int main(int argc, char **argv)
{
sys_init();
i2c_init();
lsm303dlhc_init();
L:
update_acc();
step();
sys_step();
goto L;
}
int main(void)
{
lsm303dlhc_t dev;
int16_t temp_value;
lsm303dlhc_3d_data_t mag_value;
lsm303dlhc_3d_data_t acc_value;
puts("LSM303DLHC temperature test application\n");
printf("Initializing LSM303DLHC sensor at I2C_%i... ", TEST_LSM303DLHC_I2C);
if (lsm303dlhc_init(&dev, TEST_LSM303DLHC_I2C, TEST_LSM303DLHC_ACC_PIN, TEST_LSM303DLHC_MAG_PIN,
TEST_LSM303DLHC_ACC_ADDR, ACC_S_RATE, ACC_SCALE,
TEST_LSM303DLHC_MAG_ADDR, MAG_S_RATE, MAG_GAIN) == 0) {
puts("[OK]\n");
}
else {
puts("[Failed]");
return 1;
}
while (1) {
if (lsm303dlhc_read_acc(&dev, &acc_value) == 0) {
printf("Accelerometer x: %i y: %i z: %i\n", acc_value.x_axis,
acc_value.y_axis,
acc_value.z_axis);
}
else {
puts("\nFailed reading accelerometer values\n");
}
if (lsm303dlhc_read_temp(&dev, &temp_value) == 0) {
printf("Temperature value: %i degrees\n", temp_value);
}
else {
puts("\nFailed reading value\n");
}
if (lsm303dlhc_read_mag(&dev, &mag_value) == 0) {
printf("Magnetometer x: %i y: %i z: %i\n", mag_value.x_axis,
mag_value.y_axis,
mag_value.z_axis);
}
else {
puts("\nFailed reading magnetometer values\n");
}
vtimer_usleep(SLEEP);
}
return 0;
}
void _get_lsm303dlhc_init_handler(int argc, char **argv)
{
(void)argc;
(void)argv;
uint8_t error;
error = lsm303dlhc_init(&lsm303_dev, LSM303DLHC_I2C,
LSM303DLHC_INT1, LSM303DLHC_DRDY,
LSM303DLHC_ACC_ADDR, ACC_S_RATE, ACC_SCALE,
LSM303DLHC_MAG_ADDR, MAG_S_RATE, MAG_GAIN);
if (error) {
puts("Error initializing lsm303dlhc sensor.");
}
else {
puts("Initialized lsm303dlhc sensor with default values");
}
}
int main() {
GPIO_InitTypeDef GPIO_InitDef;
SystemClock_Config();
SystemCoreClockUpdate();
HAL_Init();
/* driver init */
lsm303dlhc_init();
l3gd20_init();
osKernelInitialize();
Init_Timers();
handlerThread_id = osThreadCreate(osThread(handlerThread), NULL);
gyroHandlerThread_id = osThreadCreate(osThread(gyroHandlerThread), NULL);
visioThread_id = osThreadCreate(osThread(visioThread), NULL);
accelBuffer_mutex_id = osMutexCreate(osMutex(accelBuffer_mutex));
gyroBuffer_mutex_id = osMutexCreate(osMutex(gyroBuffer_mutex));
// enable clock for GPIOE
//__HAL_RCC_GPIOE_CLK_ENABLE();
// init GPIO pin
GPIO_InitDef.Pin = GPIO_PIN_9;
GPIO_InitDef.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitDef.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitDef);
// set LD3
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, GPIO_PIN_SET);
osKernelStart();
}
/**@brief Application main function.
*/
int main(void)
{
uint32_t err_code;
bool erase_bonds = false;
sI2Cchannel i2cChannel;
int16_t acc[3];
int16_t mag[3];
// bool erase_bonds;
uint16_t heading;
// SEGGER_RTT_WriteString(0, "Hello World 3!\n");
// Initialize
app_trace_init();
app_trace_log( "test trace log\r\n" );
printf( "Hej, printf!\n" );
timers_init();
// buttons_leds_init(&erase_bonds);
erl_ble_init( erase_bonds, lns_error_handler, sleep_mode_enter );
// sim_init();
// Start out slow, at 100 kbps. Keep it simple - blocking - to start
nrf51822_app_i2c_init( &i2cChannel, NRF_TWI_FREQ_400K, APP_IRQ_PRIORITY_LOW, 1, 0 );
// SEGGER_RTT_WriteString(0, "i2c initialized\n");
lsm303dlhc_init( &i2cChannel );
// Test tilt compensation
acc[0] = 20000;
acc[1] = 2;
acc[2] = 999;
mag[0] = -408;
mag[1] = -297;
mag[2] = 237;
heading = lsm303dlhc_tilt_compensate( acc, mag );
heading = ((uint32_t) heading) * 360 / UINT16_MAX;
printf( "Test heading: %d\n", heading );
lsm303dlhc_acc_setDataRate( ACC_RATE_1_HZ );
lsm303dlhc_mag_setMode( LSM303DLHC_MAG_MODE_CONTINUOUS );
lsm303dlhc_acc_read( acc );
lsm303dlhc_mag_read( mag );
printf( "Acc: %d,%d,%d\n", acc[0], acc[1], acc[2] );
printf( "Mag: %d,%d,%d\n", mag[0], mag[1], mag[2] );
// Start execution
// application_timers_start();
// Move this function call to erl_bleng
// why is fast/slow specified here, when it is also enabled/disabled in advertising options?
err_code = ble_advertising_start(BLE_ADV_MODE_SLOW); // changed from fast to slow
APP_ERROR_CHECK(err_code);
#if USE_BSP
err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING);
APP_ERROR_CHECK(err_code);
#endif
APPL_LOG( "main(): before loop\r\n" );
// Enter main loop
for (;;)
{
lsm303dlhc_acc_read( acc );
lsm303dlhc_mag_read( mag );
heading = lsm303dlhc_tilt_compensate( acc, mag );
heading = ((uint32_t) heading) * 36000 / UINT16_MAX;
printf( "Acc: %d,%d,%d\n", acc[0], acc[1], acc[2] );
printf( "Mag: %d,%d,%d\n", mag[0], mag[1], mag[2] );
printf( "Heading=%d\n", heading );
m_sim_location_speed.heading = heading; // ++;
err_code = ble_lns_loc_speed_send(&m_lns);
if (
(err_code != NRF_ERROR_INVALID_STATE)
&&
(err_code != BLE_ERROR_NO_TX_BUFFERS)
&&
(err_code != BLE_ERROR_GATTS_SYS_ATTR_MISSING)
)
{
APP_ERROR_CHECK(err_code);
}
nrf_delay_ms( 500 );
// fflush( stdout );
// power_manage();
}
}
