diff --git a/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp b/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp
index a0b041da8584d798353303e7413382d1f3e9b457..c7ed2fede74e18a3783b7e1609ef4b545b429bc3 100644
--- a/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp
+++ b/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp
@@ -1,5 +1,6 @@
#include "LIS3DSH.h"
-namespace Boardcore {
+namespace Boardcore
+{
LIS3DSHettore::LIS3DSHettore(uint8_t odr, uint8_t bdu, uint8_t fullScale)
: odr(odr), bdu(bdu), fullScale(fullScale)
@@ -8,7 +9,8 @@ LIS3DSHettore::LIS3DSHettore(uint8_t odr, uint8_t bdu, uint8_t fullScale)
bool LIS3DSHettore::checkWhoAmI()
{
- uint8_t who_am_i = spi_driver.read(WHO_AM_I_REG); // <-- we need to go deeper
+ uint8_t who_am_i =
+ spi_driver.read(WHO_AM_I_REG); // <-- we need to go deeper
if (who_am_i == WHO_AM_I_VALUE)
{
return true;
@@ -18,10 +20,10 @@ bool LIS3DSHettore::checkWhoAmI()
bool LIS3DSHettore::init()
{
- spi_driver.config();
+ spi_driver.config();
printf("LIS3DSH: init \n");
printf("Sensitive: %f\n", sensitivity);
- if (!checkWhoAmI()) // wrong who_am_i value
+ if (!checkWhoAmI()) // wrong who_am_i value
{
printf("LIS3DSH: wrong who_am_i value \n");
return false;
@@ -30,170 +32,165 @@ bool LIS3DSHettore::init()
uint8_t ctrl_reg4_value = (odr << 4) | (bdu << 3) | (7 << 0);
spi_driver.write(CTRL_REG4, ctrl_reg4_value);
- // set the full scale in CTRL_REG5
- uint8_t ctrl_reg5_value = (fullScale << 3);
- spi_driver.write(CTRL_REG5, ctrl_reg5_value);
+ // set the full scale
+ setFullScale(fullScale);
- sensitivity = 0.06;
-
return true; // correctly initialized
}
void LIS3DSHettore::setFullScale(uint8_t fullScale)
{
- //LIS3DSH
- //CTRL_REG5 = 0x24
- //set full scale
+ // LIS3DSH
+ // CTRL_REG5 = 0x24
+ // set full scale
uint8_t ctrlReg5Value = (fullScale << 3);
spi_driver.write(CTRL_REG5, ctrlReg5Value);
switch (fullScale)
{
- case FULL_SCALE_2G:
- sensitivity = sensitivityValues[0];
- break;
- case FULL_SCALE_4G:
- sensitivity = sensitivityValues[1];
- break;
- case FULL_SCALE_6G:
- sensitivity = sensitivityValues[2];
- break;
- case FULL_SCALE_8G:
- sensitivity = sensitivityValues[3];
- break;
- case FULL_SCALE_16G:
- sensitivity = sensitivityValues[4];
- break;
- default:
- break;
+ case FULL_SCALE_2G:
+ sensitivity = sensitivityValues[0];
+ break;
+ case FULL_SCALE_4G:
+ sensitivity = sensitivityValues[1];
+ break;
+ case FULL_SCALE_6G:
+ sensitivity = sensitivityValues[2];
+ break;
+ case FULL_SCALE_8G:
+ sensitivity = sensitivityValues[3];
+ break;
+ case FULL_SCALE_16G:
+ sensitivity = sensitivityValues[4];
+ break;
+ default:
+ break;
}
printf("LIS3DSH: set full scale \n");
printf("Sensitive: %f\n", sensitivity);
}
-int8_t LIS3DSHettore::getTemperature()
+LIS3DSHData LIS3DSHettore::sampleImpl()
{
+
+ AccelerometerData accelData = readAccelData();
+ TemperatureData tempData = readTemperature();
+ return LIS3DSHData(accelData, tempData);
+}
+
+TemperatureData LIS3DSHettore::readTemperature()
+{
+
// the temperature is given as a 8-bits integer (in 2-complement)
- // 1 LSB/deg - 8-bit resolution
- // also, reading zero means 25 °C, so add the temperature reference
- return spi_driver.read(OUT_T) + TEMPERATURE_REF;
+ int8_t t = spi_driver.read(OUT_T);
+
