E&R S3 prime
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BSP_DISCO_L476VG
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stm32l476g_discovery_compass.c
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00001 /** 00002 ****************************************************************************** 00003 * @file stm32l476g_discovery_compass.c 00004 * @author MCD Application Team 00005 * @brief This file provides a set of functions needed to manage the E-Compass 00006 * (ACCELEROMETER + MAGNETOMETER) MEMS LSM303C available on STM32L476G-Discovery 00007 * board. 00008 ****************************************************************************** 00009 * @attention 00010 * 00011 * <h2><center>© Copyright (c) 2016 STMicroelectronics. 00012 * All rights reserved.</center></h2> 00013 * 00014 * This software component is licensed by ST under BSD 3-Clause license, 00015 * the "License"; You may not use this file except in compliance with the 00016 * License. You may obtain a copy of the License at: 00017 * opensource.org/licenses/BSD-3-Clause 00018 * 00019 ****************************************************************************** 00020 */ 00021 00022 /* Includes ------------------------------------------------------------------*/ 00023 #include "stm32l476g_discovery.h" 00024 #include "stm32l476g_discovery_compass.h" 00025 #include "../Components/lsm303c/lsm303c.h" 00026 #include <math.h> 00027 00028 /** @addtogroup BSP 00029 * @{ 00030 */ 00031 00032 /** @addtogroup STM32L476G_DISCOVERY 00033 * @{ 00034 */ 00035 00036 /** @defgroup STM32L476G_DISCOVERY_COMPASS STM32L476G-DISCOVERY COMPASS 00037 * @{ 00038 */ 00039 00040 /* Private typedef -----------------------------------------------------------*/ 00041 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Types Private Types 00042 * @{ 00043 */ 00044 /** 00045 * @} 00046 */ 00047 00048 /* Private defines ------------------------------------------------------------*/ 00049 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Constants Private Constants 00050 * @{ 00051 */ 00052 /** 00053 * @} 00054 */ 00055 00056 /* Private macros ------------------------------------------------------------*/ 00057 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Macros Private Macros 00058 * @{ 00059 */ 00060 /** 00061 * @} 00062 */ 00063 00064 /* Private variables ---------------------------------------------------------*/ 00065 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Variables Private Variables 00066 * @{ 00067 */ 00068 static ACCELERO_DrvTypeDef *AccelerometerDrv; 00069 static MAGNETO_DrvTypeDef *MagnetoDrv; 00070 00071 /** 00072 * @} 00073 */ 00074 00075 /* Private function prototypes -----------------------------------------------*/ 00076 /** @addtogroup STM32L476G_DISCOVERY_COMPASS_Private_FunctionPrototypes Private Functions 00077 * @{ 00078 */ 00079 /** 00080 * @} 00081 */ 00082 00083 /* Exported functions ---------------------------------------------------------*/ 00084 /** @addtogroup STM32L476G_DISCOVERY_COMPASS_Exported_Functions 00085 * @{ 00086 */ 00087 extern void ACCELERO_IO_DeInit(void); 00088 extern void MAGNETO_IO_DeInit(void); 00089 00090 /** 00091 * @brief Initialize the COMPASS. 00092 * @retval COMPASS_OK or COMPASS_ERROR 00093 */ 00094 COMPASS_StatusTypeDef BSP_COMPASS_Init(void) 00095 { 00096 COMPASS_StatusTypeDef ret = COMPASS_OK; 00097 uint16_t ctrl = 0x0000; 00098 ACCELERO_InitTypeDef LSM303C_InitStructure; 00099 ACCELERO_FilterConfigTypeDef LSM303C_FilterStructure; 00100 MAGNETO_InitTypeDef LSM303C_InitStructureMag; 00101 00102 if (Lsm303cDrv_accelero.ReadID() != LMS303C_ACC_ID) 00103 { 00104 ret = COMPASS_ERROR; 00105 } 00106 else 00107 { 00108 /* Initialize the COMPASS accelerometer driver structure */ 00109 AccelerometerDrv = &Lsm303cDrv_accelero; 00110 00111 /* MEMS configuration ------------------------------------------------------*/ 00112 /* Fill the COMPASS accelerometer structure */ 00113 LSM303C_InitStructure.AccOutput_DataRate = LSM303C_ACC_ODR_50_HZ; 00114 LSM303C_InitStructure.Axes_Enable = LSM303C_ACC_AXES_ENABLE; 00115 LSM303C_InitStructure.AccFull_Scale = LSM303C_ACC_FULLSCALE_2G; 00116 LSM303C_InitStructure.BlockData_Update = LSM303C_ACC_BDU_CONTINUOUS; 00117 LSM303C_InitStructure.High_Resolution = LSM303C_ACC_HR_DISABLE; 00118 LSM303C_InitStructure.Communication_Mode = LSM303C_ACC_SPI_MODE; 00119 00120 /* Configure MEMS: data rate, power mode, full scale and axes */ 00121 ctrl = (LSM303C_InitStructure.High_Resolution | LSM303C_InitStructure.AccOutput_DataRate | \ 00122 LSM303C_InitStructure.Axes_Enable | LSM303C_InitStructure.BlockData_Update); 00123 00124 ctrl |= (LSM303C_InitStructure.AccFull_Scale | LSM303C_InitStructure.Communication_Mode) << 8; 00125 00126 /* Configure the COMPASS accelerometer main parameters */ 00127 AccelerometerDrv->Init(ctrl); 00128 00129 /* Fill the COMPASS accelerometer HPF structure */ 00130 LSM303C_FilterStructure.HighPassFilter_Mode_Selection = LSM303C_ACC_HPM_NORMAL_MODE; 00131 LSM303C_FilterStructure.HighPassFilter_CutOff_Frequency = LSM303C_ACC_DFC1_ODRDIV50; 00132 LSM303C_FilterStructure.HighPassFilter_Stat = LSM303C_ACC_HPI2S_INT1_DISABLE | LSM303C_ACC_HPI2S_INT2_DISABLE; 00133 00134 /* Configure MEMS: mode, cutoff frequency, Filter status, Click, AOI1 and AOI2 */ 00135 ctrl = (uint8_t)(LSM303C_FilterStructure.HighPassFilter_Mode_Selection | \ 00136 LSM303C_FilterStructure.HighPassFilter_CutOff_Frequency | \ 00137 LSM303C_FilterStructure.HighPassFilter_Stat); 00138 00139 /* Configure the COMPASS accelerometer LPF main parameters */ 00140 AccelerometerDrv->FilterConfig(ctrl); 00141 } 00142 00143 if (Lsm303cDrv_magneto.ReadID() != LMS303C_MAG_ID) 00144 { 00145 ret = COMPASS_ERROR; 00146 } 00147 else 00148 { 00149 /* Initialize the COMPASS magnetometer driver structure */ 00150 MagnetoDrv = &Lsm303cDrv_magneto; 00151 00152 /* MEMS configuration ------------------------------------------------------*/ 00153 /* Fill the COMPASS magnetometer structure */ 00154 LSM303C_InitStructureMag.Register1 = LSM303C_MAG_TEMPSENSOR_DISABLE | LSM303C_MAG_OM_XY_ULTRAHIGH | LSM303C_MAG_ODR_40_HZ; 00155 LSM303C_InitStructureMag.Register2 = LSM303C_MAG_FS_16_GA | LSM303C_MAG_REBOOT_DEFAULT | LSM303C_MAG_SOFT_RESET_DEFAULT; 00156 LSM303C_InitStructureMag.Register3 = LSM303C_MAG_SPI_MODE | LSM303C_MAG_CONFIG_NORMAL_MODE | LSM303C_MAG_CONTINUOUS_MODE; 00157 LSM303C_InitStructureMag.Register4 = LSM303C_MAG_OM_Z_ULTRAHIGH | LSM303C_MAG_BLE_LSB; 00158 LSM303C_InitStructureMag.Register5 = LSM303C_MAG_BDU_CONTINUOUS; 00159 /* Configure the COMPASS magnetometer main parameters */ 00160 MagnetoDrv->Init(LSM303C_InitStructureMag); 00161 } 00162 00163 return ret; 00164 } 00165 00166 /** 00167 * @brief DeInitialize the COMPASS. 00168 * @retval None. 00169 */ 00170 void BSP_COMPASS_DeInit(void) 00171 { 00172 /* DeInitialize the COMPASS accelerometer & magnetometer IO interfaces */ 00173 ACCELERO_IO_DeInit(); 00174 MAGNETO_IO_DeInit(); 00175 } 00176 00177 /** 00178 * @brief Put the COMPASS in low power mode. 00179 * @retval None 00180 */ 00181 void BSP_COMPASS_LowPower(void) 00182 { 00183 /* Put the COMPASS accelerometer in low power mode */ 00184 if (AccelerometerDrv != NULL) 00185 { 00186 if (AccelerometerDrv->LowPower != NULL) 00187 { 00188 AccelerometerDrv->LowPower(LSM303C_ACC_ODR_OFF); 00189 } 00190 } 00191 /* Put the COMPASS magnetometer in low power mode */ 00192 if (MagnetoDrv != NULL) 00193 { 00194 if (MagnetoDrv->LowPower != NULL) 00195 { 00196 MagnetoDrv->LowPower(LSM303C_MAG_POWERDOWN2_MODE); 00197 } 00198 } 00199 } 00200 00201 /** 00202 * @brief Get XYZ acceleration values. 00203 * @param pDataXYZ Pointer on 3 angular accelerations table with 00204 * pDataXYZ[0] = X axis, pDataXYZ[1] = Y axis, pDataXYZ[2] = Z axis 00205 * @retval None 00206 */ 00207 void BSP_COMPASS_AccGetXYZ(int16_t *pDataXYZ) 00208 { 00209 if (AccelerometerDrv != NULL) 00210 { 00211 if (AccelerometerDrv->GetXYZ != NULL) 00212 { 00213 AccelerometerDrv->GetXYZ(pDataXYZ); 00214 } 00215 } 00216 } 00217 00218 /** 00219 * @brief Get XYZ magnetometer values. 00220 * @param pDataXYZ Pointer on 3 magnetometer values table with 00221 * pDataXYZ[0] = X axis, pDataXYZ[1] = Y axis, pDataXYZ[2] = Z axis 00222 * @retval None 00223 */ 00224 void BSP_COMPASS_MagGetXYZ(int16_t *pDataXYZ) 00225 { 00226 if (MagnetoDrv != NULL) 00227 { 00228 if (MagnetoDrv->GetXYZ != NULL) 00229 { 00230 MagnetoDrv->GetXYZ(pDataXYZ); 00231 } 00232 } 00233 } 00234 00235 /** 00236 * @} 00237 */ 00238 00239 /** 00240 * @} 00241 */ 00242 00243 /** 00244 * @} 00245 */ 00246 00247 /** 00248 * @} 00249 */ 00250 00251 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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