Cortex Challenge Team / Mbed 2 deprecated DiscoveryF3-LSM303_Compass

Example using the LSM303 MEMS compass onboard the STM32F3-Discovery board.

Dependencies:   LSM303DLHC mbed

main.cpp@1:4d3e9a507feb, 2015-03-21 (annotated)

Committer:
dousape2
Date:
Sat Mar 21 16:20:45 2015 +0000
Revision:
1:4d3e9a507feb
Parent:
0:6b2892e8a0b2
Child:
2:781079d0c247
snad

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dousape2 1:4d3e9a507feb 1 /**********************************************************************************
dousape2 1:4d3e9a507feb 2 * @file main.cpp
dousape2 1:4d3e9a507feb 3 * @author Name
dousape2 1:4d3e9a507feb 4 * @version V0.1
dousape2 1:4d3e9a507feb 5 * @date 09-March-2015
dousape2 1:4d3e9a507feb 6 * @brief LEDs blinking with ticker.
dousape2 1:4d3e9a507feb 7 * With push button pressed, LEDs turn on.
dousape2 1:4d3e9a507feb 8 ***********************************************************************************/
dousape2 1:4d3e9a507feb 9
dousape2 1:4d3e9a507feb 10 /**********************************************************************************/
dousape2 1:4d3e9a507feb 11 /* Table of used pins on STM32F3 Discovery kit */
dousape2 1:4d3e9a507feb 12 /**********************************************************************************/
dousape2 1:4d3e9a507feb 13 /* Discovery pin | ST Nucleo F303RE pin | peripheral */
dousape2 1:4d3e9a507feb 14 /* PA_0 | PC_13 | User button */
dousape2 1:4d3e9a507feb 15 /* PE_8 to PE_15 | PA_5 | LEDs */
dousape2 1:4d3e9a507feb 16 /**********************************************************************************/
dousape2 1:4d3e9a507feb 17
dousape2 1:4d3e9a507feb 18 /* Includes ----------------------------------------------------------------------*/
dousape2 1:4d3e9a507feb 19
dousape2 0:6b2892e8a0b2 20 #include "mbed.h"
dousape2 1:4d3e9a507feb 21 #include "LSM303DLHC.h" //library necessary to comunicate with LSM303DLHC
dousape2 1:4d3e9a507feb 22 #include "stm32f3xx_hal_gpio.h" //library necessary to blink LEDs on STM32F3 discovery
dousape2 1:4d3e9a507feb 23
dousape2 1:4d3e9a507feb 24 /* Defines -----------------------------------------------------------------------*/
dousape2 1:4d3e9a507feb 25
dousape2 1:4d3e9a507feb 26 // In some mbed libraries are not included these definines
dousape2 0:6b2892e8a0b2 27
dousape2 1:4d3e9a507feb 28 //#define GPIOE_BASE (AHB2PERIPH_BASE + 0x1000)
dousape2 1:4d3e9a507feb 29 //#define GPIOE ((GPIO_TypeDef *) GPIOE_BASE)
dousape2 1:4d3e9a507feb 30 //#define RCC_AHBENR_GPIOEEN ((uint32_t)0x00200000)
dousape2 1:4d3e9a507feb 31 //#define RCC_AHBPeriph_GPIOE RCC_AHBENR_GPIOEEN
dousape2 1:4d3e9a507feb 32
dousape2 1:4d3e9a507feb 33 /* Variables ---------------------------------------------------------------------*/
dousape2 0:6b2892e8a0b2 34 bool oppos = false;
dousape2 0:6b2892e8a0b2 35
dousape2 1:4d3e9a507feb 36 //mbed - initialization of peripherals
dousape2 1:4d3e9a507feb 37 InterruptIn my_button(PA_0);
dousape2 1:4d3e9a507feb 38
dousape2 1:4d3e9a507feb 39 //LSM303DLHC - initialization of peripherals
dousape2 0:6b2892e8a0b2 40 LSM303DLHC compass(PB_7, PB_6);
dousape2 0:6b2892e8a0b2 41
dousape2 1:4d3e9a507feb 42 /* Functions----------------------------------------------------------------------*/
dousape2 1:4d3e9a507feb 43
dousape2 1:4d3e9a507feb 44 /*******************************************************************************
dousape2 1:4d3e9a507feb 45 * Function Name : pressed.
dousape2 1:4d3e9a507feb 46 * Description : Blinks whit 8 LEDs if button is pressed and change variables.
