#define _GNU_SOURCE #include #include #include #include #include "lis3dh.h" #include "interrupt.h" #include "i2c.h" /* GPIO 12 or Pin 32 */ #define GPIO_INTERRUPT_PIN 12 static void quit(const char *msg, lis3dh_t *lis) { lis->dev.deinit(); fprintf(stderr, "%s\n", msg); exit(1); } static float mag(float x, float y, float z) { return (float) sqrt(x*x + y*y + z*z); } int main() { lis3dh_t lis; struct lis3dh_fifo_data fifo; int k; lis.dev.init = i2c_init; lis.dev.read = i2c_read; lis.dev.write = i2c_write; lis.dev.sleep = usleep; lis.dev.deinit = i2c_deinit; /* initalise LIS3DH struct */ if (lis3dh_init(&lis)) { quit("init()", &lis); } /* reset device just in case */ if (lis3dh_reset(&lis)) { quit("reset()", &lis); } /* register interrupt */ if (int_register(GPIO_INTERRUPT_PIN)) { quit("int_register()", &lis); } lis.cfg.mode = LIS3DH_MODE_HR; lis.cfg.range = LIS3DH_FS_2G; lis.cfg.rate = LIS3DH_ODR_400_HZ; lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM_TO_FIFO; lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT1; /* trigger interrupt into int pin1 */ lis.cfg.pin1.wtm = 1; /* trigger upon FIFO watermark level reached */ lis.cfg.en_adc =1; lis.cfg.en_temp = 1; /* write device config */ if (lis3dh_configure(&lis)) { quit("configure()", &lis); } /* wait for interrupt from LIS3DH */ if (int_poll(GPIO_INTERRUPT_PIN)) { quit("int_poll()", &lis); } /* read as many [x y z] sets as specified by watermark level (fth) */ /* copy them to the fifo data struct given below as `fifo' */ if (lis3dh_read_fifo(&lis, &fifo)) { quit("read_fifo()", &lis); } /* above function also writes out the qty of [x y z] sets stored in `fifo' */ for(k=0; k