diff options
| -rw-r--r-- | main.cpp | 31 |
1 files changed, 30 insertions, 1 deletions
@@ -10,6 +10,7 @@ #include "i2c.h" #include "lsm303dlm.h" +#include "l3gd20.h" static Pin& led_status = PA4; static Pin& led_error = PC4; @@ -26,6 +27,9 @@ static Pin& jtag_tdi = PC15; static Pin& i2c_scl = PB10; static Pin& i2c_sda = PB11; +static Pin& cs_pressure = PB4; +static Pin& cs_gyro = PB5; + bool jtag_tick(bool tdi, bool tms) { bool tdo = jtag_tdo.get(); jtag_tdi.set(tdi); @@ -281,6 +285,7 @@ uint32_t usb_stack[1024]; Thread usb_thread(usb_stack, sizeof(usb_stack), usb_main); +L3GD20 gyro(cs_gyro, SPI1); LSM303DLM_A accel(I2C2); LSM303DLM_M magn(I2C2); @@ -309,16 +314,40 @@ int main() { usb_thread.start(); + RCC.enable(RCC.SPI1); + + PA5.set_mode(Pin::AF); + PA5.set_af(5); + PA6.set_mode(Pin::AF); + PA6.set_af(5); + PA7.set_mode(Pin::AF); + PA7.set_af(5); + + cs_gyro.on(); + cs_gyro.set_mode(Pin::Output); + cs_pressure.on(); + cs_pressure.set_mode(Pin::Output); + + SPI1.reg.CR1 = 0x37f; + + Time::sleep(1000); + + gyro.init(); accel.init(); magn.init(); while(1) { led_error.toggle(); - Time::sleep(100); + Time::sleep(10); + + gyro.update(); accel.update(); magn.update(); int16_t buf[] = { + gyro.x, + gyro.y, + gyro.z, accel.x, accel.y, accel.z, |