/**
* @brief Initialize the accelerometer.
* @param None
* @retval None
*/
void Accelerometer_Init(void)
{
LIS3DSH_InitTypeDef accel_init;
LIS3DSH_DRYInterruptConfigTypeDef it_config;
accel_init.Power_Mode_Output_DataRate = LIS3DSH_DATARATE_25; /* Output data 25 times per second (25 Hz) as by requirements */
accel_init.Axes_Enable = LIS3DSH_XYZ_ENABLE; /* Enable x, y and z axes */
accel_init.Continous_Update = LIS3DSH_ContinousUpdate_Disabled; /* Disable continuous update to be able to read the MSB of each reading */
accel_init.AA_Filter_BW = LIS3DSH_AA_BW_50; /* Anti-aliasing filter bandwidth set to 50Hz to remove frequencies above 2 * 25Hz */
accel_init.Full_Scale = LIS3DSH_FULLSCALE_2; /* Use full scale of +/- 2g */
accel_init.Self_Test = LIS3DSH_SELFTEST_NORMAL; /* Self test normal */
/* Initialize LIS3DSH */
LIS3DSH_Init(&accel_init);
it_config.Dataready_Interrupt = LIS3DSH_DATA_READY_INTERRUPT_ENABLED; /* Enable DRY interrupt */
it_config.Interrupt_signal = LIS3DSH_ACTIVE_HIGH_INTERRUPT_SIGNAL; /* Set interrupt to be active high as by requirements */
it_config.Interrupt_type = LIS3DSH_INTERRUPT_REQUEST_PULSED; /* Set interrupt type to be pulsed as by requirements */
/* Set LIS3DSH interrupt configuration */
LIS3DSH_DataReadyInterruptConfig(&it_config);
/* Set priority for EXTI0 IRQ */
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
/* Enable IRQ for the EXTI Line 0 (LSI3DSH generates INT1 interrupt on GPIO_PIN_0 PE0) */
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
}
/**
* @brief A function used to configure and init the accelerometer
* @param none
* @retval none
*/
void configure_init_accelerometer(void)
{
//Configure the accelerometer initialization struct
LIS3DSH_InitStruct.Power_Mode_Output_DataRate = LIS3DSH_DATARATE_25; /* Ppower down or /active mode with output data rate 3.125 / 6.25 / 12.5 / 25 / 50 / 100 / 400 / 800 / 1600 HZ */
LIS3DSH_InitStruct.Axes_Enable = LIS3DSH_XYZ_ENABLE; /* Axes enable */
LIS3DSH_InitStruct.Continous_Update = LIS3DSH_ContinousUpdate_Disabled; /* Block or update Low/High registers of data until all data is read */
LIS3DSH_InitStruct.AA_Filter_BW = LIS3DSH_AA_BW_50; /* Choose anti-aliasing filter BW 800 / 400 / 200 / 50 Hz*/
LIS3DSH_InitStruct.Full_Scale = LIS3DSH_FULLSCALE_2; /* Full scale 2 / 4 / 6 / 8 / 16 g */
LIS3DSH_InitStruct.Self_Test = LIS3DSH_SELFTEST_NORMAL; /* Self test */
//Configure the accelerometer interrupt struct
LIS3DSH_IntConfigStruct.Dataready_Interrupt = LIS3DSH_DATA_READY_INTERRUPT_ENABLED; /* Enable/Disable data ready interrupt */
LIS3DSH_IntConfigStruct.Interrupt_signal = LIS3DSH_ACTIVE_HIGH_INTERRUPT_SIGNAL; /* Interrupt Signal Active Low / Active High */
LIS3DSH_IntConfigStruct.Interrupt_type = LIS3DSH_INTERRUPT_REQUEST_PULSED; /* Interrupt type as latched or pulsed */
//Enable the interrupt line
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 1);
//Initialize the accelerometer
LIS3DSH_Init(&LIS3DSH_InitStruct);
//Setting the interrupt configuration of the accelerometer
LIS3DSH_DataReadyInterruptConfig(&LIS3DSH_IntConfigStruct);
}
//Initialize interrupts on the accelerometer
void initAccelInts()
{
LIS3DSH_DRYInterruptConfigTypeDef accel_int_init;
accel_int_init.Dataready_Interrupt = LIS3DSH_DATA_READY_INTERRUPT_ENABLED; //Data ready signal connected to INT1
accel_int_init.Interrupt_signal = LIS3DSH_ACTIVE_HIGH_INTERRUPT_SIGNAL; //Specified in section 3 of lab handout
accel_int_init.Interrupt_type = LIS3DSH_INTERRUPT_REQUEST_PULSED; //Specified in section 3 of lab handout
LIS3DSH_DataReadyInterruptConfig(&accel_int_init);
}
void accelerometer_init(void) {
LIS3DSH_InitTypeDef LIS3DSH_InitStruct;
/* Set configuration of LIS302DL*/
LIS3DSH_InitStruct.Power_Mode_Output_DataRate = LIS3DSH_DATARATE_100;
LIS3DSH_InitStruct.Axes_Enable = LIS3DSH_X_ENABLE | LIS3DSH_Y_ENABLE | LIS3DSH_Z_ENABLE;