+ return TemperatureData{
+ TimestampTimer::getTimestamp(),
+ (float)t +
+ TEMPERATURE_REF}; // add the 'zero' of the temperature sensor
}
bool LIS3DSHettore::selfTest()
{
- //LIS3DSH
- //CTRL_REG5 = 0x24
- //set data rate to 50 Hz
- const int samples = 10;
- uint8_t ctrlReg4Value = (OutputDataRate::ODR_100_HZ << 4) |
- (BlockDataUpdate::UPDATE_AFTER_READ_MODE << 3) |
- (7 << 0);
- float X_ST[samples] = {0};
- float Y_ST[samples] = {0};
- float Z_ST[samples] = {0};
- float X_NO_ST[samples] = {0};
- float Y_NO_ST[samples] = {0};
- float Z_NO_ST[samples] = {0};
- float AVG_ST[3] = {0}; // one element per axis
- float AVG_NO_ST[3] = {0}; // one element per axis
+ // LIS3DSH
+ // CTRL_REG5 = 0x24
+ // set data rate to 50 Hz
+ const int samples = 10;
+ uint8_t ctrlReg4Value = (OutputDataRate::ODR_100_HZ << 4) |
+ (BlockDataUpdate::UPDATE_AFTER_READ_MODE << 3) |
+ (7 << 0);
+ float xST[samples] = {0};
+ float yST[samples] = {0};
+ float zST[samples] = {0};
+ float xNoST[samples] = {0};
+ float yNoST[samples] = {0};
+ float zNoST[samples] = {0};
+ float avgST[3] = {0}; // one element per axis
+ float avgNoST[3] = {0}; // one element per axis
spi_driver.write(CTRL_REG4, ctrlReg4Value);
- uint8_t ctrlReg5Value = (FullScale::FULL_SCALE_2G << 3) ;
+ uint8_t ctrlReg5Value = (FullScale::FULL_SCALE_2G << 3);
spi_driver.write(CTRL_REG5, ctrlReg5Value);
- for (uint8_t i = 0; i < samples; i++) {
- //read using function
- float x = getAccX();
- float y = getAccY();
- float z = getAccZ();
- //store the samples
- X_ST[i] = x;
- Y_ST[i] = y;
- Z_ST[i] = z;
- //wait 10 ms
+ for (uint8_t i = 0; i < samples; i++)
+ {
+ // read using function
+ AccelerometerData accelData = readAccelData();
+ // store the samples
+ xST[i] = accelData.accelerationX;
+ yST[i] = accelData.accelerationY;
+ zST[i] = accelData.accelerationZ;
+ // wait 10 ms
miosix::Thread::sleep(10);
}
- //reset the registers
+ // reset the registers
ctrlReg5Value = (fullScale << 3);
spi_driver.write(CTRL_REG5, ctrlReg5Value);
- for (uint8_t i = 0; i < samples; i++) {
- //read using function
- float x = getAccX();
- float y = getAccY();
- float z = getAccZ();
- //store the samples
- X_NO_ST[i] = x;
- Y_NO_ST[i] = y;
- Z_NO_ST[i] = z;
- //wait 10 ms
+ for (uint8_t i = 0; i < samples; i++)
+ {
+ // read using function
+ AccelerometerData accelData = readAccelData();
+ // store the samples
+ xNoST[i] = accelData.accelerationX;
+ yNoST[i] = accelData.accelerationY;
+ zNoST[i] = accelData.accelerationZ;
+ // wait 10 ms
miosix::Thread::sleep(10);
}
- //calculate the average
- for (uint8_t i = 0; i < samples; i++) {
- AVG_ST[0] += X_ST[i];
- AVG_ST[1] += Y_ST[i];
- AVG_ST[2] += Z_ST[i];
- AVG_NO_ST[0] += X_NO_ST[i];
- AVG_NO_ST[1] += Y_NO_ST[i];
- AVG_NO_ST[2] += Z_NO_ST[i];
+ // calculate the average
+ for (uint8_t i = 0; i < samples; i++)
+ {
+ avgST[0] += xST[i];
+ avgST[1] += yST[i];
+ avgST[2] += zST[i];
+ avgNoST[0] += xNoST[i];
+ avgNoST[1] += yNoST[i];
+ avgNoST[2] += zNoST[i];
}
- for (uint8_t i = 0; i < 3; i++) {
- AVG_ST[i] /= samples;
- AVG_NO_ST[i] /= samples;
+ for (uint8_t i = 0; i < 3; i++)
+ {
+ avgST[i] /= samples;
+ avgNoST[i] /= samples;
}
- //calculate delta
+ // calculate delta
float delta[3] = {0};
- for (uint8_t i = 0; i < 3; i++) {
- delta[i] = fabs(AVG_NO_ST[i] - AVG_ST[i]);
