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) 2020 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.         unsigned char measurementData[6];
52. signed short rawData[3];
53. float accData[3];
54. float teta;
55. float fi;
56. float xfi;
57. float xteta;
58.  
59. signed short magData[3];
60.        
61. /* USER CODE BEGIN PV */
62. /* Private variables ---------------------------------------------------------*/
63.  
64. /* USER CODE END PV */
65.  
66. /* Private function prototypes -----------------------------------------------*/
67. void SystemClock_Config(void);
68.  
69. /* USER CODE BEGIN PFP */
70. /* Private function prototypes -----------------------------------------------*/
71.  
72. /* USER CODE END PFP */
73.  
74. /* USER CODE BEGIN 0 */
75.  
76. /* USER CODE END 0 */
77.  
78. /**
79.   * @brief  The application entry point.
80.   *
81.   * @retval None
82.   */
83. int main(void)
84. {
85.   /* USER CODE BEGIN 1 */
86.         LSM303DLHCAcc_InitTypeDef acc_init;
87.         LSM303DLHCMag_InitTypeDef mag_init;
88.   /* USER CODE END 1 */
89.  
90.   /* MCU Configuration----------------------------------------------------------*/
91.  
92.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
93.   HAL_Init();
94.  
95.   /* USER CODE BEGIN Init */
96.  
97.   /* USER CODE END Init */
98.  
99.   /* Configure the system clock */
100.   SystemClock_Config();
101.  
102.   /* USER CODE BEGIN SysInit */
103.  
104.   /* USER CODE END SysInit */
105.  
106.   /* Initialize all configured peripherals */
107.   MX_GPIO_Init();
108.   MX_I2C1_Init();
109.   /* USER CODE BEGIN 2 */
110.         unsigned char recData[10];
111.        
112.   HAL_I2C_Master_Receive(&hi2c1,0x31,recData,10,100);
113.        
114.         HAL_I2C_Mem_Read(&hi2c1,0x31,0x10,1,recData,10,100);
115.        
116.         acc_init.AccFull_Scale=LSM303DLHC_FULLSCALE_2G;
117.         acc_init.AccOutput_DataRate=LSM303DLHC_ACC_ODR_10_HZ;
118.         acc_init.Axes_Enable=LSM303DLHC_AXES_ENABLE;
119.         acc_init.BlockData_Update=LSM303DLHC_BlockUpdate_Continous;
120.         acc_init.Endianness=LSM303DLHC_BLE_LSB;
121.         acc_init.High_Resolution=LSM303DLHC_HR_ENABLE;
122.         acc_init.Power_Mode=LSM303DLHC_NORMAL_MODE;
123.        
124.        
125.         LSM303DLHC_AccInit(&acc_init);
126.        
127.         mag_init.MagFull_Scale=LSM303DLHC_FS_1_3_GA;
128.         mag_init.MagOutput_DataRate=LSM303DLHC_MAG_ODR_7_5_HZ;
129.         mag_init.Temperature_Sensor=LSM303DLHC_TEMPSENSOR_ENABLE;
130.         mag_init.Working_Mode=LSM303DLHC_CONTINUOS_CONVERSION;
131.        
132.         LSM303DLHC_MagInit(&mag_init);
133.   /* USER CODE END 2 */
134.  
135.   /* Infinite loop */
136.   /* USER CODE BEGIN WHILE */
137.   while (1)
138.   {
139.                 HAL_Delay(100);
140.                
141.                 LSM303DLHC_Read(0x32,0x28 | 0x80,&measurementData[0],6);
142.                
143.                 rawData[0]=(signed short)measurementData[0]+(signed short)measurementData[1]*256;
144.                 rawData[1]=(signed short)measurementData[2]+(signed short)measurementData[3]*256;
145.                 rawData[2]=(signed short)measurementData[4]+(signed short)measurementData[5]*256;
146.                 accData[0]=(float)rawData[0]*(float)0.001/16;
147.                 accData[1]=(float)rawData[1]*(float)0.001/16;
148.                 accData[2]=(float)rawData[2]*(float)0.001/16;
149.                
150.                 teta=asin(accData[0]);
151.                 fi=asin(-accData[1]/(1.0*cos(teta)));
152.                
153.                 teta=teta*(180/3.14);
154.                 fi=fi*(180/3.14);
155.                
