#define _GNU_SOURCE #include #include #include #include #include "lis3dh.h" #include "interrupt.h" #include "i2c.h" #define GPIO_INTERRUPT_PIN_INT1 12 int main() { lis3dh_t lis; /* set fn ptrs to rw on bus (i2c or SPI) */ 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 */ } /* register interrupt */ if (int_register(GPIO_INTERRUPT_PIN_INT1)) { /* error handling */ } /* set up config */ lis.cfg.mode = LIS3DH_MODE_HR; lis.cfg.range = LIS3DH_FS_2G; lis.cfg.rate = LIS3DH_ODR_400_HZ; lis.cfg.pin1.ia1 = 1; /* allow INT1 through INT_PIN1 */ /* 1 LSb = 16 mg @ FS_2G * 0.1g threshold = 100/16 = 6.25 * add read error, +40mg => 140/16 ~= 9 */ lis.cfg.int1_ths = 9; /* Duration time is measured in N/ODR where: * --- N = The content of the intX_dur integer * --- ODR = the data rate, eg 100, 400... * [ODR] [1 LSb in milliseconds] * 400 2.5 * * For ODR=400: * 10 ms => 10/2.5 = 5 * lis.cfg.int1_dur = 5; <== 10 ms minimum duration to trig */ lis.cfg.int1_dur = 0; /* instantaneous */ /* enable all axes */ lis.cfg.int1.yh = 1; lis.cfg.int1.zh = 1; lis.cfg.int1.xh = 1; lis.cfg.int1.yl = 1; lis.cfg.int1.zl = 1; lis.cfg.int1.xl = 1; /* 6D position recognition */ lis.cfg.int1.aoi = 1; lis.cfg.int1.en_6d = 1; /* latch interrupt */ lis.cfg.int1.latch = 1; /* set up a HP filter to ignore constant earth acceleration */ lis.cfg.filter.mode = LIS3DH_FILTER_MODE_NORMAL_REF; lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_8; lis.cfg.filter.ia1 = 1; /* enable filter for INT1 generator */ /* write device config */ if (lis3dh_configure(&lis)) { /* error handling */ } /* read REFERENCE to set filter to current accel field */ if (lis3dh_reference(&lis)) { /* error handling */ } /* read INT1_SRC to clear old interrupt if any */ if (lis3dh_read_int1(&lis)) { /* error handling */ } for( ;; ) { /* wait for INT1 to go active */ if (int_poll(GPIO_INTERRUPT_PIN_INT1)) { /* error handling */ } /* read INT1_SRC and by doing so clear IA on device */ if (lis3dh_read_int1(&lis)) { /* error handling */ } /* only print if INT1 interrupt active (IA) = 1*/ if (LIS3DH_INT_SRC_IA(lis.src.int1)) { /* print received interrupt .. */ printf("IA=%d ZH=%d ZL=%d YH=%d YL=%d XH=%d XL=%d\n", LIS3DH_INT_SRC_IA(lis.src.int1), LIS3DH_INT_SRC_Z_HIGH(lis.src.int1), LIS3DH_INT_SRC_Z_LOW(lis.src.int1), LIS3DH_INT_SRC_Y_HIGH(lis.src.int1), LIS3DH_INT_SRC_Y_LOW(lis.src.int1), LIS3DH_INT_SRC_X_HIGH(lis.src.int1), LIS3DH_INT_SRC_X_LOW(lis.src.int1)); } } /* unregister interrupt */ if (int_unregister(GPIO_INTERRUPT_PIN_INT1)) { /* error handling */ } /* deinitalise struct */ if (lis3dh_deinit(&lis)) { /* error handling */ } return 0; }