accgyro.cpp

00001 #include "LSM6DSLSensor.h"
00002 #include "accgyro.h"
00003 #include "mbed.h"
00004 #include "rtos.h"
00005 
00006 //Serial pc(USBTX, USBRX);
00007 DigitalOut led1(LED1);
00008 int32_t ACCGYRO_gyro_axes[3];
00009 int32_t ACCGYRO_acc_axes[3];
00010 static DevI2C devI2c(PB_11,PB_10);
00011 static LSM6DSLSensor acc_gyro(&devI2c,LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW,PD_11);
00012 EventQueue ACCGYRO_queue;
00013 Mutex ACCGYRO_mutex;
00014 
00015 int32_t ACCGYRO_get_gyro_x()
00016 {
00017     int32_t temp;
00018     //ACCGYRO_mutex.lock();
00019     temp = ACCGYRO_gyro_axes[0];
00020     //ACCGYRO_mutex.unlock();
00021     return temp;
00022 }
00023 
00024 void ACCGYRO_task()
00025 {
00026     led1 = !led1;
00027     //ACCGYRO_mutex.lock();
00028     acc_gyro.get_x_axes(ACCGYRO_gyro_axes);
00029     acc_gyro.get_g_axes(ACCGYRO_acc_axes);
00030     //ACCGYRO_mutex.unlock();
00031     //pc.printf("LSM6DSL [acc/mg]:        %6ld\r\n", ACCGYRO_gyro_axes[0]);
00032 };
00033 
00034 void ACCGYRO_init()
00035 {
00036     //pc.printf("Initing LSM6DSL\r\n", ACCGYRO_gyro_axes[0]);
00037     acc_gyro.init(NULL);
00038     acc_gyro.enable_x();
00039     acc_gyro.enable_g();
00040     //RtosTimer ACCGYRO_Timer(&ACCGYRO_task,osTimerPeriodic);
00041     //ACCGYRO_Timer.start(100);
00042     //pc.printf("Init done\r\n");
00043     //ACCGYRO_queue.call_every(1000, ACCGYRO_task);
00044     //ACCGYRO_queue.dispatch();
00045 };