156.                 if (fi>1)
157.                 {
158.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_11, GPIO_PIN_SET);
159.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15, GPIO_PIN_RESET);
160.                 }
161.                 else if (fi<-1)
162.                         {
163.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15, GPIO_PIN_SET);
164.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_11, GPIO_PIN_RESET);
165.                 }
166.                                 else if (-1<fi && fi<1)
167.                         {
168.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15, GPIO_PIN_RESET);
169.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_11, GPIO_PIN_RESET);
170.                 }
171.                 if (teta>1)
172.                 {
173.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9, GPIO_PIN_SET);
174.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13, GPIO_PIN_RESET);
175.                 }
176.                                 else if (teta<-1)
177.                         {
178.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13, GPIO_PIN_SET);
179.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9, GPIO_PIN_RESET);
180.                 }
181.                                 else if (-1<teta && teta<1)
182.                         {
183.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13, GPIO_PIN_RESET);
184.                         HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9, GPIO_PIN_RESET);
185.                 }
186.  
187.   /* USER CODE END WHILE */
188.  
189.   /* USER CODE BEGIN 3 */
190.        
191.                        
192.                  LSM303DLHC_Read(0x3C,0x03 | 0x80,&measurementData[0],6);
193.                
194.                 magData[0]=(float)rawData[0]/LSM303DLHC_M_SENSITIVITY_XY_1_3Ga;
195.                 magData[1]=(float)rawData[1]/LSM303DLHC_M_SENSITIVITY_XY_1_3Ga;
196.                 magData[2]=(float)rawData[2]/LSM303DLHC_M_SENSITIVITY_Z_1_3Ga;
197.   }
198.   /* USER CODE END 3 */
199.  
200. }
201.  
202. /**
203.   * @brief System Clock Configuration
204.   * @retval None
205.   */
206. void SystemClock_Config(void)
207. {
208.  
209.   RCC_OscInitTypeDef RCC_OscInitStruct;
210.   RCC_ClkInitTypeDef RCC_ClkInitStruct;
211.   RCC_PeriphCLKInitTypeDef PeriphClkInit;
212.  
213.     /**Initializes the CPU, AHB and APB busses clocks
214.     */
215.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
216.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
217.   RCC_OscInitStruct.HSICalibrationValue = 16;
218.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
219.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
220.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
221.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
222.   {
223.     _Error_Handler(__FILE__, __LINE__);
224.   }
225.  
226.     /**Initializes the CPU, AHB and APB busses clocks
227.     */
228.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
229.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
230.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
231.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
232.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
233.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
234.  
235.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
236.   {
237.     _Error_Handler(__FILE__, __LINE__);
238.   }
239.  
240.   PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C1;
241.   PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_HSI;
242.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
243.   {
244.     _Error_Handler(__FILE__, __LINE__);
245.   }
246.  
247.     /**Configure the Systick interrupt time
248.     */
249.   HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
250.  
251.     /**Configure the Systick
252.     */
253.   HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
254.  
255.   /* SysTick_IRQn interrupt configuration */
256.   HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
257. }
258.  
259. /* USER CODE BEGIN 4 */
260.  
261. /* USER CODE END 4 */
262.  
263. /**
264.   * @brief  This function is executed in case of error occurrence.
265.   * @param  file: The file name as string.
266.   * @param  line: The line in file as a number.
267.   * @retval None
268.   */
269. void _Error_Handler(char *file, int line)
270. {
271.   /* USER CODE BEGIN Error_Handler_Debug */
272.   /* User can add his own implementation to report the HAL error return state */
273.   while(1)
274.   {
275.   }
276.   /* USER CODE END Error_Handler_Debug */
277. }
278.  
279. #ifdef  USE_FULL_ASSERT
280. /**
281.   * @brief  Reports the name of the source file and the source line number
282.   *         where the assert_param error has occurred.
283.   * @param  file: pointer to the source file name
284.   * @param  line: assert_param error line source number
285.   * @retval None
286.   */
287. void assert_failed(uint8_t* file, uint32_t line)
288. {
289.   /* USER CODE BEGIN 6 */
290.   /* User can add his own implementation to report the file name and line number,
291.      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
292.   /* USER CODE END 6 */
293. }
294. #endif /* USE_FULL_ASSERT */
295.  
296. /**
297.   * @}
298.   */
299.  
300. /**
301.   * @}
302.   */
303.  
304. /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
305.