// -----------------------------------------------------------------------------
void NotifyNav(void)
{
// Disable the pin change interrupt for PC4.
PCMSK2 &= ~_BV(PCINT20);
// Pull down PC4.
PORTC &= ~_BV(4);
DDRC |= _BV(4);
asm ("nop"); // Wait one cycle
// Set PC4 back to input and pull-up.
DDRC &= ~_BV(4);
PORTC |= _BV(4);
// Re-enable the pin change interrupt for pin PC4.
PCMSK2 |= _BV(PCINT20);
RedLEDOn();
}
static void LSM303DLHTestACC(void) {
#ifdef UART_DEBUG
uart_puts_P("\r\n");
#endif // UART_DEBUG
LSM303DLHData acc_data;
// --- read accelerometer values
uint8_t ret = LSM303DLHReadACC( I2C_DEV_LSM303DLH_ACC1, &acc_data );
if ( ret ) {
YellowLEDOff();
RedLEDOn(); // show error
#ifdef UART_DEBUG
if ( ret == I2C_ERR_NO_DEVICE ) uart_puts_P("ACC: I2C_ERR_NO_DEV\r\n");
#endif // UART_DEBUG
#ifdef UART_DEBUG
if ( ret == I2C_ERROR ) uart_puts_P("ACC: I2C_ERROR\r\n");
#endif // UART_DEBUG
return;
}
PrintSensorData( "AX", acc_data.fSensorX );
PrintSensorData( "AY", acc_data.fSensorY );
PrintSensorData( "AZ", acc_data.fSensorZ );
uart_puts_p( cCRLF );
delay_sec(1);
}
static void LSM303DLHTestMAG(void) {
#ifdef UART_DEBUG
uart_puts_P("\r\n");
#endif // UART_DEBUG
LSM303DLHData mag_data;
// --- read magnetometer values
uint8_t ret = LSM303DLHReadMAG( I2C_DEV_LSM303DLH_MAG, &mag_data );
if ( ret ) {
YellowLEDOff();
RedLEDOn(); // show error
#ifdef UART_DEBUG
if ( ret == I2C_ERR_NO_DEVICE ) uart_puts_P("MAG: I2C_ERR_NO_DEV\r\n");
#endif // UART_DEBUG
#ifdef UART_DEBUG
if ( ret == I2C_ERROR ) uart_puts_P("MAG: I2C_ERROR\r\n");
#endif // UART_DEBUG
return;
}
PrintSensorData( "MX", mag_data.fSensorX );
PrintSensorData( "MY", mag_data.fSensorY );
PrintSensorData( "MZ", mag_data.fSensorZ );
uart_puts_p( cCRLF );
delay_sec(1);
}
