int main(){
LSM9DS1_LowLevel_Init();
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_SetBits(GPIOE, GPIO_Pin_3);
printf("PE3 %d\n", GPIO_ReadInputDataBit(GPIOE, GPIO_Pin_3));
uint8_t byte_write = 96; //119 Hz and 2g range
LSM9DS1_Write(&byte_write, LSM9DS1_CTRL_REG6_XL, 1);
printf("Sent %d on the bus\n", byte_write);
uint8_t byte_read = 0;
LSM9DS1_Read(&byte_read, LSM9DS1_CTRL_REG6_XL, 1);
printf("Received %d on the bus\n", byte_read);
byte_write = 56; //enable all axes
LSM9DS1_Write(&byte_write, LSM9DS1_CTRL_REG5_XL, 1);
printf("Sent %d on the bus\n", byte_write);
byte_read = 0;
LSM9DS1_Read(&byte_read, LSM9DS1_CTRL_REG5_XL, 1);
printf("Received %d on the bus\n", byte_read);
int32_t accelerometer_out[3];
LSM9DS1_ReadACC(accelerometer_out);
printf("%d %d %d\n", accelerometer_out[0],accelerometer_out[1],accelerometer_out[2]);
// osKernelInitialize (); // initialize CMSIS-RTOS
// display_mode = 0;
// angle_to_draw = SHOW_ROLL;
//
// // initialize peripherals here
// initialize_ADC_Temp();
// init_accelerometer();
// init_interrupts();
// init_7_segment();
// init_TIM3();
// init_TIM4();
// init_TIM5();
// EXTI_GenerateSWInterrupt(EXTI_Line0);
//
// // create 'thread' functions that start executing,
// // example: tid_name = osThreadCreate (osThread(name), NULL);
// temperature_reader_thread = osThreadCreate(osThread(temperature_reader),NULL);
// display_refresher_thread = osThreadCreate(osThread(display_refresher),NULL);
// accelerometer_reader_thread = osThreadCreate(osThread(accelerometer_reader),NULL);
// keypad_detector_thread = osThreadCreate(osThread(keypad_detector),NULL);
//
// osKernelStart(); // start thread execution
}
/**
* @brief Get the accelerometer readings from the LSM9DS1, fills the parameter buffer
with the X, Y, and Z accelerations in milli-gs.
* @param 3 32bit int buffer to store data
* @retval None
*/
void LSM9DS1_Read_XL(int32_t* out)
{
uint8_t buffer[6];
uint8_t crtl, i;
//Read the raw accelerometer registers
LSM9DS1_Read(&crtl, LSM9DS1_CTRL_REG6_XL, 1);
LSM9DS1_Read(buffer, LSM9DS1_OUT_X_H_XL, 1);
LSM9DS1_Read(buffer+1, LSM9DS1_OUT_X_L_XL, 1);
LSM9DS1_Read(buffer+2, LSM9DS1_OUT_Y_H_XL, 1);
LSM9DS1_Read(buffer+3, LSM9DS1_OUT_Y_L_XL, 1);
LSM9DS1_Read(buffer+4, LSM9DS1_OUT_Z_H_XL, 1);
LSM9DS1_Read(buffer+5, LSM9DS1_OUT_Z_L_XL, 1);
//Apply the appropriate sensitivity factors depending on the scale
switch(crtl & 0x18)
{
case XL_SCALE_2G:
for(i = 0; i < 6; i+=2){
*out =(int32_t)(XL_SENSITIVITY_2G * (int16_t)(buffer[i+1]+(buffer[i]<<8)));
out++;
}
break;
case XL_SCALE_16G:
for(i = 0; i < 6; i+=2){
*out =(int32_t)(XL_SENSITIVITY_16G * (int16_t)(buffer[i+1]+(buffer[i]<<8)));
out++;
}
break;
case XL_SCALE_4G:
for(i = 0; i < 6; i+=2){
*out =(int32_t)(XL_SENSITIVITY_4G * (int16_t)(buffer[i+1]+(buffer[i]<<8)));
out++;
}
break;
case XL_SCALE_8G:
for(i = 0; i < 6; i+=2){
*out =(int32_t)(XL_SENSITIVITY_8G * (int16_t)(buffer[i+1]+(buffer[i]<<8)));
out++;
}
break;
default:
break;
}
}
void accelerometer_read_raw(void) {
uint8_t Buffer[6];
#ifdef LSM9DS1
for (uint8_t i = 0; i < 6; i++) {
LSM9DS1_Read(Buffer + i, LSM9DS1_OUT_X_ADDR + i, 1);
}
#else
LIS3DSH_Read(&Buffer[0], LIS3DSH_OUT_X_L, 1);
LIS3DSH_Read(&Buffer[1], LIS3DSH_OUT_X_H, 1);
LIS3DSH_Read(&Buffer[2], LIS3DSH_OUT_Y_L, 1);
