118 lines
2.9 KiB
C
118 lines
2.9 KiB
C
#define _GNU_SOURCE
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <math.h>
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#include "lis3dh.h"
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#include "interrupt.h"
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#include "i2c.h"
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#define GPIO_INTERRUPT_PIN_INT1 12
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#define GPIO_INTERRUPT_PIN_INT2 16
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/* calc magnitude of accel [x y z] vector */
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static float mag(float x, float y, float z) {
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return sqrt( powf(x, 2) + powf(y, 2) + powf(z, 2) );
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}
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/* print message then exit */
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static void quit(const char *msg, lis3dh_t *lis) {
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lis->dev.deinit();
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fprintf(stderr, "%s\n", msg);
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exit(1);
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}
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int main() {
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lis3dh_t lis;
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struct lis3dh_fifo_data fifo;
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int i, k;
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/* set fn ptrs to rw on bus (i2c or SPI) */
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lis.dev.init = i2c_init;
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lis.dev.read = i2c_read;
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lis.dev.write = i2c_write;
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lis.dev.sleep = usleep;
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lis.dev.deinit = i2c_deinit;
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/* initialise LIS3DH struct */
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if (lis3dh_init(&lis)) {
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quit("init()", &lis);
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}
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/* reset device because it sometimes corrupts itself */
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if (lis3dh_reset(&lis)) {
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quit("reset()", &lis);
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}
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/* register interrupt */
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if (int_register(GPIO_INTERRUPT_PIN_INT1)) {
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quit("int_register()", &lis);
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}
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/* set up config */
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lis.cfg.mode = LIS3DH_MODE_NORMAL;
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lis.cfg.range = LIS3DH_FS_2G;
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lis.cfg.rate = LIS3DH_ODR_100_HZ;
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lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM;
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lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT2;
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lis.cfg.pin1.wtm = 1;
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lis.cfg.pin1.latch = 1;
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lis.cfg.filter.mode = LIS3DH_FILTER_MODE_AUTORESET;
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lis.cfg.filter.cutoff = LIS3DH_FILTER_CUTOFF_8;
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lis.cfg.en_adc = 1;
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lis.cfg.en_temp = 1;
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/* write device config */
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if (lis3dh_configure(&lis)) {
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quit("configure()", &lis);
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}
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for(i=0; i<50; i++) {
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/* wait for interrupt from LIS3DH */
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if (int_poll(GPIO_INTERRUPT_PIN_INT1)) {
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quit("int_poll()", &lis);
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}
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/* clear latched interrupt on INT1 */
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if (lis3dh_clear_int1(&lis)) {
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quit("clear_int1()", &lis);
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}
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/* read stored fifo data into `fifo' struct */
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if (lis3dh_read_fifo(&lis, &fifo)) {
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quit("read_fifo()", &lis);
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}
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/* read ADCs */
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if (lis3dh_read_adc(&lis)) {
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quit("read_adc()", &lis);
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}
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/* read temp from ADC3 and overwrite local ADC reading for ADC3 */
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if (lis3dh_read_temp(&lis)) {
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quit("read_temp()", &lis);
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}
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for(k=0; k<fifo.size; k++) {
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printf("x: %04.04f y: %04.04f z: %04.04f mag: %04.04f ADC1:%.1f, ADC2:%.1f, ADC3:%.1f\n",
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fifo.x[k], fifo.y[k], fifo.z[k],
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mag(fifo.x[k], fifo.y[k], fifo.z[k]),
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lis.adc.adc1, lis.adc.adc2, lis.adc.adc3);
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}
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}
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/* unregister interrupt */
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if (int_unregister(GPIO_INTERRUPT_PIN_INT1)) {
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quit("int_unregister()", &lis);
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}
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/* deinitalise struct */
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if (lis3dh_deinit(&lis)) {
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quit("deinit()", &lis);
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}
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return 0;
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} |