/**
  ******************************************************************************
  * @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) 2020 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 ---------------------------------------------------------*/
	unsigned char measurementData[6];
signed short rawData[3];
float accData[3];
float teta;
float fi;
float xfi;
float xteta;

signed short magData[3];
	
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* 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;
	LSM303DLHCMag_InitTypeDef mag_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 */
	unsigned char recData[10];
	
  HAL_I2C_Master_Receive(&hi2c1,0x31,recData,10,100);
	
	HAL_I2C_Mem_Read(&hi2c1,0x31,0x10,1,recData,10,100);
	
	acc_init.AccFull_Scale=LSM303DLHC_FULLSCALE_2G;
	acc_init.AccOutput_DataRate=LSM303DLHC_ACC_ODR_10_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);
	
	mag_init.MagFull_Scale=LSM303DLHC_FS_1_3_GA;
	mag_init.MagOutput_DataRate=LSM303DLHC_MAG_ODR_7_5_HZ;
	mag_init.Temperature_Sensor=LSM303DLHC_TEMPSENSOR_ENABLE;
	mag_init.Working_Mode=LSM303DLHC_CONTINUOS_CONVERSION;
	
	LSM303DLHC_MagInit(&mag_init); 
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		HAL_Delay(100);
		
		LSM303DLHC_Read(0x32,0x28 | 0x80,&measurementData[0],6); 
		
		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;
		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; 
		
		teta=asin(accData[0]);
		fi=asin(-accData[1]/(1.0*cos(teta)));
		
		teta=teta*(180/3.14);
		fi=fi*(180/3.14);
		
		if (fi>1)
		{
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_11, GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15, GPIO_PIN_RESET);
		}
		else if (fi<-1)
			{
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15, GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_11, GPIO_PIN_RESET);
		}
				else if (-1<fi && fi<1)
			{
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15, GPIO_PIN_RESET);
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_11, GPIO_PIN_RESET);
		}
		if (teta>1)
		{
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9, GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13, GPIO_PIN_RESET);
		}
				else if (teta<-1)
			{
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13, GPIO_PIN_SET);
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9, GPIO_PIN_RESET);
		}
				else if (-1<teta && teta<1)
			{
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13, GPIO_PIN_RESET);
			HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9, GPIO_PIN_RESET);
		}

  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
	
			
		 LSM303DLHC_Read(0x3C,0x03 | 0x80,&measurementData[0],6); 
		
		magData[0]=(float)rawData[0]/LSM303DLHC_M_SENSITIVITY_XY_1_3Ga;
		magData[1]=(float)rawData[1]/LSM303DLHC_M_SENSITIVITY_XY_1_3Ga;
		magData[2]=(float)rawData[2]/LSM303DLHC_M_SENSITIVITY_Z_1_3Ga; 
  }
  /* 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****/