int config_gy80(struct config *c)
{
// return value is a 4-bit number: AGCB, indicating
// the return values of accel, gyro, compass, and barometer
i2c.frequency(c->frequency);
int ret = config_accelerometer();
ret |= config_gyro();
ret |= config_compass();
ret |= config_barometer();
return ret;
}
/* initialize the accelerometer */
void initializeAccelerometer( ) {
// initialize SPI
spi_init();
// send a soft reset to the accelerometer
uint8_t data[1] = {RESET_CODE};
spi_write_reg(SOFT_RESET, data, 1);
//wait for device to be reset
for (int i = 0; i < 100; i++);
// the accel_init function only configs the 0x2D reg, no others
// SO, configure the rest of the accelerometer settings before
// doing the power control register (which turns measurment on)
// (0x20 - 0x26 regs)
config_accelerometer();
// configure interrupts to be off, default mode (for now) - (0x27 reg)
adxl362_config_interrupt_mode( adxl362_INTERRUPT_DEFAULT, 0, 0 );
// configure FIFO mode to be off so we sample in real-time (0x28, 0x29 regs)
adxl362_config_FIFO( adxl362_DISABLE_FIFO, 0, 0 );
// setup data ready interrupt to int pin 1 (maps data ready status to int1 pin)
// (0x2A, 0x2B registers)
adxl362_interrupt_map_t dataReadyIntMap;
memset(&dataReadyIntMap, 0, sizeof dataReadyIntMap);
dataReadyIntMap.DATA_READY = true;
adxl362_config_INTMAP(&dataReadyIntMap, true);
// set measurement range to 2G (0x2C reg)
adxl362_config_measurement_range( adxl362_MEAS_RANGE_2G );
// initialize accel to measurement mode (with normal noise levels)
//adxl362_accelerometer_init( adxl362_NOISE_NORMAL, 1, 0, 0 );
// DOING IT MANUALLY SO SOFTRESET NOT DONE AT END:
data[0] = MEASUREMENT_MODE;
data[0] = data[0] | (adxl362_NOISE_NORMAL << 4);
spi_write_reg(POWER_CTL, data, 1);
// RANDOM STUFF:
//adxl362_activity_inactivity_interrupt_enable();
// read X axis to clear data ready interrupt
// readAxisX();
}