dousape2 1:4d3e9a507feb 47 * Input : None.
dousape2 1:4d3e9a507feb 48 * Output : Blinks whit 8 LEDs and set variable.
dousape2 1:4d3e9a507feb 49 * Return : None.
dousape2 1:4d3e9a507feb 50 *******************************************************************************/
dousape2 0:6b2892e8a0b2 51 void pressed()
dousape2 0:6b2892e8a0b2 52 {
dousape2 1:4d3e9a507feb 53 // Toggle pins PE_15 to PE_8 , where LEDs are attached to
dousape2 0:6b2892e8a0b2 54 HAL_GPIO_TogglePin(GPIOE,GPIO_PIN_14 | GPIO_PIN_15 | GPIO_PIN_13 | GPIO_PIN_12 | GPIO_PIN_11 | GPIO_PIN_10 | GPIO_PIN_9 | GPIO_PIN_8);
dousape2 1:4d3e9a507feb 55 // oposit value of oppos
dousape2 0:6b2892e8a0b2 56 oppos = !oppos;
dousape2 0:6b2892e8a0b2 57 }
dousape2 0:6b2892e8a0b2 58
dousape2 1:4d3e9a507feb 59 /***********************************************************************************
dousape2 1:4d3e9a507feb 60 * Function Name : main.
dousape2 1:4d3e9a507feb 61 * Description : Main routine.
dousape2 1:4d3e9a507feb 62 * Input : None.
dousape2 1:4d3e9a507feb 63 * Output : None.
dousape2 1:4d3e9a507feb 64 * Return : None.
dousape2 1:4d3e9a507feb 65 ***********************************************************************************/
dousape2 0:6b2892e8a0b2 66 int main()
dousape2 0:6b2892e8a0b2 67 {
dousape2 0:6b2892e8a0b2 68 float ax, ay, az;
dousape2 0:6b2892e8a0b2 69 float mx, my, mz;
dousape2 0:6b2892e8a0b2 70
dousape2 1:4d3e9a507feb 71 //inicialize power (clock source) to port E (GPIOE)
dousape2 0:6b2892e8a0b2 72 __GPIOE_CLK_ENABLE();
dousape2 1:4d3e9a507feb 73 // RCC->AHBENR |= RCC_AHBPeriph_GPIOE; // if __GPIOE_CLK_ENABLE(); is not defined
dousape2 1:4d3e9a507feb 74
dousape2 1:4d3e9a507feb 75 //inicialize pins
dousape2 1:4d3e9a507feb 76 // atructure to set GPIO
dousape2 0:6b2892e8a0b2 77 GPIO_InitTypeDef GPIO_InitStruct;
dousape2 1:4d3e9a507feb 78 //Specifies the operating mode for the selected pins.
dousape2 1:4d3e9a507feb 79 // Output Push Pull Mode
dousape2 0:6b2892e8a0b2 80 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
dousape2 1:4d3e9a507feb 81 //Specifies the Pull-up or Pull-Down activation for the selected pins.
dousape2 1:4d3e9a507feb 82 //Pull-up activation
dousape2 0:6b2892e8a0b2 83 GPIO_InitStruct.Pull = GPIO_PULLUP;
dousape2 1:4d3e9a507feb 84 //Specifies the speed for the selected pins.
dousape2 1:4d3e9a507feb 85 //High speed
dousape2 0:6b2892e8a0b2 86 GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
dousape2 1:4d3e9a507feb 87 //Specifies the GPIO pins to be configured.
dousape2 1:4d3e9a507feb 88 //Pins 15 to 8
dousape2 1:4d3e9a507feb 89 GPIO_InitStruct.Pin = GPIO_PIN_15 | GPIO_PIN_14 | GPIO_PIN_13 | GPIO_PIN_12 | GPIO_PIN_11 | GPIO_PIN_10 | GPIO_PIN_9 | GPIO_PIN_8;
dousape2 1:4d3e9a507feb 90
dousape2 1:4d3e9a507feb 91 //Inicialize pins PE_15 to PE_8
dousape2 1:4d3e9a507feb 92 HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
dousape2 1:4d3e9a507feb 93
dousape2 1:4d3e9a507feb 94 // button was pressed, call function pressed
dousape2 0:6b2892e8a0b2 95 my_button.fall(&pressed);
dousape2 0:6b2892e8a0b2 96
dousape2 0:6b2892e8a0b2 97 while (1) {
dousape2 1:4d3e9a507feb 98 //read value from compass
dousape2 0:6b2892e8a0b2 99 compass.read(&ax, &ay, &az, &mx, &my, &mz);
dousape2 1:4d3e9a507feb 100 //calculate angle
dousape2 0:6b2892e8a0b2 101 double heading = atan2(my, mx);
dousape2 0:6b2892e8a0b2 102 if (heading < 0)
dousape2 0:6b2892e8a0b2 103 heading += 2 * 3.14159265359;
dousape2 0:6b2892e8a0b2 104 heading=heading * (double)180 / 3.14159265359;
