//Bosch BMA220 Triaxial Accelerometer and Raspberry Pi Acceleration logger
//Use with caution, no promise this code is fit for your purpose
//Ty Harness April 2017


//wiring up BMA220 to the Raspberry Pi I2C Pins
//Bosch BMA220 -- Raspberry Pi
//3.3V         -- 3.3V pin1
//GND          -- GND  pin 9
//SDA          -- SDA  pin 2 GPIO 8
//SCK          -- SCK  pin 5 GPIO 9
//INT          -- (Haven't wired it up as yet)


//to compile the code on the raspberry pi with GNU C compiler
//install GH's wiring pi:  http://wiringpi.com/
//gcc BMA220Pi0Test.c -o BMA220Pi0Test -l wiringPi 

//use the Geany IDE installed on Raspbian by Default set the compile
//and build options:
//gcc -Wall -c "%f" -l wiringPi
//gcc -Wall -o "%e" "%f" -l wiringPi


#include<stdio.h>
#include<stdlib.h>
#include<unistd.h>
#include<time.h>
#include <sys/time.h>
#include<wiringPiI2C.h>


//function prototypes
double realdata (int data);
void   getDefaultData();
int    capture(int capS,unsigned int freq);

//main procedure//////////////////////////////////////////////////
int main(int argc, char **argv)
		
	{		
		
	int capSec = 0; //S
	int capInterval = 1000000;// uS 
	
	 if (argc == 1) {
	  //no arguments
	  getDefaultData();	 
	  
	  printf("Enter Capture Interval in uS ?: ");
      scanf("%d", &capInterval);
      
	  
	  printf("Enter Capture Time in S  : ");
      scanf("%d", &capSec);	
      
      
      capture(capSec,capInterval); 
             
      }
	  else {
		 printf("Bosch BMA220 Accelerometer + Raspberry Pi0W Test \n");
	     printf("%d arguments\n", argc);
	    
	    
	    int i = 0;
	    while (i < argc){		  
		  printf("%s \n", argv[i]);
		  i++;			  
		  }
		 if (i == 3){
			capInterval = atoi(argv[1]); 
			capSec      = atoi(argv[2]); 
			capture(capSec,capInterval); 
		 }else  capture(10,500000); 
		  
		 	  		 
	   	 	   
	  }

     
     
	return 0;
}//end of main procedure///////////////////////////////////



void getDefaultData(){

int fd, result;
int xdata,ydata,zdata;
double xreal, yreal, zreal;
	
    printf("Bosch BMA220 Accelerometer + Raspberry Pi0W Test \n");
	
	printf("BMA220 I2C Slave address\t 0x20\n");
	printf("Register\tDefault Data\n");
	
	fd = wiringPiI2CSetup(0xA); //0xA BMA220 Slave address
	
	result = wiringPiI2CReadReg8(fd, 0x0);  printf("0x00 = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x02); printf("0x02 = %x\n", result);
	
	//Acceleration data///////////////////////////////////////////////////
	xdata  = wiringPiI2CReadReg8(fd, 0x04); 
	xreal = realdata(xdata);		
	printf("0x04 = %d  %f\n", xdata, xreal);
	
	ydata  = wiringPiI2CReadReg8(fd, 0x06); 
	yreal = realdata(ydata);
	printf("0x06 = %d  %f\n", ydata, yreal);
	
	zdata  = wiringPiI2CReadReg8(fd, 0x08); 
	zreal = realdata(zdata); 
	printf("0x08 = %d  %f\n", zdata, zreal);
	/////////////////////////////////////////////////////////////////////
	
	
	result = wiringPiI2CReadReg8(fd, 0x0A); printf("0x0A = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x0C); printf("0x0C = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x0E); printf("0x0E = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x10); printf("0x10 = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x12); printf("0x12 = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x14); printf("0x14 = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x16); printf("0x16 = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x18); printf("0x18 = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x1A); printf("0x1A = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x1C); printf("0x1C = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x1E); printf("0x1E = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x20); printf("0x20 = %x\n", result);
	result = wiringPiI2CReadReg8(fd, 0x22); printf("0x22 = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x24); printf("0x24 = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x26); printf("0x26 = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x28); printf("0x28 = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x30); printf("0x30 = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x2A); printf("0x2A = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x2C); printf("0x2C = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x2E); printf("0x2E = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x30); printf("0x30 = %x\n", result);
	//result = wiringPiI2CReadReg8(fd, 0x32); printf("0x32 = %x\n", result);	
	
}

int capture(int capS,unsigned int freq){
	
	
    int fd;	
	int xdata,ydata,zdata;
	double xreal, yreal, zreal;
	struct timeval tvalA, tvalB;  	
	time_t t = time(NULL);
    struct tm tm = *localtime(&t);		
	FILE *fp;
	
      fd = wiringPiI2CSetup(0xA); //0xA BMA220 Slave address
	  
	  gettimeofday (&tvalB, NULL);  //must be intilised
	  gettimeofday (&tvalA, NULL); //must be intilised
	
	 //To do remove hard file path
	 	
	  fp = fopen ("/home/pi/myc/i2cwiringpitest/test.dat","wb");	
	   if (fp)
	   {	
	   fprintf(fp,"%d-%d-%d %d:%d:%d\n", tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday, tm.tm_hour, tm.tm_min, tm.tm_sec);
	
	
	   while(  (tvalB.tv_sec - tvalA.tv_sec) < capS  ){			
	   usleep(freq);
	   		
	   //Acceleration data//////////////////////////////////////////////
	   xdata  = wiringPiI2CReadReg8(fd, 0x04); 
	   xreal = realdata(xdata);		
		
	   ydata  = wiringPiI2CReadReg8(fd, 0x06); 
	   yreal = realdata(ydata);
		
	   zdata  = wiringPiI2CReadReg8(fd, 0x08); 
	   zreal = realdata(zdata); 
	   printf("X,Y,Z [m/s^2] = %f, %f,  %f\n", xreal, yreal, zreal);
	   ////////////////////////////////////////////////////////////////
	
	   gettimeofday (&tvalB, NULL);
	
	   long int timdur;
	
	   timdur = ((tvalB.tv_sec - tvalA.tv_sec)*1000000L +tvalB.tv_usec) - tvalA.tv_usec ; 
			
	   fprintf(fp,"%ld,%f,%f,%f\n",timdur, xreal, yreal, zreal);
					
       } //end of while
	 	  	  
	 fclose(fp);
   }	
 return 1;	
}



double realdata (int data){
	
	double x,d;
	double nfactor = 1;	
	double slope = 0.0625;//  1.94/31;    sensitivity   +/- 2g range 
	int dat;
	
	data = data >> 2;
	
	
	
	if (data > 31){          //MSB represents a negative number    
       dat = ~data + 1;      //2s compliment make it negative
       dat = dat & 0b011111; //bit mask anded to make positive 
       nfactor = -1;
      }else
      {
      dat = data; 
      }

      d =  (double)dat;  
      x = d*slope*9.81*nfactor;            
      return x;  
		
	
}