n");
+    
+    accl.reset();
+    
+    adxl_init();
+    
+    adxl_stream_results();
+
+    while(1) {
+        pc.printf("Do you want to repeat the measurement (y/n)?\r\n");
+        char calib = pc.getc();
+        switch(calib) {
+            case 'y': {
+                adxl_stream_results();
                 break;
-       case 'n': pc.printf("No calibration test \r\n"); 
-                break;
-       default:  pc.printf("Input value not recognized \r\n"); 
+            }
+            case 'n': {
+                pc.printf("Thank you for evaluating the ADXL355/357\r\n");
+                pc.printf("You may now close the serial terminal\r\n");
                 break;
-       }     
-    // test reading angle
-   pc.printf("Start reading angle after calibration (y/n)?\r\n");
-   calib = pc.getc();
-   switch(calib){
-       case 'y': pc.printf("Select the procedure for angle measurement: 1axis, 2axis or 3axis? (1/2/3)\r\n");
-                char point = pc.getc();
-                pc.printf("x \t y \t z \t pitch \t roll \t tau \r\n");
-                if(point == '1'){
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        y = accl.convert(accl.scany())*accl.axis355_sens;
-                        z = accl.convert(accl.scanz())*accl.axis355_sens;
-                        w = asin(x/9.81)*180/pi;
-                        k = asin(y/9.81)*180/pi;
-                        h = asin(z/9.81)*180/pi;
-                        pc.printf("%f \t %f \t %f \t %f \t %f \t %f  \r\n" , x,y,z,w,k,h);
-                        wait(0.1);}   
-                    }
-                else if(point == '2'){
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        y = accl.convert(accl.scany())*accl.axis355_sens;
-                        z = accl.convert(accl.scanz())*accl.axis355_sens;
-                        w = atan(x/z)*180/pi;;
-                        k = atan(y/z)*180/pi;;
-                        h = 0;
-                        pc.printf("%f \t %f \t %f \t %f \t %f \t %f  \r\n" , x,y,z,w,k,h);
-                        wait(0.1);}
-                    }
-                else if(point == '3'){
-                    for(int i=0; i<50; i++){
-                        x = accl.convert(accl.scanx())*accl.axis355_sens;
-                        y = accl.convert(accl.scany())*accl.axis355_sens;
-                        z = accl.convert(accl.scanz())*accl.axis355_sens;
-                        w = atan2(x,sqrt(pow(y,2)+pow(z,2)))*180/pi; 
-                        k = atan2(y,sqrt(pow(x,2)+pow(z,2)))*180/pi;
-                        h = atan2(sqrt(pow(x,2)+pow(y,2)),z)*180/pi;
-                        pc.printf("%f \t %f \t %f \t %f \t %f \t %f  \r\n" , x,y,z,w,k,h);
-                        wait(0.1);} 
-                    }  
-                else {pc.printf("Input value not recognized \r\n"); pc.printf("%c \r\n",point);}
+            }
+            default:
+                pc.printf("Input value not recognized, try again! \r\n");
                 break;
-       case 'n': pc.printf("No calibration test \r\n"); 
-                break;
-       default:  pc.printf("Input value not recognized \r\n"); 
-                break;
-       }  
+        }
+    }
 }
- 
\ No newline at end of file