static void app_task(void *param)
{
int16_t a[3], m[3], t;
printf("# Testing LSM303DLHC\n");
printf("# Initializing LSM303DLHC...\n");
lsm303dlhc_powerdown();
printf("# Setting LSM303DLHC accelerometer\n");
lsm303dlhc_acc_config(LSM303DLHC_ACC_RATE_400HZ, LSM303DLHC_ACC_SCALE_16G, LSM303DLHC_ACC_UPDATE_ON_READ);
printf("# Setting LSM303DLHC magnetometer\n");
lsm303dlhc_mag_config(LSM303DLHC_MAG_RATE_220HZ,
LSM303DLHC_MAG_SCALE_2_5GAUSS, LSM303DLHC_MAG_MODE_CONTINUOUS,
LSM303DLHC_TEMP_MODE_ON);
while (1)
{
lsm303dlhc_read_acc(a);
lsm303dlhc_read_mag(m);
lsm303dlhc_read_temp(&t);
printf("A = (%f\t%f\t%f)\n", a[0] * ACC_RES, a[1] * ACC_RES, a[2] * ACC_RES);
printf("M = (%f\t%f\t%f)\n", m[0] * MAG_RES, m[1] * MAG_RES, m[2] * MAG_RES);
printf("T = %f\n", t / 256.);
vTaskDelay(configTICK_RATE_HZ / 10);
}
}
int main(void)
{
lsm303dlhc_t dev;
int16_t temp_value;
lsm303dlhc_3d_data_t mag_value;
lsm303dlhc_3d_data_t acc_value;
puts("LSM303DLHC temperature test application\n");
printf("Initializing LSM303DLHC sensor at I2C_%i... ", TEST_LSM303DLHC_I2C);
if (lsm303dlhc_init(&dev, TEST_LSM303DLHC_I2C, TEST_LSM303DLHC_ACC_PIN, TEST_LSM303DLHC_MAG_PIN,
TEST_LSM303DLHC_ACC_ADDR, ACC_S_RATE, ACC_SCALE,
TEST_LSM303DLHC_MAG_ADDR, MAG_S_RATE, MAG_GAIN) == 0) {
puts("[OK]\n");
}
else {
puts("[Failed]");
return 1;
}
while (1) {
if (lsm303dlhc_read_acc(&dev, &acc_value) == 0) {
printf("Accelerometer x: %i y: %i z: %i\n", acc_value.x_axis,
acc_value.y_axis,
acc_value.z_axis);
}
else {
puts("\nFailed reading accelerometer values\n");
}
if (lsm303dlhc_read_temp(&dev, &temp_value) == 0) {
printf("Temperature value: %i degrees\n", temp_value);
}
else {
puts("\nFailed reading value\n");
}
if (lsm303dlhc_read_mag(&dev, &mag_value) == 0) {
printf("Magnetometer x: %i y: %i z: %i\n", mag_value.x_axis,
mag_value.y_axis,
mag_value.z_axis);
}
else {
puts("\nFailed reading magnetometer values\n");
}
vtimer_usleep(SLEEP);
}
return 0;
}
void _get_lsm303dlhc_read_handler(int argc, char **argv)
{
(void)argc;
(void)argv;
uint8_t error;
lsm303dlhc_3d_data_t data;
if (!lsm303_dev.acc_address || !lsm303_dev.mag_address) {
puts("Error: please call `lsm303dlhc_init` first!");
return;
}
error = lsm303dlhc_read_acc(&lsm303_dev, &data);
if (error) {
puts("Error reading accelerometer data from lsm303dlhc.");
return;
}
else {
printf("lsm303dlhc: Accelerometer {%i, %i, %i} mg\n", data.x_axis, data.y_axis, data.z_axis);
}
error = lsm303dlhc_read_mag(&lsm303_dev, &data);
if (error) {
puts("Error reading magnetometer data from lsm303dlhc.");
return;
}
else {
printf("lsm303dlhc: Magnetometer {%i, %i, %i}/1100 gauss\n", data.x_axis, data.y_axis, data.z_axis);
}
error = lsm303dlhc_read_temp(&lsm303_dev, &(data.x_axis));
if (error) {
puts("Error reading temperature data from lsm303dlhc.");
return;
}
else {
printf("lsm303dlhc: Temperature %i\n", data.x_axis);
}
}
static void handle_ev(handler_arg_t arg)
{
int16_t a[3];
int16_t m[3];
int16_t i;
float af[3], mf[3];
float accpeak[2];
float magpeak[2];
static float accnorm, magnorm;
static float accscale, magscale;
float accnormk, magnormk;
/* Read accelerometers */
lsm303dlhc_read_acc(a);
/* Read magnetometers */
lsm303dlhc_read_mag(m);
/* Sensors calibration during CALIB_PERIOD*/
if (glob_counters.index <= CALIB_PERIOD) {
/* Scale Accelero and magneto*/
accscale = 1.0;
magscale = 1.0;
/* first index */
if (glob_counters.index == 0)
{
accnorm = 0.0;
magnorm = 0.0;
}
/* computation */
accnormk = a[0] * a[0] + a[1] * a[1] + a[2] * a[2];
accnorm += sqrt(accnormk);
magnormk = m[0] * m[0] + m[1] * m[1] + m[2] * m[2];
magnorm += sqrt(magnormk);
/* last index */
if (glob_counters.index == CALIB_PERIOD) {
accscale = CALIB_PERIOD / accnorm;
magscale = CALIB_PERIOD / magnorm;
printf("CALIB Acc = %f %f\n",accnorm, accscale);
printf("CALIB Mag = %f %f\n",magnorm, magscale);
}
glob_counters.index++;
} /* After calibration */
else {
/* Conversion */
for (i=0; i < 3; i++) {
af[i] = a[i] * accscale;
mf[i] = m[i] * magscale;
}
/* Peaks detection after calibration*/
peak_detect(&PEAKACC_TRACE, glob_counters.index, af, accpeak);
peak_detect(&PEAKMAG_TRACE, glob_counters.index, mf, magpeak);
glob_counters.index++;
/* Printing */
if (accpeak[1] > 0.0) {
printf("AccPeak;%f;0.0;0.0\n", accpeak[1]);
}
if (magpeak[1] > 0.0) {
printf("MagPeak;%f;0.0;0.0\n", magpeak[1]);
}
printf("Acc;%f;%f;%f\n", af[0], af[1], af[2]);
printf("Mag;%f;%f;%f\n", mf[0], mf[1], mf[2]);
if (glob_counters.lindex == TX_PERIOD) {
/*
printf("Acc;%f;%f;%f\n", af[0], af[1], af[2]);
printf("Mag;%f;%f;%f\n", mf[0], mf[1], mf[2]);
printf("Acc;%f;0.0;0.0\n", accpeak[0]);
printf("Mag;%f;0.0;0.0\n", magpeak[0]);
*/
glob_counters.lindex=0;
}
else {
glob_counters.lindex++;
}
}
}