+ for (uint8_t i = 0; i < 3; i++)
+ {
+ delta[i] = fabs(avgNoST[i] - avgST[i]);
printf("delta[%d] = %f\n", i, delta[i]);
}
- if ((delta[0] >
- SELF_TEST_DIFF_X_Y + SELF_TEST_DIFF_X_Y * SELF_TEST_TOLERANCE) ||
- (delta[1] >
- SELF_TEST_DIFF_X_Y + SELF_TEST_DIFF_X_Y * SELF_TEST_TOLERANCE) ||
- (delta[2] >
- SELF_TEST_DIFF_Z + SELF_TEST_DIFF_Z * SELF_TEST_TOLERANCE))
- {
- printf("LIS3DSH: self test failed\n");
- return false;
- }
+ if ((delta[0] >
+ SELF_TEST_DIFF_X_Y + SELF_TEST_DIFF_X_Y * SELF_TEST_TOLERANCE) ||
+ (delta[1] >
+ SELF_TEST_DIFF_X_Y + SELF_TEST_DIFF_X_Y * SELF_TEST_TOLERANCE) ||
+ (delta[2] > SELF_TEST_DIFF_Z + SELF_TEST_DIFF_Z * SELF_TEST_TOLERANCE))
+ {
+ printf("LIS3DSH: self test failed\n");
+ return false;
+ }
return true;
}
-uint64_t LIS3DSHettore::getAccelerationTimestamp()
-{
- return TimestampTimer::getTimestamp();
-}
-
int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8) | lsb; }
-
-float LIS3DSHettore::getAccX()
+// readacceldata eredita da LIS3DSHEttore
+AccelerometerData LIS3DSHettore::readAccelData()
{
- //LIS3DSH
- //OUT_X_L = 0x28
- //OUT_X_H = 0x29
+ AccelerometerData accelData;
+ accelData.accelerationTimestamp = TimestampTimer::getTimestamp();
+
int8_t accelL = spi_driver.read(OUT_X_L);
int8_t accelH = spi_driver.read(OUT_X_H);
- return static_cast<float>(combine(accelH, accelL)) * sensitivity;
-}
+ accelData.accelerationX =
+ static_cast<float>(combine(accelH, accelL)) * sensitivity;
-float LIS3DSHettore::getAccY()
-{
- //LIS3DSH
- //OUT_Y_L = 0x2A
- //OUT_Y_H = 0x2B
- int8_t accelL = spi_driver.read(OUT_Y_L);
- int8_t accelH = spi_driver.read(OUT_Y_H);
- return static_cast<float>(combine(accelH, accelL)) * sensitivity;
-}
+ accelL = spi_driver.read(OUT_Y_L);
+ accelH = spi_driver.read(OUT_Y_H);
+ accelData.accelerationY =
+ static_cast<float>(combine(accelH, accelL)) * sensitivity;
-float LIS3DSHettore::getAccZ()
-{
- //LIS3DSH
- //OUT_Z_L = 0x2C
- //OUT_Z_H = 0x2D
- int8_t accelL = spi_driver.read(OUT_Z_L);
- int8_t accelH = spi_driver.read(OUT_Z_H);
- return static_cast<float>(combine(accelH, accelL)) * sensitivity;
-}
+ accelL = spi_driver.read(OUT_Z_L);
+ accelH = spi_driver.read(OUT_Z_H);
+ accelData.accelerationZ =
+ static_cast<float>(combine(accelH, accelL)) * sensitivity;
+ return accelData;
}
-
+} // namespace Boardcore
diff --git a/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h b/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h
index 8d890b313e48a769c75944f8054a9b24cb6873d9..789e6ccae627a4d68d8ce425c45d7dd2fc2a9d10 100644
--- a/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h
+++ b/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h
@@ -1,43 +1,85 @@
-
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Ettore Luigi Pane
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
#pragma once
-#include "drivers/ettore/SPIDriver.h"
#include <drivers/timer/TimestampTimer.h>
#include <math.h>
+#include <sensors/Sensor.h>
+
+#include "LIS3DSHData.h"
+#include "drivers/ettore/SPIDriver.h"
using namespace miosix;
namespace Boardcore
{
-class LIS3DSHettore
+class LIS3DSHettore : public Sensor<LIS3DSHData>
{
public:
- LIS3DSHettore(uint8_t odr, uint8_t bdu,
- uint8_t fullScale = FullScale::FULL_SCALE_2G);
-
+ /**
+ * @brief Constructor.