LIS3DSH_InitStruct.Full_Scale = LIS3DSH_FULLSCALE_4;
LIS3DSH_InitStruct.AA_Filter_BW = LIS3DSH_AA_BW_200;
LIS3DSH_InitStruct.Continous_Update = LIS3DSH_ContinousUpdate_Enabled;
LIS3DSH_InitStruct.Self_Test = LIS3DSH_SELFTEST_NORMAL;
LIS3DSH_Init(&LIS3DSH_InitStruct);
/* Enable interrupt when data is ready */
LIS3DSH_DRYInterruptConfigTypeDef DRYInterruptConfig;
DRYInterruptConfig.Dataready_Interrupt = LIS3DSH_DATA_READY_INTERRUPT_ENABLED;
DRYInterruptConfig.Interrupt_signal = LIS3DSH_ACTIVE_HIGH_INTERRUPT_SIGNAL;
DRYInterruptConfig.Interrupt_type = LIS3DSH_INTERRUPT_REQUEST_PULSED;
LIS3DSH_DataReadyInterruptConfig(&DRYInterruptConfig);
/* Set pin as input */
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_StructInit(&GPIO_InitStruct);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOE, &GPIO_InitStruct);
/* Tell system that you will use PE0 for EXTI_Line0 */
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOE, EXTI_PinSource0);
/* PE0 is connected to EXTI_Line0 */
EXTI_InitTypeDef EXTI_InitStruct;
EXTI_InitStruct.EXTI_Line = EXTI_Line0;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
EXTI_Init(&EXTI_InitStruct);
/* Add IRQ vector to NVIC */
NVIC_InitTypeDef NVIC_InitStruct;
NVIC_InitStruct.NVIC_IRQChannel = EXTI0_IRQn;
NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0x00;
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0x00;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);
ma_filter_initialize(&filter_x, &cb_x, x_buffer);
ma_filter_initialize(&filter_y, &cb_y, y_buffer);
ma_filter_initialize(&filter_z, &cb_z, z_buffer);
}
/**
* @brief Initialise the Interrupt for the Accelerometer
* @param None
* @retval None
*/
void Accelerometer_Interrupt_Config(void) {
/* initilalize accelerometer interupt */
LIS3DSH_DRYInterruptConfigTypeDef Acc_Interrupt_InitDef;
/* define field of the accelerometer interupt initialisation structure */
Acc_Interrupt_InitDef.Dataready_Interrupt = LIS3DSH_DATA_READY_INTERRUPT_ENABLED; /* enable */
Acc_Interrupt_InitDef.Interrupt_signal = LIS3DSH_ACTIVE_HIGH_INTERRUPT_SIGNAL; /* active high */
Acc_Interrupt_InitDef.Interrupt_type = LIS3DSH_INTERRUPT_REQUEST_PULSED; /* pulse interupt */
LIS3DSH_DataReadyInterruptConfig(&Acc_Interrupt_InitDef);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 1);
}
/*Configure the accelerometer
*/
void Configure_Accel(void)
{
LIS3DSH_InitStruct.Power_Mode_Output_DataRate = LIS3DSH_DATARATE_25;
LIS3DSH_InitStruct.Axes_Enable = LIS3DSH_X_ENABLE | LIS3DSH_Y_ENABLE | LIS3DSH_Z_ENABLE;
LIS3DSH_InitStruct.Full_Scale = LIS3DSH_FULLSCALE_4;
LIS3DSH_InitStruct.AA_Filter_BW = LIS3DSH_AA_BW_200;
LIS3DSH_InitStruct.Continous_Update = LIS3DSH_ContinousUpdate_Disabled;
LIS3DSH_InitStruct.Self_Test = LIS3DSH_SELFTEST_NORMAL;
DRYInterruptConfig.Dataready_Interrupt = LIS3DSH_DATA_READY_INTERRUPT_ENABLED;
DRYInterruptConfig.Interrupt_signal = LIS3DSH_ACTIVE_HIGH_INTERRUPT_SIGNAL;
DRYInterruptConfig.Interrupt_type = LIS3DSH_INTERRUPT_REQUEST_PULSED;
LIS3DSH_DataReadyInterruptConfig(&DRYInterruptConfig);
LIS3DSH_Init(&LIS3DSH_InitStruct);
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
}
void memsinit(void){
LIS3DSH_InitTypeDef meminit;
LIS3DSH_DRYInterruptConfigTypeDef intinit;
meminit.Continous_Update = LIS3DSH_ContinousUpdate_Disabled;
meminit.Power_Mode_Output_DataRate = LIS3DSH_DATARATE_25;
meminit.AA_Filter_BW = LIS3DSH_AA_BW_800;
meminit.Axes_Enable = LIS3DSH_XYZ_ENABLE;
meminit.Full_Scale = LIS3DSH_FULLSCALE_2;
meminit.Self_Test = LIS3DSH_SELFTEST_NORMAL;
LIS3DSH_Init(&meminit);
intinit.Dataready_Interrupt = LIS3DSH_DATA_READY_INTERRUPT_ENABLED;
intinit.Interrupt_signal = LIS3DSH_ACTIVE_HIGH_INTERRUPT_SIGNAL;
intinit.Interrupt_type = LIS3DSH_INTERRUPT_REQUEST_PULSED;
LIS3DSH_DataReadyInterruptConfig(&intinit);
}
