static int aConfigure(int aFile)
{
CHECK(ADXL345_Init(aFile, ADXL345_ID, true));
struct ADXL345_DataFormat confDataFormat = {
.range = ADXL345_RANGE_2G,
};
CHECK(ADXL345_ConfigureDataFormat(aFile, &confDataFormat));
struct ADXL345_Power confPowerControl = {
.measurement = true,
};
CHECK(ADXL345_ConfigurePower(aFile, &confPowerControl));
return 0;
}
static int cConfigure(int cFile)
{
CHECK(HMC5883L_Init(cFile, HMC5883L_ID, true));
struct HMC5883L conf = {
.gain = HMC5883L_GAIN_1090,
.measurementMode = HMC5883L_MEASUREMENTMODE_NORMAL,
.outputRate = HMC5883L_OUTPUTRATE_30,
.samples = HMC5883L_SAMPLES_2,
};
CHECK(HMC5883L_Configure(cFile, &conf));
CHECK(HMC5883L_SetContinuousMeasurement(cFile));
return 0;
}
/**************************************************************************************************
* Function ACCEL_Start()
* -------------------------------------------------------------------------------------------------
* Overview: Function Initialize I2C bus and accel module
* Input: Nothing
* Output: test status: 0 - skiped; 1 - pass; 2 - fail
**************************************************************************************************/
void ACCEL_Start(char *test)
{
// Reset error flag
*test = 0;
// Initialize I2C communication
I2C2_Init(250000);
TFT_Set_Font(TFT_defaultFont, CL_WHITE, FO_HORIZONTAL);
TFT_Set_Pen(bg_color, 1);
TFT_Set_Brush(1, bg_color, 0, 0, 0, 0);
TFT_Write_Text("Starting Accel test...", 90, 100);
Delay_ms(2000);
TFT_Rectangle(70, 70, 250, 130);
// Initialize ADXL345 accelerometer
if (ADXL345_Init() == 0)
{
TFT_Write_Text("Accel module initialized.", 90, 100);
*test = 1;
Delay_ms(2000);
}
else
{
TFT_Write_Text("Error during Accel module initialization.", 90, 100);
*test = 2;
}
TFT_Rectangle(70, 70, 250, 130);
}
uint8_t init_speedy(void){
uint8_t data = 0x00;
//Init I2C 1
if(init_i2c(I2C_1) != 0)
return 1;
//Pyro Sensor
if(write_i2c(I2C_1, ADDR_TPA81, &data, 1) != 1)
return 11;
//SRF08 hinten links
if(write_i2c(I2C_1, SRF_HL, &data, 1) != 1)
return 12;
//SRF08 vorne
if(write_i2c(I2C_1, SRF_V, &data, 1) != 1)
return 13;
//SRF08 hinten rechts
if(write_i2c(I2C_1, SRF_HR, &data, 1) != 1)
return 14;
//Init I2C 2
if(init_i2c(I2C_2) != 0)
return 2;
//HMC6343
if(write_i2c(I2C_2, ADDR_HMC, &data, 1) != 1)
return 21;
//MAX11613
if(write_i2c(I2C_2, ADDR_MAX11613, &data, 1) != 1)
return 22;
//LCD
if(write_i2c(I2C_2, LCD03_ADRESS, &data, 1) != 1)
return 23;
//ITG3200
if(write_i2c(I2C_2, ADDR_ITG, &data, 1) != 1)
return 24;
//Init Motor Modul
if(init_itg() != 0)
return 3;
//Init G Sensor ADXL345 on DE0 Nano SoC
if(!ADXL345_Init())
return 4;
return 0;
}
int main(void)
{
// Configure system
SystemConfiguration();
// Configure SPI
SPI_Init(SPI_BASEADDR, 0, 1, 1);
// Initialize ADXL345 specific settings
ADXL345_Init();
// Initialize Interrupts
InterruptsInit();
// Run demo program
DemoProgram();
return(0);
}
int main (void)
{
volatile char temp = 1;
volatile uint16_t temp1 = 1;
volatile uint16_t temp2 = 1;
volatile bool state = false;
system_init();
init_gpio();
clock_output();
delay_init();
configure_spi_master_AD5421();
configure_spi_master_ADXL();
AD5421_Init();
ADXL345_Init();
//configure_extint_channel();
//configure_extint_callbacks();
//system_interrupt_enable_global();
xTaskCreate(Testtask, "Testtask", configMINIMAL_STACK_SIZE, (void *)100, mainQUEUE_SEND_TASK_PRIORITY, NULL);
vTaskStartScheduler();
//X = ADXL345_GetX();
//Y = ADXL345_GetY();
//Z = ADXL345_GetZ();
}
int main(int argc, char *argv[]){
int file;
const char *filename = "/dev/i2c-0";
uint8_t id;
bool bSuccess;
const int mg_per_digi = 4;
uint16_t szXYZ[3];
int cnt=0, max_cnt=0;
printf("===== gsensor test =====\r\n");
if (argc == 2){
max_cnt = atoi(argv[1]);
}
// open bus
if ((file = open(filename, O_RDWR)) < 0) {
/* ERROR HANDLING: you can check errno to see what went wrong */
perror("Failed to open the i2c bus of gsensor");
exit(1);
}
// init
// gsensor i2c address: 101_0011
int addr = 0b01010011;
if (ioctl(file, I2C_SLAVE, addr) < 0) {
printf("Failed to acquire bus access and/or talk to slave.\n");
/* ERROR HANDLING; you can check errno to see what went wrong */
exit(1);
}
// configure accelerometer as +-2g and start measure
bSuccess = ADXL345_Init(file);
if (bSuccess){
// dump chip id
bSuccess = ADXL345_IdRead(file, &id);
if (bSuccess)
printf("id=%02Xh\r\n", id);
}
while(bSuccess && (max_cnt == 0 || cnt < max_cnt)){
if (ADXL345_IsDataReady(file)){
bSuccess = ADXL345_XYZ_Read(file, szXYZ);
if (bSuccess){
cnt++;
printf("[%d]X=%d mg, Y=%d mg, Z=%d mg\r\n", cnt,(int16_t)szXYZ[0]*mg_per_digi, (int16_t)szXYZ[1]*mg_per_digi, (int16_t)szXYZ[2]*mg_per_digi);
// show raw data,
//printf("X=%04x, Y=%04x, Z=%04x\r\n", (alt_u16)szXYZ[0], (alt_u16)szXYZ[1],(alt_u16)szXYZ[2]);
usleep(1000*1000);
}
}
}
if (!bSuccess)
printf("Failed to access accelerometer\r\n");
if (file)
close(file);
printf("gsensor, bye!\r\n");
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
float x,y,z;
short sx,sy,sz;
unsigned char regVal;
unsigned char regVals[29]; //0x1D~0x39
/* STM32F103xG HAL library initialization:
- Configure the Flash prefetch
- Systick timer is configured by default as source of time base, but user
can eventually implement his proper time base source (a general purpose
timer for example or other time source), keeping in mind that Time base
duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
handled in milliseconds basis.
