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/**
* This is most complex and difficult device.
* It realize "read through write" paradigm. This is not standard, but
* most of I2C devices use this paradigm.
* You must write to device reading address, send restart to bus,
* and then begin reading process.
*/
#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "lis3.h"
#define lis3_addr 0b0011101
/* buffers */
static uint8_t accel_rx_data[ACCEL_RX_DEPTH];
static uint8_t accel_tx_data[ACCEL_TX_DEPTH];
static int16_t acceleration_x = 0;
static int16_t acceleration_y = 0;
static int16_t acceleration_z = 0;
/**
* Init function. Here we will also start personal serving thread.
*/
int init_lis3(void){
/* configure accelerometer */
accel_tx_data[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT; /* register address */
accel_tx_data[1] = 0b11100111;
accel_tx_data[2] = 0b01000001;
accel_tx_data[3] = 0b00000000;
/* sending */
i2cAcquireBus(&I2CD1);
i2cMasterTransmit(&I2CD1, lis3_addr, accel_tx_data, 4, accel_rx_data, 0);
i2cReleaseBus(&I2CD1);
return 0;
}
/**
*
*/
void request_acceleration_data(void){
accel_tx_data[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT; // register address
i2cAcquireBus(&I2CD1);
i2cMasterTransmit(&I2CD1, lis3_addr, accel_tx_data, 1, accel_rx_data, 6);
i2cReleaseBus(&I2CD1);
acceleration_x = accel_rx_data[0] + (accel_rx_data[1] << 8);
acceleration_y = accel_rx_data[2] + (accel_rx_data[3] << 8);
acceleration_z = accel_rx_data[4] + (accel_rx_data[5] << 8);
}
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