Enabled accelerometer and magnetometer. Outputting data over usb.

1 files changed, 16 insertions, 0 deletions

diff --git a/main.cpp b/main.cpp
index 656e82d..2dda662 100644
--- a/main.cpp
+++ b/main.cpp
@@ -9,6 +9,8 @@
 #include "usb.h"
 #include "i2c.h"
 
+#include "lsm303dlm.h"
+
 static Pin& led_status = PA4;
 static Pin& led_error = PC4;
 
@@ -279,6 +281,9 @@ uint32_t usb_stack[1024];
 
 Thread usb_thread(usb_stack, sizeof(usb_stack), usb_main);
 
+LSM303DLM_A accel(I2C2);
+LSM303DLM_M magn(I2C2);
+
 int main() {
 	// Initialize system timer.
 	STK.LOAD = 168000000 / 8 / 1000; // 1000 Hz.
@@ -304,11 +309,22 @@ int main() {
 	
 	usb_thread.start();
 	
+	accel.init();
+	magn.init();
+	
 	while(1) {
 		led_error.toggle();
 		Time::sleep(100);
+		accel.update();
+		magn.update();
 		
 		int16_t buf[] = {
+			accel.x,
+			accel.y,
+			accel.z,
+			magn.x,
+			magn.y,
+			magn.z,
 		};
 		
 		if(usb_ep_ready(1)) {