Thread *accRun(SPIDriver *spip, tprio_t prio) {
Thread *tp;
if (lsm303_init(spip) != 0) chSysHalt();
chThdSleepMilliseconds(200);
lsm303_acc_update(spip);
tp = chThdCreateFromHeap(NULL, ACC_WA_SIZE, prio, lsm303_acc_update_thread, (void*) spip);
extChannelEnable(&EXTD1, GPIOA_AM_INT1);
return tp;
}
int main(void) {
GPIO_InitTypeDef GPIO_InitStructure;
SD_Error sderr;
SD_CardInfo ci;
// All GPIO clock enable
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA |
RCC_AHB1Periph_GPIOB |
RCC_AHB1Periph_GPIOC |
RCC_AHB1Periph_GPIOD |
RCC_AHB1Periph_GPIOE, ENABLE);
// Configure LEDs in output pushpull mode
GPIO_InitStructure.GPIO_Pin = LED_PIN_ALL;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(LED_GPIO, &GPIO_InitStructure);
// Configure SysTick for 400ms period
if(!tick_start(400.0)) {
while(1);
}
/*
if((SD_Init() == SD_OK) && SD_Detect()){
sderr = SD_GetCardInfo(&ci);
if(sderr == SD_OK){
while(1);
}
}
*/
lsm303_init();
l3gd20_init();
while (1) {
tick_wait(1);
l3gd20_read_sync();
lsm303_read();
}
}
static int
magnetometer_lsm303_open(struct sol_flow_node *node, void *data, const struct sol_flow_node_options *options)
{
struct magnetometer_lsm303_data *mdata = data;
const struct sol_flow_node_type_magnetometer_lsm303_options *opts;
SOL_FLOW_NODE_OPTIONS_SUB_API_CHECK(options, SOL_FLOW_NODE_TYPE_MAGNETOMETER_LSM303_OPTIONS_API_VERSION,
-EINVAL);
opts = (const struct sol_flow_node_type_magnetometer_lsm303_options *)options;
mdata->i2c = sol_i2c_open(opts->i2c_bus, SOL_I2C_SPEED_10KBIT);
SOL_NULL_CHECK_MSG(mdata->i2c, -EINVAL, "Failed to open i2c bus");
mdata->slave = opts->i2c_slave;
mdata->scale = opts->scale;
mdata->node = node;
lsm303_init(mdata);
return 0;
}