- Set NVIC Group Priority to 4
- Low Level Initialization
*/
HAL_Init();
/* Configure the system clock to 72 MHz */
SystemClock_Config();
//uart
BSP_COM_Init(COM1, &huart);
/* Configure LED1 and LED3 */
BSP_LED_Init(LED1);
BSP_LED_Init(LED3);
/* Configure Key push-button */
BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_GPIO);
/*##-1- Configure the I2C peripheral ######################################*/
ADXL345_Init(ADXL345_I2C_COMM);
// full resolution
ADXL345_SetRangeResolution(ADXL345_RANGE_PM_2G, 1);
// enter measurement mode
ADXL345_SetPowerMode(1);
// self test mode
// regVal = ADXL345_GetRegisterValue(ADXL345_DATA_FORMAT);
// regVal |= ADXL345_SELF_TEST;
// ADXL345_SetRegisterValue(ADXL345_DATA_FORMAT, regVal);
// dump ADXL345 registers
HAL_Delay(1);
//ADXL345_GetMultiRegisterValue(ADXL345_THRESH_TAP, sizeof(regVals), regVals);
/* Infinite loop */
printf("\n\r UART Printf Example: retarget the C library printf function to the UART\n\r");
while (1)
{
ADXL345_GetGxyz(&x, &y, &z);
printf("\n\rx: %.1f, y: %.1f, z: %.1f\n\r", x, y, z);
// ADXL345_GetXyz(&sx, &sy, &sz);
// printf("\n\rx: %d, y: %d, z: %d\n\r", sx, sy, sz);
HAL_Delay(1000);
}
}
/***************************************************************************//**
* @brief Main function.
*
* @return None.
*******************************************************************************/
void main(void)
{
/* Set pin 7 and pin 8 (J11 connector) as input, to avoid the output pins
of the Pmod ACL to be connected to an output pin of the microcontroller. */
PM7 |= (1 << 6); // P76 (PMOD-IRQA)
PM7 |= (1 << 7); // P77 (PMOD-IRQB)
/* Initialize RDKRL78G14. */
RDKRL78G14_Init();
/* Enable interrupts. */
__enable_interrupt();
/* Initialize timer. */
TIME_Init();
/* Initialize the ST7579 Display. */
ST7579_Init();
/* Initialize ADXL345. */
if(ADXL345_Init(ADXL345_SPI_COMM) == 0)
{
ADI_Component("ADXL345 OK");
}
else
{
ADI_Component("ADXL345 Error");
}
ADXL345_SetTapDetection(ADXL345_SINGLE_TAP |
ADXL345_DOUBLE_TAP, // Tap type.
ADXL345_TAP_Z_EN, // Axis control.
0x10, // Tap duration.
0x10, // Tap latency.
0x40, // Tap window.
0x10, // Tap threshold.
0x00); // Interrupt Pin.
ADXL345_SetFreeFallDetection(0x01, // Free-fall detection enabled.
0x05, // Free-fall threshold.
0x14, // Time value for free-fall detection.
0x00); // Interrupt Pin.
/* Set the range and the resolution. */
ADXL345_SetRangeResolution(ADXL345_RANGE_PM_4G, ADXL345_FULL_RES);
ADXL345_SetPowerMode(0x1); // Measure mode.
while(1)
{
/* Read and display the output data of each axis. */
ADXL345_GetGxyz(&x, &y, &z);
ST7579_String(2, 0, "X data: [g]", 0);
ST7579_FloatNumber(2, 42, x, 3, 0);
ST7579_String(3, 0, "Y data: [g]", 0);
ST7579_FloatNumber(3, 42, y, 3, 0);
ST7579_String(4, 0, "Z data: [g]", 0);
ST7579_FloatNumber(4, 42, z, 3, 0);
intSource = ADXL345_GetRegisterValue(ADXL345_INT_SOURCE);
if((intSource & ADXL345_SINGLE_TAP) != 0)
{
ST7579_String(5, 0, "Single Tap", 0);
}
if((intSource & ADXL345_DOUBLE_TAP) != 0)
{
ST7579_String(6, 0, "Double Tap", 0);
}
if((intSource & ADXL345_FREE_FALL) != 0)
{
ST7579_String(7, 0, "Free-Fall", 0);
}
TIME_DelayMs(100);
}
}
