Diff: main.cpp

Revision:

8:41d1f9ab3be0

Parent:

7:d4b5e83c7947

Child:

9:7be40e42e578

--- a/main.cpp	Mon Feb 01 00:20:46 2016 +0000
+++ b/main.cpp	Wed Feb 03 14:52:21 2016 +0000
@@ -27,10 +27,12 @@
 //  Object ----------------------------------------------------------------------------------------
 MODSERIAL  pc(USBTX,USBRX);
 
-volatile bool Capture = true;
-volatile bool SaveFile = false;
+volatile bool RAW = true;
+volatile bool FUS = false;
 bool printed = false;
 
+//string sdata = "";
+
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
 DigitalOut led3(LED3);
@@ -62,9 +64,17 @@
 void rxCallback(MODSERIAL_IRQ_INFO *q)
 {
     MODSERIAL *serial = q->serial;
-    if ( serial->rxGetLastChar() == 'S') {
-        Capture = false;
-        SaveFile = true;
+    if ( serial->rxGetLastChar() == 'f') {
+        imu.write_reg0(0x3d, 0x0c);
+        RAW = false;
+        FUS = true;
+        pc.printf("\r\nSWITCHING TO FUSION DATA!\r\n");
+    }
+    if ( serial->rxGetLastChar() == 'r') {
+        imu.write_reg0(0x3d, 0x07);
+        RAW = true;
+        FUS = false;
+        pc.printf("\r\nSWITCHING TO RAW DATA!\r\n");
     }
 }
 
@@ -75,9 +85,7 @@
 //  Please refer BNO055 Data sheet 3.10 Calibration & 3.6.4 Sensor calibration data
 void bno055_calbration(void)
 {
-
     uint8_t d;
-
     pc.printf("------ Enter BNO055 Manual Calibration Mode ------\r\n");
     //---------- Gyroscope Caliblation ------------------------------------------------------------
     // (a) Place the device in a single stable position for a period of few seconds to allow the
@@ -142,10 +150,18 @@
     t.stop();
 }
 
-//--------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------------------------
+//  Main Program
+//-------------------------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------------------------
+//-------------------------------------------------------------------------------------------------
 int main()
 {
-    pc.baud(9600);
+    pc.baud(115200);
     pc.attach(&rxCallback, MODSERIAL::RxIrq);
     pc.printf("BNO055 Hello World\r\n\r\n");
     imu.set_mounting_position(MT_P6);
@@ -176,40 +192,39 @@
     if (c == 'y') {
         bno055_calbration();
     }
-    pc.printf("[E]:Euler Angles[deg],[Q]:Quaternion[],[L]:Linear accel[m/s*s],");
-    pc.printf("[G]:Gravity vector[m/s*s],[T]:Chip temperature,Acc,Gyr[degC],[S]:Status,[M]:time[mS]\r\n");
     t.start();
-
-    while(Capture == true) {
-        imu.get_Euler_Angles(&euler_angles);
-        pc.printf("X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
-                  euler_angles.h, euler_angles.r, euler_angles.p);
-        imu.get_linear_accel(&linear_acc);
-        pc.printf("Acc:,X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
-                  linear_acc.x, linear_acc.y, linear_acc.z);
-
-        imu.get_gravity(&gravity);
-        pc.printf("Gravity,X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
-                  gravity.x, gravity.y, gravity.z);
+    imu.write_reg0(0x3d, 0x07); // Default FUS
 
-        pc.printf("Time:,%d,\r\n",t.read_ms());
-    };
-    while(SaveFile == true) {
-        if (printed == false) {
-            pc.printf("Save File Location\r\n");
-            //pc.printf("Enter Filename: \r\n");
-            printed = true;
-        };
-        FILE *fp = fopen("/local/out.txt", "w");  // Open "out.txt" on the local file system for writing
-        fprintf(fp, "MBED SAVE FILESZZZ");
-        fclose(fp);
-        pc.printf("File closed\r\n");
-    };
-
-
+    while (1) {
+        while (RAW == true) {
+            pc.printf("RAW,xLSB:,%d,xMSB:,%d,yLSB:%d,yMSB:,%d,zLSB:,%d,zMSB:,%d,"
+                      ,imu.read_reg0(0x08),imu.read_reg0(0x09)
+                      ,imu.read_reg0(0x0A),imu.read_reg0(0x0B)
+                      ,imu.read_reg0(0x0C),imu.read_reg0(0x0D));                      
+            pc.printf("Time:,%d,/",t.read_ms());
+        }
+        while (RAW == false) {
+            imu.get_linear_accel(&linear_acc);
+            pc.printf("FUS,x:,%+6.1f,y:,%+6.1f,z:,%+6.1f,"
+                      ,linear_acc.x ,linear_acc.y ,linear_acc.z
+                      ,t.read_ms());          
+            pc.printf("Time:,%d,/",t.read_ms());
+        }
+    }
 }
 
-
+//         imu.get_Euler_Angles(&euler_angles);
+//            pc.printf("X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
+//                      euler_angles.h, euler_angles.r, euler_angles.p);
+//            imu.get_linear_accel(&linear_acc);
+//            pc.printf("Acc:,X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
+//                      linear_acc.x, linear_acc.y, linear_acc.z);
+//
+//            imu.get_gravity(&gravity);
+//            pc.printf("Gravity,X,%+6.1f,Y,%+6.1f,Z,%+6.1f,",
+//                      gravity.x, gravity.y, gravity.z);
+//
+//            pc.printf("Time:,%d,\r\n",t.read_ms());
 
 //        imu.get_Euler_Angles(&euler_angles);
 //        pc.printf("[E],Y,%+6.1f,R,%+6.1f,P,%+6.1f,",