dousape2 1:4d3e9a507feb 105 //set LEDs
dousape2 1:4d3e9a507feb 106 if(heading>=338 || heading<23) { // compare angle
dousape2 1:4d3e9a507feb 107 // on value oppos set (reset) one LED and other reset (set)
dousape2 0:6b2892e8a0b2 108 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15,oppos?GPIO_PIN_SET:GPIO_PIN_RESET);
dousape2 0:6b2892e8a0b2 109 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_14 | GPIO_PIN_13 | GPIO_PIN_12 | GPIO_PIN_11 | GPIO_PIN_10 | GPIO_PIN_9 | GPIO_PIN_8,oppos?GPIO_PIN_RESET:GPIO_PIN_SET);
dousape2 0:6b2892e8a0b2 110 }
dousape2 0:6b2892e8a0b2 111 if(heading>=23 && heading<68) {
dousape2 0:6b2892e8a0b2 112 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_14,oppos?GPIO_PIN_SET:GPIO_PIN_RESET);
dousape2 0:6b2892e8a0b2 113 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15 | GPIO_PIN_13 | GPIO_PIN_12 | GPIO_PIN_11 | GPIO_PIN_10 | GPIO_PIN_9 | GPIO_PIN_8,oppos?GPIO_PIN_RESET:GPIO_PIN_SET);
dousape2 0:6b2892e8a0b2 114 }
dousape2 0:6b2892e8a0b2 115 if(heading>=68 && heading<113) {
dousape2 0:6b2892e8a0b2 116 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_13,oppos?GPIO_PIN_SET:GPIO_PIN_RESET);
dousape2 0:6b2892e8a0b2 117 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15 | GPIO_PIN_14 | GPIO_PIN_12 | GPIO_PIN_11 | GPIO_PIN_10 | GPIO_PIN_9 | GPIO_PIN_8,oppos?GPIO_PIN_RESET:GPIO_PIN_SET);
dousape2 0:6b2892e8a0b2 118 }
dousape2 0:6b2892e8a0b2 119 if(heading>=113 && heading<158) {
dousape2 0:6b2892e8a0b2 120 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_12,oppos?GPIO_PIN_SET:GPIO_PIN_RESET);
dousape2 0:6b2892e8a0b2 121 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15 | GPIO_PIN_14 | GPIO_PIN_13 | GPIO_PIN_11 | GPIO_PIN_10 | GPIO_PIN_9 | GPIO_PIN_8,oppos?GPIO_PIN_RESET:GPIO_PIN_SET);
dousape2 0:6b2892e8a0b2 122 }
dousape2 0:6b2892e8a0b2 123 if(heading>=158 && heading<203) {
dousape2 0:6b2892e8a0b2 124 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_11,oppos?GPIO_PIN_SET:GPIO_PIN_RESET);
dousape2 0:6b2892e8a0b2 125 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15 | GPIO_PIN_14 | GPIO_PIN_13 | GPIO_PIN_12 | GPIO_PIN_10 | GPIO_PIN_9 | GPIO_PIN_8,oppos?GPIO_PIN_RESET:GPIO_PIN_SET);
dousape2 0:6b2892e8a0b2 126 }
dousape2 0:6b2892e8a0b2 127 if(heading>=203 && heading<248) {
dousape2 0:6b2892e8a0b2 128 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_10,oppos?GPIO_PIN_SET:GPIO_PIN_RESET);
dousape2 0:6b2892e8a0b2 129 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15 | GPIO_PIN_14 | GPIO_PIN_13 | GPIO_PIN_12 | GPIO_PIN_11 | GPIO_PIN_9 | GPIO_PIN_8,oppos?GPIO_PIN_RESET:GPIO_PIN_SET);
dousape2 0:6b2892e8a0b2 130 }
dousape2 0:6b2892e8a0b2 131 if(heading>=248 && heading<293) {
dousape2 0:6b2892e8a0b2 132 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_9,oppos?GPIO_PIN_SET:GPIO_PIN_RESET);
dousape2 0:6b2892e8a0b2 133 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15 | GPIO_PIN_14 | GPIO_PIN_13 | GPIO_PIN_12 | GPIO_PIN_11 | GPIO_PIN_10 | GPIO_PIN_8,oppos?GPIO_PIN_RESET:GPIO_PIN_SET);
dousape2 0:6b2892e8a0b2 134 }
dousape2 0:6b2892e8a0b2 135 if(heading>=293 && heading<338) {
dousape2 0:6b2892e8a0b2 136 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_8,oppos?GPIO_PIN_SET:GPIO_PIN_RESET);
dousape2 0:6b2892e8a0b2 137 HAL_GPIO_WritePin(GPIOE,GPIO_PIN_15 | GPIO_PIN_14 | GPIO_PIN_13 | GPIO_PIN_12 | GPIO_PIN_11 | GPIO_PIN_10 | GPIO_PIN_9,oppos?GPIO_PIN_RESET:GPIO_PIN_SET);
dousape2 0:6b2892e8a0b2 138 }
dousape2 0:6b2892e8a0b2 139 }
dousape2 0:6b2892e8a0b2 140 }
dousape2 0:6b2892e8a0b2 141