107 lines
2.5 KiB
C
107 lines
2.5 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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/* GPIO 12 or Pin 32 */
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#define GPIO_INTERRUPT_PIN 12
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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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static float mag(float x, float y, float z) {
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return (float) sqrt(x*x + y*y + z*z);
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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 k;
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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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/* initalise 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 just in case */
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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)) {
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quit("int_register()", &lis);
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}
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lis.cfg.mode = LIS3DH_MODE_HR;
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lis.cfg.range = LIS3DH_FS_2G;
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lis.cfg.rate = LIS3DH_ODR_400_HZ;
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lis.cfg.fifo.mode = LIS3DH_FIFO_MODE_STREAM_TO_FIFO;
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lis.cfg.fifo.trig = LIS3DH_FIFO_TRIG_INT1; /* trigger interrupt into int pin1 */
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lis.cfg.pin1.wtm = 1; /* trigger upon FIFO watermark level reached */
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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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/* wait for interrupt from LIS3DH */
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if (int_poll(GPIO_INTERRUPT_PIN)) {
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quit("int_poll()", &lis);
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}
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/* read as many [x y z] sets as specified by watermark level (fth) */
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/* copy them to the fifo data struct given below as `fifo' */
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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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/* above function also writes out the qty of [x y z] sets stored in `fifo' */
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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\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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}
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if (lis3dh_read_adc(&lis)) {
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quit("adc()", &lis);
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}
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if (lis3dh_read_temp(&lis)) {
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quit("temp()", &lis);
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}
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printf("ADC1: %d mV, temp: %d\n", lis.adc.adc1, lis.adc.adc3);
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/* unregister interrupt */
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if (int_unregister(GPIO_INTERRUPT_PIN)) {
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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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} |