stm32l476g_discovery_compass.c

00001 /**
00002   ******************************************************************************
00003   * @file    stm32l476g_discovery_compass.c
00004   * @author  MCD Application Team
00005   * @version V1.0.0
00006   * @date    26-June-2015
00007   * @brief   This file provides a set of functions needed to manage the E-Compass
00008   *          (ACCELEROMETER + MAGNETOMETER) MEMS LSM303C available on STM32L476G-Discovery 
00009   *          board.
00010   ******************************************************************************
00011   * @attention
00012   *
00013   * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00014   *
00015   * Redistribution and use in source and binary forms, with or without modification,
00016   * are permitted provided that the following conditions are met:
00017   *   1. Redistributions of source code must retain the above copyright notice,
00018   *      this list of conditions and the following disclaimer.
00019   *   2. Redistributions in binary form must reproduce the above copyright notice,
00020   *      this list of conditions and the following disclaimer in the documentation
00021   *      and/or other materials provided with the distribution.
00022   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00023   *      may be used to endorse or promote products derived from this software
00024   *      without specific prior written permission.
00025   *
00026   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00027   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00028   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00029   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00030   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00031   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00032   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00033   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00034   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00035   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00036   *
00037   ******************************************************************************
00038   */
00039 
00040 /* Includes ------------------------------------------------------------------*/
00041 #include "stm32l476g_discovery.h"
00042 #include "stm32l476g_discovery_compass.h"
00043 #include "lsm303c.h"
00044 #include <math.h>
00045     
00046 /** @addtogroup BSP
00047   * @{
00048   */
00049 
00050 /** @addtogroup STM32L476G_DISCOVERY
00051   * @{
00052   */
00053 
00054 /** @defgroup STM32L476G_DISCOVERY_COMPASS STM32L476G-DISCOVERY COMPASS
00055   * @{
00056   */
00057 
00058 /* Private typedef -----------------------------------------------------------*/
00059 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Types Private Types
00060   * @{
00061   */
00062 /**
00063   * @}
00064   */
00065 
00066 /* Private defines ------------------------------------------------------------*/
00067 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Constants Private Constants
00068   * @{
00069   */
00070 /**
00071   * @}
00072   */
00073 
00074 /* Private macros ------------------------------------------------------------*/
00075 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Macros Private Macros
00076   * @{
00077   */
00078 /**
00079   * @}
00080   */
00081 
00082 /* Private variables ---------------------------------------------------------*/
00083 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Variables Private Variables
00084   * @{
00085   */
00086 static ACCELERO_DrvTypeDef *AccelerometerDrv;
00087 static MAGNETO_DrvTypeDef  *MagnetoDrv;
00088 
00089 /**
00090   * @}
00091   */
00092 
00093 /* Private function prototypes -----------------------------------------------*/
00094 /** @addtogroup STM32L476G_DISCOVERY_COMPASS_Private_FunctionPrototypes Private Functions
00095   * @{
00096   */
00097 /**
00098   * @}
00099   */
00100 
00101 /* Exported functions ---------------------------------------------------------*/
00102 /** @addtogroup STM32L476G_DISCOVERY_COMPASS_Exported_Functions
00103   * @{
00104   */
00105 extern void  ACCELERO_IO_DeInit(void);
00106 extern void  MAGNETO_IO_DeInit(void);
00107 
00108 /**
00109   * @brief  Initialize the COMPASS.
00110   * @retval COMPASS_OK or COMPASS_ERROR
00111   */
00112 COMPASS_StatusTypeDef BSP_COMPASS_Init(void)
00113 {  
00114   COMPASS_StatusTypeDef ret = COMPASS_OK;
00115   uint16_t ctrl = 0x0000;
00116   ACCELERO_InitTypeDef LSM303C_InitStructure;
00117   ACCELERO_FilterConfigTypeDef LSM303C_FilterStructure;
00118   MAGNETO_InitTypeDef LSM303C_InitStructureMag;
00119  
00120   if(Lsm303cDrv_accelero.ReadID() != LMS303C_ACC_ID)
00121   {
00122     ret = COMPASS_ERROR;
00123   }
00124   else
00125   {
00126     /* Initialize the COMPASS accelerometer driver structure */
00127     AccelerometerDrv = &Lsm303cDrv_accelero;
00128   
00129     /* MEMS configuration ------------------------------------------------------*/
