#define _GNU_SOURCE #include /* usleep() */ #include #include "lis3dh.h" #include "i2c.h" int main() { lis3dh_t lis; lis.dev.init = i2c_init; lis.dev.read = i2c_read; lis.dev.write = i2c_write; lis.dev.sleep = usleep; lis.dev.deinit = i2c_deinit; /* initialise LIS3DH struct */ if (lis3dh_init(&lis)) { /* error handling */ } /* reset device just in case */ if (lis3dh_reset(&lis)) { /* error handling */ } lis.cfg.mode = LIS3DH_MODE_HR; lis.cfg.range = LIS3DH_FS_2G; lis.cfg.rate = LIS3DH_ODR_100_HZ; /* normal mode */ lis.cfg.filter.mode = LIS3DH_FILTER_MODE_REFERENCE; /* 3dB cutoff freq (~ ODR) */ lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_8; /* Output [x y z] data is calculated as the difference between the * measured acceleration and the value stored in REFERENCE. * signed 7-bit int, 1 LSb value depends on FS. * FS_2G: ~ 16mg per 1 LSb * FS_4G: ~ 31mg per 1 LSb * FS_8G: ~ 63mg per 1 LSb * FS_16G: ~127mg per 1 LSb */ /* @ 2G, * To have the output data be referenced to 0.8g: * => 800 mg / 16 mg = 50 */ /* to reference -0.8g simply put -50 */ lis.cfg.reference = 50; /* write config to device */ if (lis3dh_configure(&lis)) { /* error handling */ } /* Do not read REFERENCE */ for ( ;; ) { /* read an [x y z] accel set. Filter is applied */ if (lis3dh_read(&lis)) { /* error handling */ } printf("x: %4.d, y: %4.d, z: %4.d\n", lis.acc.x, lis.acc.y, lis.acc.z); usleep(5000); /* 5 ms */ } /* deinitalise struct */ if (lis3dh_deinit(&lis)) { /* error handling */ } return 0; }