lis3dh/main.c
2023-12-31 15:41:24 +00:00

118 lines
2.9 KiB
C

#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#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;
lis.cfg.en_temp = 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);
}
/* read temp from ADC3 and overwrite local ADC reading for ADC3 */
if (lis3dh_read_temp(&lis)) {
quit("read_temp()", &lis);
}
for(k=0; k<fifo.size; k++) {
printf("x: %04.04f y: %04.04f z: %04.04f mag: %04.04f ADC1:%.1f, ADC2:%.1f, ADC3:%.1f\n",
fifo.x[k], fifo.y[k], fifo.z[k],
mag(fifo.x[k], fifo.y[k], fifo.z[k]),
lis.adc.adc1, lis.adc.adc2, lis.adc.adc3);
}
}
/* unregister interrupt */
if (int_unregister(GPIO_INTERRUPT_PIN_INT1)) {
quit("int_unregister()", &lis);
}
/* deinitalise struct */
if (lis3dh_deinit(&lis)) {
quit("deinit()", &lis);
}
return 0;
}