1.  
2. /**
3.   ******************************************************************************
4.   * @file           : main.c
5.   * @brief          : Main program body
6.   ******************************************************************************
7.   ** This notice applies to any and all portions of this file
8.   * that are not between comment pairs USER CODE BEGIN and
9.   * USER CODE END. Other portions of this file, whether
10.   * inserted by the user or by software development tools
11.   * are owned by their respective copyright owners.
12.   *
13.   * COPYRIGHT(c) 2018 STMicroelectronics
14.   *
15.   * Redistribution and use in source and binary forms, with or without modification,
16.   * are permitted provided that the following conditions are met:
17.   *   1. Redistributions of source code must retain the above copyright notice,
18.   *      this list of conditions and the following disclaimer.
19.   *   2. Redistributions in binary form must reproduce the above copyright notice,
20.   *      this list of conditions and the following disclaimer in the documentation
21.   *      and/or other materials provided with the distribution.
22.   *   3. Neither the name of STMicroelectronics nor the names of its contributors
23.   *      may be used to endorse or promote products derived from this software
24.   *      without specific prior written permission.
25.   *
26.   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
27.   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
28.   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
29.   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
30.   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
31.   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
32.   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
33.   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
34.   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
35.   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
36.   *
37.   ******************************************************************************
38.   */
39. /* Includes ------------------------------------------------------------------*/
40. #include "main.h"
41. #include "stm32f3xx_hal.h"
42. #include "i2c.h"
43. #include "gpio.h"
44.  
45. /* USER CODE BEGIN Includes */
46. #include "LSM303DLHC.h"
47. #include "math.h"
48. /* USER CODE END Includes */
49.  
50. /* Private variables ---------------------------------------------------------*/
51.  
52. /* USER CODE BEGIN PV */
53. /* Private variables ---------------------------------------------------------*/
54. LSM303DLHCAcc_InitTypeDef acc_init;
55. unsigned char measurementData[6];
56. signed short rawData[3];
57. float accData[3];
58.  
59. /* USER CODE END PV */
60.  
61. /* Private function prototypes -----------------------------------------------*/
62. void SystemClock_Config(void);
63.  
64. /* USER CODE BEGIN PFP */
65. /* Private function prototypes -----------------------------------------------*/
66.  
67. /* USER CODE END PFP */
68.  
69. /* USER CODE BEGIN 0 */
70.  
71. /* USER CODE END 0 */
72.  
73. /**
74.   * @brief  The application entry point.
75.   *
76.   * @retval None
77.   */
78. int main(void)
79. {
80.   /* USER CODE BEGIN 1 */
81. LSM303DLHCAcc_InitTypeDef acc_init;
82.   /* USER CODE END 1 */
83.  
84.   /* MCU Configuration----------------------------------------------------------*/
85.  
86.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
87.   HAL_Init();
88.  
89.   /* USER CODE BEGIN Init */
90.  
91.   /* USER CODE END Init */
92.  
93.   /* Configure the system clock */
94.   SystemClock_Config();
95.  
96.   /* USER CODE BEGIN SysInit */
97.  
98.   /* USER CODE END SysInit */
99.  
100.   /* Initialize all configured peripherals */
101.   MX_GPIO_Init();
102.   MX_I2C1_Init();
103.   /* USER CODE BEGIN 2 */
104.   acc_init.AccFull_Scale=LSM303DLHC_FULLSCALE_4G;
105.   acc_init.AccOutput_DataRate=LSM303DLHC_ACC_ODR_50_HZ;
106.         acc_init.Axes_Enable=LSM303DLHC_AXES_ENABLE;
107.         acc_init.BlockData_Update=LSM303DLHC_BlockUpdate_Continous;
108.         acc_init.Endianness=LSM303DLHC_BLE_LSB;
109.         acc_init.High_Resolution=LSM303DLHC_HR_ENABLE;
110.         acc_init.Power_Mode=LSM303DLHC_NORMAL_MODE;
111.        
