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
}
void readAccelerometer(float * Accelerometer_Data) {
float raw_Accelerometer [3];
//LIS3DSH_ReadACC(raw_Accelerometer);
LSM9DS1_ReadACC(raw_Accelerometer);
float Matrix_calibration_Value;
for(int i = 0; i < 3; i++) {
Matrix_calibration_Value = 0;
for(int j = 0; j < 3; j++) {
Matrix_calibration_Value += raw_Accelerometer[j] * Cal1[i][j];
}
Accelerometer_Data[i] = Matrix_calibration_Value + Cal2[i];
debug_d[i] = Accelerometer_Data[i];
}
}
