/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
** This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2018 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f3xx_hal.h"
#include "i2c.h"
#include "gpio.h"
/* USER CODE BEGIN Includes */
#include "LSM303DLHC.h"
#include "math.h"
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
unsigned char measurementData[6];
signed short rawData[3];
float accData[3],theta,alpha;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
*
* @retval None
*/
int main(void)
{
/* USER CODE BEGIN 1 */
LSM303DLHCAcc_InitTypeDef acc_init;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
acc_init.AccFull_Scale=LSM303DLHC_FULLSCALE_4G;
acc_init.AccOutput_DataRate=LSM303DLHC_ACC_ODR_50_HZ;
acc_init.Axes_Enable=LSM303DLHC_AXES_ENABLE;
acc_init.BlockData_Update=LSM303DLHC_BlockUpdate_Continous;
acc_init.Endianness=LSM303DLHC_BLE_LSB;
acc_init.High_Resolution=LSM303DLHC_HR_ENABLE;
acc_init.Power_Mode=LSM303DLHC_NORMAL_MODE;
LSM303DLHC_AccInit(&acc_init);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
//read acc data measurement, device address – 0x32, reg address 0x28
LSM303DLHC_Read(0x32,0x28,&measurementData[0],6);
//join two bytes to create short type variable
rawData[0]=(signed short)measurementData[0]+(signed short)measurementData[1]*256;
rawData[1]=(signed short)measurementData[2]+(signed short)measurementData[3]*256;
rawData[2]=(signed short)measurementData[4]+(signed short)measurementData[5]*256;
//scale measurements and express them in g units
accData[0]=(float)rawData[0]*(float)0.001/16;
accData[1]=(float)rawData[1]*(float)0.001/16;
accData[2]=(float)rawData[2]*(float)0.001/16;
HAL_Delay(10);
theta= asin(accData[0]);
alpha = acos((-accData[1])/cos(theta)) ;
if (theta>1){
HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9,GPIO_PIN_RESET);
HAL_Delay(10);
HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9,GPIO_PIN_SET);
}
else if (theta<-1){
HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13,GPIO_PIN_RESET);
HAL_Delay(10);
HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13,GPIO_PIN_SET);
}
if (alpha>1){
HAL_GPIO_WritePin(GPIOE,GPIO_PIN_10,GPIO_PIN_RESET);
HAL_Delay(10);
HAL_GPIO_WritePin(GPIOE,GPIO_PIN_10,GPIO_PIN_SET);
}
else if (alpha<-1){
HAL_GPIO_WritePin(GPIOE,GPIO_PIN_14,GPIO_PIN_RESET);
HAL_Delay(10);
HAL_GPIO_WritePin(GPIOE,GPIO_PIN_14,GPIO_PIN_SET);
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_HSI;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @param file: The file name as string.
* @param line: The line in file as a number.
* @retval None
*/
void _Error_Handler(char *file, int line)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