112.         LSM303DLHC_AccInit(&acc_init);
113.   /* USER CODE END 2 */
114.  
115.   /* Infinite loop */
116.   /* USER CODE BEGIN WHILE */
117.   while (1)
118.   {
119.  
120. //read acc data measurement, device address – 0x32, reg address 0x28
121. LSM303DLHC_Read(0x32,0x28,&measurementData[0],6);
122. //join two bytes to create short type variable
123. rawData[0]=(signed short)measurementData[0]+(signed short)measurementData[1]*256;
124. rawData[1]=(signed short)measurementData[2]+(signed short)measurementData[3]*256;
125. rawData[2]=(signed short)measurementData[4]+(signed short)measurementData[5]*256;
126. //scale measurements and express them in g units
127. accData[0]=(float)rawData[0]*(float)0.001/16;
128. accData[1]=(float)rawData[1]*(float)0.001/16;
129. accData[2]=(float)rawData[2]*(float)0.001/16;
130.  
131.  
132.                 }
133.   /* USER CODE END WHILE */
134.  
135.   /* USER CODE BEGIN 3 */
136.  
137.   }
138.   /* USER CODE END 3 */
139.  
140. }
141.  
142. /**
143.   * @brief System Clock Configuration
144.   * @retval None
145.   */
146. void SystemClock_Config(void)
147. {
148.  
149.   RCC_OscInitTypeDef RCC_OscInitStruct;
150.   RCC_ClkInitTypeDef RCC_ClkInitStruct;
151.   RCC_PeriphCLKInitTypeDef PeriphClkInit;
152.  
153.     /**Initializes the CPU, AHB and APB busses clocks
154.     */
155.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
156.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
157.   RCC_OscInitStruct.HSICalibrationValue = 16;
158.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
159.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
160.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
161.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
162.   {
163.     _Error_Handler(__FILE__, __LINE__);
164.   }
165.  
166.     /**Initializes the CPU, AHB and APB busses clocks
167.     */
168.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
169.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
170.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
171.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
172.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
173.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
174.  
175.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
176.   {
177.     _Error_Handler(__FILE__, __LINE__);
178.   }
179.  
180.   PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
181.   PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_HSI;
182.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
183.   {
184.     _Error_Handler(__FILE__, __LINE__);
185.   }
186.  
187.     /**Configure the Systick interrupt time
188.     */
189.   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
190.  
191.     /**Configure the Systick
192.     */
193.   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
194.  
195.   /* SysTick_IRQn interrupt configuration */
196.   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
197. }
198.  
199. /* USER CODE BEGIN 4 */
200.  
201. /* USER CODE END 4 */
202.  
203. /**
204.   * @brief  This function is executed in case of error occurrence.
205.   * @param  file: The file name as string.
206.   * @param  line: The line in file as a number.
207.   * @retval None
208.   */
209. void _Error_Handler(char *file, int line)
210. {
211.   /* USER CODE BEGIN Error_Handler_Debug */
212.   /* User can add his own implementation to report the HAL error return state */
213.   while(1)
214.   {
215.   }
216.   /* USER CODE END Error_Handler_Debug */
217. }
218.  
219. #ifdef  USE_FULL_ASSERT
220. /**
221.   * @brief  Reports the name of the source file and the source line number
222.   *         where the assert_param error has occurred.
223.   * @param  file: pointer to the source file name
224.   * @param  line: assert_param error line source number
225.   * @retval None
226.   */
227. void assert_failed(uint8_t* file, uint32_t line)
228. {
229.   /* USER CODE BEGIN 6 */
230.   /* User can add his own implementation to report the file name and line number,
231.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
232.   /* USER CODE END 6 */
233. }
234. #endif /* USE_FULL_ASSERT */
235.  
236. /**
237.   * @}
238.   */
239.  
240. /**
241.   * @}
242.   */
243.  
244. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
245.  
246.