#define _GNU_SOURCE #include #include #include #include #include "lis3dh.h" #include "interrupt.h" #include "i2c.h" #define GPIO_INTERRUPT_PIN_INT1 12 #define GPIO_INTERRUPT_PIN_INT2 16 /* calc magnitude of accel [x y z] vector */ static float mag(float x, float y, float z) { return sqrt( powf(x, 2) + powf(y, 2) + powf(z, 2) ); } /* print message then exit */ static void quit(const char *msg, lis3dh_t *lis) { lis->dev.deinit(); fprintf(stderr, "%s\n", msg); exit(1); } int main() { lis3dh_t lis; struct lis3dh_fifo_data fifo; int i, k; /* 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)) { quit("init()", &lis); } /* reset device because it sometimes corrupts itself */ if (lis3dh_reset(&lis)) { quit("reset()", &lis); } /* register interrupt */ if (int_register(GPIO_INTERRUPT_PIN_INT1)) { quit("int_register()", &lis); } /* set up config */ lis.cfg.mode = LIS3DH_MODE_NORMAL; lis.cfg.range = LIS3DH_FS_2G; lis.cfg.rate = LIS3DH_ODR_100_HZ; lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM; lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT2; lis.cfg.pin1.wtm = 1; lis.cfg.pin1.latch = 1; lis.cfg.filter.mode = LIS3DH_FILTER_MODE_AUTORESET; lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_8; lis.cfg.en_adc = 1; /* write device config */ if (lis3dh_configure(&lis)) { quit("configure()", &lis); } for(i=0; i<50; i++) { /* wait for interrupt from LIS3DH */ if (int_poll(GPIO_INTERRUPT_PIN_INT1)) { quit("int_poll()", &lis); } /* clear latched interrupt on INT1 */ if (lis3dh_clear_int1(&lis)) { quit("clear_int1()", &lis); } /* read stored fifo data into `fifo' struct */ if (lis3dh_read_fifo(&lis, &fifo)) { quit("read_fifo()", &lis); } /* read ADCs */ if (lis3dh_read_adc(&lis)) { quit("read_adc()", &lis); } for(k=0; k