1. /**
2.   ******************************************************************************
3.   * @file    main.c
4.   * @author  MCD Application Team
5.   * @version V1.1.2
6.   * @date    14-August-2015
7.   * @brief Program configures triaxial magnetometer and accelerometer.  
8.         * This time to sensor configuration was used special prepared library from
9.         * LSM303DLH.c module. This module alow on faster sensor configuration. To configure sensor we have to
10.   * fill up all field of the configuration structure and execute configuration function.
11.         * Additionaly INT1 line was enabled. Thanks to them uC is informed about new data measured by sensor
12.         * ready to read.
13.   ******************************************************************************
14.   */
15.  
16.  
17. /* Includes ------------------------------------------------------------------*/
18. #include "stm32f30x.h"
19. #include "Led.h"
20. #include "Hardware.h"
21. #include "Delay.h"
22. #include "LSM303DLHC.h"
23. #include "Time.h"
24.  
25. /** @addtogroup STM32F30x_StdPeriph_Examples
26.   * @{
27.   */
28.  
29. /** @addtogroup Basic_example
30.   * @{
31.   */
32.  
33. /* Private typedef -----------------------------------------------------------*/
34. /* Private define ------------------------------------------------------------*/
35. /* Private macro -------------------------------------------------------------*/
36. /* Private variables ---------------------------------------------------------*/
37. unsigned char measurementData[6];
38. signed short rawData[3];
39. float accData[3];
40. float magData[3];
41.  
42. int mag_period;
43. /* Private function prototypes -----------------------------------------------*/
44. void I2c_Configuration(void);
45. /* Private functions ---------------------------------------------------------*/
46.  
47. /**
48.   * @brief  Main program.
49.   * @param  None
50.   * @retval None
51.   */
52. int main(void)
53. {
54.         LSM303DLHCAcc_InitTypeDef acc_init;
55.         LSM303DLHCMag_InitTypeDef mag_init;
56.   /*!< At this stage the microcontroller clock setting is already configured,
57.        this is done through SystemInit() function which is called from startup
58.        file (startup_stm32f30x.s) before to branch to application main.
59.        To reconfigure the default setting of SystemInit() function, refer to
60.        system_stm32f30x.c file
61.      */
62.         /* configure basic modules, pins and clocks*/
63.   Hardware_Init();
64.  
65.        
66.         /* Time module initialisation */
67.         Time_Init();
68.  
69.         /* configure I2C1 port */
70.         I2c_Configuration();
71.        
72.         /* Accelerometer configuration */
73.        
74.         acc_init.AccFull_Scale=LSM303DLHC_FULLSCALE_16G;
75.         acc_init.AccOutput_DataRate=LSM303DLHC_ACC_ODR_200_HZ;
76.         acc_init.Axes_Enable=LSM303DLHC_AXES_ENABLE;
77.         acc_init.BlockData_Update=LSM303DLHC_BlockUpdate_Continous;
78.         acc_init.Endianness=LSM303DLHC_BLE_LSB;
79.         acc_init.High_Resolution=LSM303DLHC_HR_ENABLE;
80.         acc_init.Power_Mode=LSM303DLHC_NORMAL_MODE;
81.        
82.         LSM303DLHC_AccInit(&acc_init);
83.         //init INT1 line - on this line a high level will be set after the complete acc measurement
84.         LSM303DLHC_AccIT1Config(LSM303DLHC_IT1_DRY1,ENABLE);
85.        
86.         /* Magnetic sensor configuration */
87.        
88.         mag_init.MagFull_Scale=LSM303DLHC_FS_4_0_GA;
89.         mag_init.MagOutput_DataRate=LSM303DLHC_MAG_ODR_75_HZ;
90.         mag_init.Temperature_Sensor=LSM303DLHC_TEMPSENSOR_ENABLE;
91.         mag_init.Working_Mode=LSM303DLHC_CONTINUOS_CONVERSION;
92.        
93.         LSM303DLHC_MagInit(&mag_init);
94.  
95.   while(1)
96.   {
97.                 //wait on high level on INT1 - PE4
98.                 while(GPIO_ReadInputDataBit(GPIOE,GPIO_Pin_4)==0);
99.                 //wait on sensor measurements
100.                 mag_period=Time_GetPeriod();
101.                 //wait 20mss - this value comes frome selected sampling frequency (50Hz)
102.                 //DelayUS(10000);
103.                 //read acc data measurement
104.                 LSM303DLHC_Read(0x32,0x28,&measurementData[0],6);
105.                 //join two bytes to create short type variable
106.                 rawData[0]=(signed short)measurementData[0]+(signed short)measurementData[1]*256;
107.                 rawData[1]=(signed short)measurementData[2]+(signed short)measurementData[3]*256;
108.                 rawData[2]=(signed short)measurementData[4]+(signed short)measurementData[5]*256;
109.                 //scale measurements and express them in g units
110.                 accData[0]=(float)rawData[0]*(float)0.012/16;
111.                 accData[1]=(float)rawData[1]*(float)0.012/16;
112.                 accData[2]=(float)rawData[2]*(float)0.012/16;
113.                
114.                 //read mag data
115.                 LSM303DLHC_Read(0x3C,0x03,&measurementData[0],6);
116.                 //join two bytes to create short type variable
117.                 rawData[0]=(signed short)measurementData[1]+(signed short)measurementData[0]*256;
118.                 rawData[1]=(signed short)measurementData[3]+(signed short)measurementData[2]*256;
119.                 rawData[2]=(signed short)measurementData[5]+(signed short)measurementData[4]*256;
120.                 //scale measurements and express them in Gaus units
121.                 magData[0]=(float)rawData[0]/LSM303DLHC_M_SENSITIVITY_XY_4Ga;
122.                 magData[1]=(float)rawData[1]/LSM303DLHC_M_SENSITIVITY_XY_4Ga;
123.                 magData[2]=(float)rawData[2]/LSM303DLHC_M_SENSITIVITY_Z_4Ga;
124.                
125.   }
126. }
127.  
128. void I2c_Configuration(void){
129.         I2C_InitTypeDef  I2C_InitStructure;
130.           /* I2C configuration -------------------------------------------------------*/
131.   I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
132.   I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
133.   I2C_InitStructure.I2C_DigitalFilter = 0x00;
134.   I2C_InitStructure.I2C_OwnAddress1 = 0x00;
135.   I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
136.   I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
137.   I2C_InitStructure.I2C_Timing = 0x00902025;
138.  
139.   /* Apply LSM303DLHC_I2C configuration after enabling it */
140.   I2C_Init(I2C1, &I2C_InitStructure);
141.  
142.   /* LSM303DLHC_I2C Peripheral Enable */
143.   I2C_Cmd(I2C1, ENABLE);
144. }
145. #ifdef  USE_FULL_ASSERT
146.  
147. /**
148.   * @brief  Reports the name of the source file and the source line number
149.   *         where the assert_param error has occurred.
150.   * @param  file: pointer to the source file name
151.   * @param  line: assert_param error line source number
152.   * @retval None
153.   */
154. void assert_failed(uint8_t* file, uint32_t line)
155. {
156.   /* User can add his own implementation to report the file name and line number,
157.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
158.  
159.   /* Infinite loop */
160.   while (1)
161.   {
162.   }
163. }
164. #endif
165.