+ *
+ * @param odr data rate output (default is 100Hz).
+ * @param bdu BlockDataUpdate, defines the data reading mode.
+ * Default value is to update after data
+ * has been read (BDU=1).
+ * @param fullScale full scale range (from +/-2g up to +/-16g).
+ * Default value is +/-2g.
+ */
+ LIS3DSHettore(uint8_t odr, uint8_t bdu,
+ uint8_t fullScale = FullScale::FULL_SCALE_2G);
+
+ /**
+ * @brief Initialize the sensor.
+ *
+ * @return true if the sensor is correctly initialized, false otherwise.
+ */
bool init();
+ /**
+ * @brief Checks onboard who_am_i register.
+ *
+ * @return true if the who_am_i value is correct, false otherwise.
+ */
bool checkWhoAmI();
- int8_t getTemperature();
-
+ /**
+ * @brief Set the full scale range.
+ *
+ * @param fullScale full scale range (from +/-2g up to +/-16g).
+ */
void setFullScale(uint8_t fullScale);
- uint64_t getAccelerationTimestamp();
-
- float getAccX();
- float getAccY();
- float getAccZ();
-
-
-
-
+ /**
+ * @brief Do a full self test of the sensor.
+ *
+ * @return true if the self test is passed, false otherwise.
+ */
bool selfTest();
- enum OutputDataRate : uint8_t
+ enum OutputDataRate : uint8_t
{
ODR_POWER_DOWN = 0, // default value
ODR_3_125_HZ = 1,
@@ -54,24 +96,25 @@ public:
enum BlockDataUpdate : uint8_t
{
CONTINUOUS_UPDATE_MODE = 0,
- UPDATE_AFTER_READ_MODE = 1 // values updated only when MSB and LSB are read
+ UPDATE_AFTER_READ_MODE =
+ 1 // values updated only when MSB and LSB are read
};
enum Registers : uint8_t
{
- WHO_AM_I_REG = 0x0F,
+ WHO_AM_I_REG = 0x0F,
CTRL_REG4 = 0x20, // control register to set ODR and BDU
CTRL_REG5 = 0x24, // control register to set self-test
- OUT_T = 0x0C, // temperature output register
- OUT_X_L = 0x28,
- OUT_X_H = 0x29,
- OUT_Y_L = 0x2A,
- OUT_Y_H = 0x2B,
- OUT_Z_L = 0x2C,
- OUT_Z_H = 0x2D,
+ OUT_T = 0x0C, // temperature output register
+ OUT_X_L = 0x28,
+ OUT_X_H = 0x29,
+ OUT_Y_L = 0x2A,
+ OUT_Y_H = 0x2B,
+ OUT_Z_L = 0x2C,
+ OUT_Z_H = 0x2D,
};
- enum FullScale
+ enum FullScale
{
FULL_SCALE_2G = 0, // 000, +/- 2g
FULL_SCALE_4G = 1, // 001, +/- 4g
@@ -80,30 +123,53 @@ public:
FULL_SCALE_16G = 4, // 100 +/- 16g
};
-
-
-
+ /**
+ * @brief Sensitivity of the sensor.
+ */
+ float sensitivity = 0.06;
private:
-
+ /**
+ * @brief SPI driver.
+ */
SpiDriver spi_driver;
+ /**
+ * @brief Output data rate.
+ */
uint8_t odr;
+ /**
+ * @brief Block data update.
+ */
uint8_t bdu;
+ /**
+ * @brief Full scale range.
+ */
uint8_t fullScale; // full scale value, default +/- 2g
+ /**
+ * @brief Sensitivity values for each full scale range.
+ */
const float sensitivityValues[5] = {0.06, 0.12, 0.18, 0.24, 0.73};
- float sensitivity = 0.06;
+ /**
+ * @brief Read the accelerometer data.
+ *
+ * @return AccelerometerData struct.
