function [pFD] = INEMO_ConnectionV1()
%returned values:
% pFD: data structure containing data acquired from the iNemo
clc;
clear all;
% if (libisloaded('iNEMO_SDK'))
%  unloadlibrary('iNEMO_SDK');
% end

%import libraries
[notfound warnings] = loadlibrary('iNEMO_SDK.dll', 'iNEMO_SDK.h');
 libfunctions('iNEMO_SDK') % List the Lib Functions
% libfunctionsview('iNEMO_SDK')

%sCOM=input('What COM-port is your iNEMO connected to? <1>','s');
sCOM=13;
%sCOM=strcat('PL_001:COM', sCOM, ', BD115200');

sCOM= 'PL_001:PN=COM13,SENDMODE=B';
%sCOM = strcat('PL_001:PN=COM', sCOM, ',SENDMODE=B');
%[i32, cs] = calllib('iNEMO_SDK', 'INEMO_SDK_Connect', sCOM);
vp = libpointer('voidPtr', [int8(sCOM) 0]);
 [i32_Error, cs] = calllib('iNEMO_SDK', 'INEMO_SDK_Connect', vp);
 if(i32_Error==0)
     fprintf('iNEMO Connected');
 else
     fprintf('iNEMO_Connect failed:%d ',i32_Error);
 end
  pause(0.1);
 [i32_Error] = calllib('iNEMO_SDK', 'INEMO_SDK_IsConnected');
 if(i32_Error==0)
     fprintf('\nChecking iNEMO_Connection success(Connected)');
 else
     fprintf('\nChecking iNEMO_IsConnected Error:%d',i32_Error);
 end
%  sVER = 'iNEMO String - Please do not delete this row';
%[i32, cs, ip32] = calllib('iNEMO_SDK', 'INEMO_SDK_GetVersion',sVER, 30);
% vp = libpointer('voidPtr', [int8(sVER) 0]);
% [i32, cs, ip32] = calllib('iNEMO_SDK', 'INEMO_SDK_GetVersion', vp,30)

nFreq =50; nSamples =100;
[i32_Error]=calllib('iNEMO_SDK','INEMO_SDK_Start',nFreq,nSamples);
if(i32_Error==0)
     fprintf('\niNEMO_Started at %d Feq,for %d samples',nFreq,nSamples);
 else
     fprintf('\niNEMO_Start Error:%d',i32_Error);
 end
% if(nSamples>0)
%Initialise data structure storing data from iNemo
 pFD = struct('SampleTimeStamp',0, ...
 'Accelerometer',struct('X',0,'Y',0,'Z',0), ...
 'Gyroscope',struct('X',0,'Y1',0,'Y2',0,'Z',0), ...
 'Magnetometer', struct('X',0,'Y',0,'Z',0), ...
 'Pressure', 0, 'Temperature',0);
pauseDelay= 1.05/nFreq; %Add a 5% to the Time Acquisition interval (1/nFreq)
for i=1:nSamples
   pause(pauseDelay);
   [i32_Error, pFD]=calllib('iNEMO_SDK','INEMO_SDK_GetSample',pFD);
   %if( i32_Error~=4)   % Always stack is not EMPTY (Enough data to be taken)
   if(i32_Error ==0 )   % No error
        acc=pFD.Accelerometer;
        Gyro=pFD.Gyroscope;
        Mag=pFD.Magnetometer;
        fprintf('\nID:%5d,  AC:%4d,%4d,%5d  GY:%4d,%4d,%4d,%4d  MG:%5d,%5d,%5d  P:%6d  T: %5d',pFD.SampleTimeStamp,acc.X,acc.Y,acc.Z,Gyro.X,Gyro.Y1,Gyro.Y2,Gyro.Z,Mag.X,Mag.Y,Mag.Z,pFD.Pressure,pFD.Temperature);
   end
end
[i32_Error] = calllib('iNEMO_SDK', 'INEMO_SDK_Stop');% This will not delete or clear the FIFO
if(i32_Error==0)
     fprintf('\niNEMO_Stopped');
 else
     fprintf('\niNEMO_Stop failed, Error:%d',i32_Error);
 end

[i32_Error] = calllib('iNEMO_SDK', 'INEMO_SDK_Disconnect'); % This will clear & detach teh COM port Used
if(i32_Error==0)
     fprintf('\niNEMO_Disconnected');
 else
     fprintf('\niNEMO_Disconnection failed, Error:%d',i32_Error);
 end

 if (libisloaded('iNEMO_SDK'))
   % unloadlibrary iNEMO_SDK;  % Problem with this function call(MATLAB not responding)
 end