00130     /* Fill the COMPASS accelerometer structure */
00131     LSM303C_InitStructure.AccOutput_DataRate = LSM303C_ACC_ODR_50_HZ;
00132     LSM303C_InitStructure.Axes_Enable= LSM303C_ACC_AXES_ENABLE;
00133     LSM303C_InitStructure.AccFull_Scale = LSM303C_ACC_FULLSCALE_2G;
00134     LSM303C_InitStructure.BlockData_Update = LSM303C_ACC_BDU_CONTINUOUS;
00135     LSM303C_InitStructure.High_Resolution = LSM303C_ACC_HR_DISABLE;
00136     LSM303C_InitStructure.Communication_Mode = LSM303C_ACC_SPI_MODE;
00137         
00138     /* Configure MEMS: data rate, power mode, full scale and axes */
00139     ctrl =  (LSM303C_InitStructure.High_Resolution | LSM303C_InitStructure.AccOutput_DataRate | \
00140                        LSM303C_InitStructure.Axes_Enable | LSM303C_InitStructure.BlockData_Update);
00141     
00142     ctrl |= (LSM303C_InitStructure.AccFull_Scale | LSM303C_InitStructure.Communication_Mode) << 8;
00143     
00144     /* Configure the COMPASS accelerometer main parameters */
00145     AccelerometerDrv->Init(ctrl);
00146   
00147     /* Fill the COMPASS accelerometer HPF structure */
00148     LSM303C_FilterStructure.HighPassFilter_Mode_Selection = LSM303C_ACC_HPM_NORMAL_MODE;
00149     LSM303C_FilterStructure.HighPassFilter_CutOff_Frequency = LSM303C_ACC_DFC1_ODRDIV50;
00150     LSM303C_FilterStructure.HighPassFilter_Stat = LSM303C_ACC_HPI2S_INT1_DISABLE | LSM303C_ACC_HPI2S_INT2_DISABLE;
00151     
00152     /* Configure MEMS: mode, cutoff frequency, Filter status, Click, AOI1 and AOI2 */
00153     ctrl = (uint8_t) (LSM303C_FilterStructure.HighPassFilter_Mode_Selection |\
00154                       LSM303C_FilterStructure.HighPassFilter_CutOff_Frequency|\
00155                       LSM303C_FilterStructure.HighPassFilter_Stat);
00156 
00157     /* Configure the COMPASS accelerometer LPF main parameters */
00158     AccelerometerDrv->FilterConfig(ctrl);
00159   }  
00160 
00161   if(Lsm303cDrv_magneto.ReadID() != LMS303C_MAG_ID)
00162   {
00163     ret = COMPASS_ERROR;
00164   }
00165   else
00166   {
00167     /* Initialize the COMPASS magnetometer driver structure */
00168     MagnetoDrv = &Lsm303cDrv_magneto;
00169     
00170     /* MEMS configuration ------------------------------------------------------*/
00171     /* Fill the COMPASS magnetometer structure */
00172     LSM303C_InitStructureMag.Register1 = LSM303C_MAG_TEMPSENSOR_DISABLE | LSM303C_MAG_OM_XY_ULTRAHIGH | LSM303C_MAG_ODR_40_HZ;
00173     LSM303C_InitStructureMag.Register2 = LSM303C_MAG_FS_16_GA | LSM303C_MAG_REBOOT_DEFAULT | LSM303C_MAG_SOFT_RESET_DEFAULT;
00174     LSM303C_InitStructureMag.Register3 = LSM303C_MAG_SPI_MODE | LSM303C_MAG_CONFIG_NORMAL_MODE | LSM303C_MAG_CONTINUOUS_MODE;
00175     LSM303C_InitStructureMag.Register4 = LSM303C_MAG_OM_Z_ULTRAHIGH | LSM303C_MAG_BLE_LSB;
00176     LSM303C_InitStructureMag.Register5 = LSM303C_MAG_BDU_CONTINUOUS;
00177     /* Configure the COMPASS magnetometer main parameters */
00178     MagnetoDrv->Init(LSM303C_InitStructureMag);
00179   } 
00180 
00181   return ret;
00182 }
00183 
00184 /**
00185   * @brief  DeInitialize the COMPASS.
00186   * @retval None.
00187   */
00188 void BSP_COMPASS_DeInit(void)
00189 {
00190   /* DeInitialize the COMPASS accelerometer & magnetometer IO interfaces */
00191   ACCELERO_IO_DeInit();
00192   MAGNETO_IO_DeInit();
00193 }
00194 
00195 /**
00196   * @brief  Put the COMPASS in low power mode.
00197   * @retval None
00198   */
00199 void BSP_COMPASS_LowPower(void)
00200 {
00201   /* Put the COMPASS accelerometer in low power mode */
00202   if(AccelerometerDrv->LowPower != NULL)
00203   {
00204     AccelerometerDrv->LowPower();
00205   }
00206   /* Put the COMPASS magnetometer in low power mode */
00207   if(MagnetoDrv->LowPower != NULL)
00208   {
00209     MagnetoDrv->LowPower();
00210   }
00211 }
00212 
00213 /**
00214   * @brief  Get XYZ acceleration values.
00215   * @param  pDataXYZ Pointer on 3 angular accelerations table with  
00216   *                  pDataXYZ[0] = X axis, pDataXYZ[1] = Y axis, pDataXYZ[2] = Z axis
00217   * @retval None
00218   */
00219 void BSP_COMPASS_AccGetXYZ(int16_t *pDataXYZ)
00220 {
00221   if(AccelerometerDrv->GetXYZ!= NULL)
00222   {   
00223     AccelerometerDrv->GetXYZ(pDataXYZ);
00224   }
00225 }
00226 
00227 /**
00228   * @brief  Get XYZ magnetometer values.
00229   * @param  pDataXYZ Pointer on 3 magnetometer values table with
00230   *                  pDataXYZ[0] = X axis, pDataXYZ[1] = Y axis, pDataXYZ[2] = Z axis 
00231   * @retval None
00232   */
00233 void BSP_COMPASS_MagGetXYZ(int16_t *pDataXYZ)
00234 {
00235   if(MagnetoDrv->GetXYZ!= NULL)
00236   {   
00237     MagnetoDrv->GetXYZ(pDataXYZ);
00238   }
00239 }
00240 
00241 /**
00242   * @}
00243   */
00244 
00245 /**
00246   * @}
00247   */
00248 
00249 /**
00250   * @}
00251   */
00252 
00253 /**
00254   * @}
00255   */
00256 
00257 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/