+ */
+ LIS3DSHData sampleImpl();
- const uint8_t WHO_AM_I_VALUE = 63;
+ AccelerometerData readAccelData();
+ TemperatureData readTemperature();
+
+ const uint8_t WHO_AM_I_VALUE = 63;
const uint8_t TEMPERATURE_REF = 25;
};
} // namespace Boardcore
- const float SELF_TEST_DIFF_X_Y = 140.0f; // 140 mg
- const float SELF_TEST_DIFF_Z = 590.0f; // 590 mg
- const float SELF_TEST_TOLERANCE = 0.3f;
+const float SELF_TEST_DIFF_X_Y = 140.0f; // 140 mg
+const float SELF_TEST_DIFF_Z = 590.0f; // 590 mg
+const float SELF_TEST_TOLERANCE = 0.3f;
enum OutputDataRate : uint8_t
{
@@ -124,4 +190,3 @@ enum BlockDataUpdate : uint8_t
CONTINUOUS_UPDATE_MODE = 0,
UPDATE_AFTER_READ_MODE = 1 // values updated only when MSB and LSB are read
};
-
diff --git a/src/shared/sensors/LIS3DSH-ettore/LIS3DSHData.h b/src/shared/sensors/LIS3DSH-ettore/LIS3DSHData.h
new file mode 100644
index 0000000000000000000000000000000000000000..828f4ae0dc704e8dcd03fe7d5a219ccacf35a523
--- /dev/null
+++ b/src/shared/sensors/LIS3DSH-ettore/LIS3DSHData.h
@@ -0,0 +1,44 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Ettore Luigi Pane
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#pragma once
+
+#include <sensors/SensorData.h>
+
+namespace Boardcore
+{
+struct LIS3DSHData : public AccelerometerData, public TemperatureData
+{
+ /*
+ @brief Default constructor for LIS3DSHData (including timestamp)
+ */
+ LIS3DSHData() : AccelerometerData{0, 0.0, 0.0, 0.0}, TemperatureData{0, 0.0}
+ {
+ }
+
+ LIS3DSHData(AccelerometerData acc, TemperatureData temp)
+ : AccelerometerData{acc.accelerationTimestamp, acc.accelerationX,
+ acc.accelerationY, acc.accelerationZ},
+ TemperatureData{temp.temperatureTimestamp, temp.temperature}
+ {
+ }
+};
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/tests/sensors/test-ettore.cpp b/src/tests/sensors/test-ettore.cpp
index a33eb5c56267e84e6b828561b824e0260f4d1145..80fe5b8e7f2023116733986a58f8318ed4d230be 100644
--- a/src/tests/sensors/test-ettore.cpp
+++ b/src/tests/sensors/test-ettore.cpp
@@ -1,5 +1,27 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Ettore Luigi Pane
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
#include <miosix.h>
#include <utils/Debug.h>
+
#include "sensors/LIS3DSH-ettore/LIS3DSH.h"
using namespace miosix;
@@ -8,17 +30,18 @@ using namespace Boardcore;
int main()
{
LIS3DSHettore driver(LIS3DSHettore::OutputDataRate::ODR_100_HZ,
- LIS3DSHettore::BlockDataUpdate::CONTINUOUS_UPDATE_MODE,
- LIS3DSHettore::FullScale::FULL_SCALE_2G);
+ LIS3DSHettore::BlockDataUpdate::CONTINUOUS_UPDATE_MODE,
+ LIS3DSHettore::FullScale::FULL_SCALE_2G);
+ LIS3DSHData data;
-
- printf("Ciao\n");
if (driver.init())
{
if (driver.selfTest())
{
printf("Self test passed\n");
- } else {
+ }
+ else
+ {
while (true)
{
TRACE("Self test failed\n");
@@ -27,24 +50,27 @@ int main()
}
driver.setFullScale(LIS3DSHettore::FullScale::FULL_SCALE_4G);
-
+
while (true)
{
- TRACE("Temp : %d °C \n", driver.getTemperature());
- TRACE("Timestamp : %llu \n", driver.getAccelerationTimestamp());
- float accX = driver.getAccX();
- float accY = driver.getAccY();
- float accZ = driver.getAccZ();
- TRACE("AccX RAW : %f\n", accX );
+ driver.sample();
+ data = driver.getLastSample();
+
+ TRACE("Temp : %d °C \n", data.temperature);
+ TRACE("Timestamp : %llu \n", data.accelerationTimestamp);
+ float accX = data.accelerationX;
+ float accY = data.accelerationY;
+ float accZ = data.accelerationZ;
+ TRACE("AccX RAW : %f\n", accX);
TRACE("AccY RAW: %f\n", accY);
TRACE("AccZ RAW: %f\n", accZ);
-
-
Thread::sleep(200);
}
- } else {
- while (true)
+ }
+ else
+ {
+ while (true)
{
TRACE("error \n");
printf("Ciao\n");