void LSM303DLHCAccel_task(void)
{
// Init I2C
initI2C0();
float fAccel[3];
tI2CMInstance sI2CInst;
tLSM303DLHCAccel sLSM303DLHCAccel;
//
// Initialize the LSM303DLHCAccel. This code assumes that the I2C master
// instance has already been initialized.
//
g_bLSM303DLHCAccelDone = false;
LSM303DLHCAccelInit(&sLSM303DLHCAccel, &sI2CInst, 0x19, LSM303DLHCAccelCallback, 0);
while(!g_bLSM303DLHCAccelDone){}
// Configure for 400Hz operation
g_bLSM303DLHCAccelDone = false;
LSM303DLHCAccelReadModifyWrite(&sLSM303DLHCAccel, LSM303DLHC_O_CTRL1, LSM303DLHC_CTRL1_ODR_M, LSM303DLHC_CTRL1_ODR_400HZ, LSM303DLHCAccelCallback, 0);
//
// Configure on board HP filter. ft = fsamp / (6 * HPc) where HPc is the value
// For Fsamp = 100Hz, 00 = 2Hz, 01 = 1Hz, 10 = 1/2Hz, 11 = 0.25Hz
//
g_bLSM303DLHCAccelDone = false;
LSM303DLHCAccelReadModifyWrite(&sLSM303DLHCAccel, LSM303DLHC_O_CTRL2, LSM303DLHC_CTRL2_HPCUTOFF_M, 0x3, LSM303DLHCAccelCallback, 0);
// HPF mode selection - Normal Mode
g_bLSM303DLHCAccelDone = false;
LSM303DLHCAccelReadModifyWrite(&sLSM303DLHCAccel, LSM303DLHC_O_CTRL2, LSM303DLHC_CTRL2_HPMODE_M, LSM303DLHC_CTRL2_HPMODE_NORMAL, LSM303DLHCAccelCallback, 0);
// Filtered Data Selection - Filter enabled
g_bLSM303DLHCAccelDone = false;
LSM303DLHCAccelReadModifyWrite(&sLSM303DLHCAccel, LSM303DLHC_O_CTRL2, LSM303DLHC_CTRL2_FDS_M, LSM303DLHC_CTRL2_FDS_FILTERED, LSM303DLHCAccelCallback, 0);
// Configure the LSM303DLHCAccel for +/- 4 g accelerometer range.
g_bLSM303DLHCAccelDone = false;
LSM303DLHCAccelReadModifyWrite(&sLSM303DLHCAccel, LSM303DLHC_O_CTRL4, ~LSM303DLHC_CTRL4_FS_M, LSM303DLHC_CTRL4_FS_4G, LSM303DLHCAccelCallback, 0);
while(!g_bLSM303DLHCAccelDone){}
// Enter the task
while(1)
{
// Request another reading from the LSM303DLHCAccel.
g_bLSM303DLHCAccelDone = false;
LSM303DLHCAccelDataRead(&sLSM303DLHCAccel, LSM303DLHCAccelCallback, 0);
while(!g_bLSM303DLHCAccelDone){}
// Get the new accelerometer readings.
LSM303DLHCAccelDataAccelGetFloat(&sLSM303DLHCAccel, &fAccel[0], &fAccel[1], &fAccel[2]);
// Do something with the new accelerometer readings.
}
}
void init_RTC()
{
#ifdef USE_I2C_RTC
initI2C0();
#else
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_HIBERNATE);
HibernateEnableExpClk(ROM_SysCtlClockGet());
HibernateClockConfig(HIBERNATE_OSC_LOWDRIVE);
HibernateRTCEnable();
updateTime();
init_limits_rtc();
#endif
}
void init_ADXL345_Accelerometer(){
initI2C0();
}
