source: rtos_arduino/trunk/arduino_lib/libraries/NAxesMotion/Accelerometer/Accelerometer.ino@ 136

/****************************************************************************
* Copyright (C) 2011 - 2014 Bosch Sensortec GmbH
*
* Accelerometer.ino
* Date: 2014/09/09
* Revision: 3.0 $
*
* Usage:        Example code to stream Accelerometer data
*
****************************************************************************
/***************************************************************************
* License:
*
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* modification, are permitted provided that the following conditions are met:
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*
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#include "NAxisMotion.h"        //Contains the bridge code between the API and the Arduino Environment
#include <Wire.h>

NAxisMotion mySensor;                 //Object that for the sensor
unsigned long lastStreamTime = 0;     //To store the last streamed time stamp
const int streamPeriod = 40;          //To stream at 25Hz without using additional timers (time period(ms) =1000/frequency(Hz))
bool updateSensorData = true;         //Flag to update the sensor data. Default is true to perform the first read before the first stream

void setup() //This code is executed once
{
  //Peripheral Initialization
  Serial.begin(115200);           //Initialize the Serial Port to view information on the Serial Monitor
  I2C.begin();                    //Initialize I2C communication to the let the library communicate with the sensor. 
  //Sensor Initialization
  mySensor.initSensor();          //The I2C Address can be changed here inside this function in the library
  mySensor.setOperationMode(OPERATION_MODE_NDOF);   //Can be configured to other operation modes as desired
  mySensor.setUpdateMode(MANUAL);       //The default is AUTO. Changing to manual requires calling the relevant update functions prior to calling the read functions
  //Setting to MANUAL requires lesser reads to the sensor
  mySensor.updateAccelConfig();
  updateSensorData = true;
  Serial.println();
  Serial.println("Default accelerometer configuration settings...");
  Serial.print("Range: ");
  Serial.println(mySensor.readAccelRange());
  Serial.print("Bandwidth: ");
  Serial.println(mySensor.readAccelBandwidth());
  Serial.print("Power Mode: ");
  Serial.println(mySensor.readAccelPowerMode());
  Serial.println("Streaming in ...");   //Countdown
  Serial.print("3...");
  delay(1000);  //Wait for a second
  Serial.print("2...");
  delay(1000);  //Wait for a second
  Serial.println("1...");
  delay(1000);  //Wait for a second
}

void loop() //This code is looped forever
{
  if (updateSensorData)  //Keep the updating of data as a separate task
  {
    mySensor.updateAccel();        //Update the Accelerometer data
    mySensor.updateLinearAccel();  //Update the Linear Acceleration data
    mySensor.updateGravAccel();    //Update the Gravity Acceleration data
    mySensor.updateCalibStatus();  //Update the Calibration Status
    updateSensorData = false;
  }
  if ((millis() - lastStreamTime) >= streamPeriod)
  {
    lastStreamTime = millis();

    Serial.print("Time: ");
    Serial.print(lastStreamTime);
    Serial.print("ms ");

    Serial.print("      aX: ");
    Serial.print(mySensor.readAccelX()); //Accelerometer X-Axis data
    Serial.print("m/s2 ");

    Serial.print(" aY: ");
    Serial.print(mySensor.readAccelY());  //Accelerometer Y-Axis data
    Serial.print("m/s2 ");

    Serial.print(" aZ: ");
    Serial.print(mySensor.readAccelZ());  //Accelerometer Z-Axis data
    Serial.print("m/s2 ");

    Serial.print("      lX: ");
    Serial.print(mySensor.readLinearAccelX()); //Linear Acceleration X-Axis data
    Serial.print("m/s2 ");

    Serial.print(" lY: ");
    Serial.print(mySensor.readLinearAccelY());  //Linear Acceleration Y-Axis data
    Serial.print("m/s2 ");

    Serial.print(" lZ: ");
    Serial.print(mySensor.readLinearAccelZ());  //Linear Acceleration Z-Axis data
    Serial.print("m/s2 ");

    Serial.print("      gX: ");
    Serial.print(mySensor.readGravAccelX()); //Gravity Acceleration X-Axis data
    Serial.print("m/s2 ");

    Serial.print(" gY: ");
    Serial.print(mySensor.readGravAccelY());  //Gravity Acceleration Y-Axis data
    Serial.print("m/s2 ");

    Serial.print(" gZ: ");
    Serial.print(mySensor.readGravAccelZ());  //Gravity Acceleration Z-Axis data
    Serial.print("m/s2 ");

    Serial.print("      C: ");
    Serial.print(mySensor.readAccelCalibStatus());  //Accelerometer Calibration Status (0 - 3)

    Serial.println();

    updateSensorData = true;
  }
}