LIS3DSH_Read(&Buffer[3], LIS3DSH_OUT_Y_H, 1);
LIS3DSH_Read(&Buffer[4], LIS3DSH_OUT_Z_L, 1);
LIS3DSH_Read(&Buffer[5], LIS3DSH_OUT_Z_H, 1);
#endif
x_raw = Buffer[0] + (int16_t)(Buffer[1] << 8);
y_raw = Buffer[2] + (int16_t)(Buffer[3] << 8);
z_raw = Buffer[4] + (int16_t)(Buffer[5] << 8);
}
/**
* @brief Get the gyroscope readings from the LSM9DS1, fills the parameter buffer
with X, Y and Z readings in millidegrees per second
* @param 3 32bit int buffer to store data
* @retval None
*/
void LSM9DS1_Read_G(int32_t* out){
uint8_t buffer[6];
uint8_t crtl, i;
//Read all the raw register values
LSM9DS1_Read(&crtl, LSM9DS1_CTRL_REG1_G, 1);
LSM9DS1_Read(buffer, LSM9DS1_OUT_X_H_G, 1);
LSM9DS1_Read(buffer+1, LSM9DS1_OUT_X_L_G, 1);
LSM9DS1_Read(buffer+2, LSM9DS1_OUT_Y_H_G, 1);
LSM9DS1_Read(buffer+3, LSM9DS1_OUT_Y_L_G, 1);
LSM9DS1_Read(buffer+4, LSM9DS1_OUT_Z_H_G, 1);
LSM9DS1_Read(buffer+5, LSM9DS1_OUT_Z_L_G, 1);
//Fill the parameter buffer with the appropriately scaled values
//(concatenating the low and high bytes into a single value)
switch(crtl & 0x18)
{
case G_SCALE_245_DPS:
for(i = 0; i < 6; i+=2){
*out =(int32_t)(G_SENSITIVITY_245_DPS * (int16_t)(buffer[i+1]+(buffer[i]<<8)));
out++;
}
break;
case G_SCALE_500_DPS:
for(i = 0; i < 6; i+=2){
*out =(int32_t)(G_SENSITIVITY_500_DPS * (int16_t)(buffer[i+1]+(buffer[i]<<8)));
out++;
}
break;
case G_SCALE_2000_DPS:
for(i = 0; i < 6; i+=2){
*out =(int32_t)(G_SENSITIVITY_2000_DPS * (int16_t)(buffer[i+1]+(buffer[i]<<8)));
out++;
}
break;
default:
break;
}
}
/**
* @brief Read LSM9DS1 output register, and calculate the acceleration
* ACC[mg]=SENSITIVITY* (out_h*256+out_l)/16 (12 bit rappresentation)
* @param s16 buffer to store data
* @retval None
*/
void LSM9DS1_ReadACC(float* out)
{
uint8_t buffer[6];
uint8_t ctrl = 0x00, i = 0x00;
//uint8_t offsetX, offsetY, offsetZ;
int16_t aggregateResult = 0;
LSM9DS1_Read(&ctrl, LSM9DS1_CTRL_REG6, 1);
LSM9DS1_Read(&buffer[0], LSM9DS1_ACC_OUT_X_L, 1);
LSM9DS1_Read(&buffer[1], LSM9DS1_ACC_OUT_X_H, 1);
LSM9DS1_Read(&buffer[2], LSM9DS1_ACC_OUT_Y_L, 1);
LSM9DS1_Read(&buffer[3], LSM9DS1_ACC_OUT_Y_H, 1);
LSM9DS1_Read(&buffer[4], LSM9DS1_ACC_OUT_Z_L, 1);
LSM9DS1_Read(&buffer[5], LSM9DS1_ACC_OUT_Z_H, 1);
ctrl = (ctrl & 0x18 ) >> 3;
debug_acc++;
switch(ctrl)
{
/* FS bits = 000 ==> Sensitivity typical value = 0.061 milligals/digit*/
case 0x00:
for(i=0; i<0x06; i=i+2)
{
aggregateResult = (int32_t)(buffer[i] | buffer[i+1] << 8);
*out =(float)(LSM9DS1_ACC_SENSITIVITY_2G * (float)aggregateResult);
out++;
}
break;
/* FS bit = 001 ==> Sensitivity typical value = 0.122 milligals/digit*/
case 0x01:
for(i=0; i<0x06; i=i+2)
{
aggregateResult = (int32_t)(buffer[i] | buffer[i+1] << 8);
*out =(float)(LSM9DS1_ACC_SENSITIVITY_16G * (float)aggregateResult);
out++;
}
break;
/* FS bit = 010 ==> Sensitivity typical value = 0.183 milligals/digit*/
case 0x02:
for(i=0; i<0x06; i=i+2)
{
aggregateResult = (int32_t)(buffer[i] | buffer[i+1] << 8);
*out =(float)(LSM9DS1_ACC_SENSITIVITY_4G * (float)aggregateResult);
out++;
}
break;
/* FS bit = 011 ==> Sensitivity typical value = 0.244 milligals/digit*/
case 0x03:
for(i=0; i<0x06; i=i+2)
{
aggregateResult = (int32_t)(buffer[i] | buffer[i+1] << 8);
*out =(float)(LSM9DS1_ACC_SENSITIVITY_8G * (float)aggregateResult);
out++;
}
break;
default:
break;
}
}
