Diff: accgyro.cpp

Revision:

0:0ea84b3cf851

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/accgyro.cpp	Mon Apr 30 09:43:36 2018 +0000
@@ -0,0 +1,45 @@
+#include "LSM6DSLSensor.h"
+#include "accgyro.h"
+#include "mbed.h"
+#include "rtos.h"
+
+//Serial pc(USBTX, USBRX);
+DigitalOut led1(LED1);
+int32_t ACCGYRO_gyro_axes[3];
+int32_t ACCGYRO_acc_axes[3];
+static DevI2C devI2c(PB_11,PB_10);
+static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW,PD_11);
+EventQueue ACCGYRO_queue;
+Mutex ACCGYRO_mutex;
+
+int32_t ACCGYRO_get_gyro_x()
+{
+    int32_t temp;
+    //ACCGYRO_mutex.lock();
+    temp = ACCGYRO_gyro_axes[0];
+    //ACCGYRO_mutex.unlock();
+    return temp;
+}
+
+void ACCGYRO_task()
+{
+    led1 = !led1;
+    //ACCGYRO_mutex.lock();
+    acc_gyro.get_x_axes(ACCGYRO_gyro_axes);
+    acc_gyro.get_g_axes(ACCGYRO_acc_axes);
+    //ACCGYRO_mutex.unlock();
+    //pc.printf("LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_gyro_axes[0]);
+};
+
+void ACCGYRO_init()
+{
+    //pc.printf("Initing LSM6DSL\r\n", ACCGYRO_gyro_axes[0]);
+    acc_gyro.init(NULL);
+    acc_gyro.enable_x();
+    acc_gyro.enable_g();
+    //RtosTimer ACCGYRO_Timer(&ACCGYRO_task,osTimerPeriodic);
+    //ACCGYRO_Timer.start(100);
+    //pc.printf("Init done\r\n");
+    //ACCGYRO_queue.call_every(1000, ACCGYRO_task);
+    //ACCGYRO_queue.dispatch();
+};