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BSP_DISCO_L476VG/stm32l476g_discovery_compass.c@1:d0dfbce63a89, 2017-02-24 (annotated)

Committer:
elmot
Date:
Fri Feb 24 21:13:56 2017 +0000
Revision:
1:d0dfbce63a89
Ready-to-copy

Who changed what in which revision?

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elmot 1:d0dfbce63a89 1 /**
elmot 1:d0dfbce63a89 2 ******************************************************************************
elmot 1:d0dfbce63a89 3 * @file stm32l476g_discovery_compass.c
elmot 1:d0dfbce63a89 4 * @author MCD Application Team
elmot 1:d0dfbce63a89 5 * @version V1.0.0
elmot 1:d0dfbce63a89 6 * @date 26-June-2015
elmot 1:d0dfbce63a89 7 * @brief This file provides a set of functions needed to manage the E-Compass
elmot 1:d0dfbce63a89 8 * (ACCELEROMETER + MAGNETOMETER) MEMS LSM303C available on STM32L476G-Discovery
elmot 1:d0dfbce63a89 9 * board.
elmot 1:d0dfbce63a89 10 ******************************************************************************
elmot 1:d0dfbce63a89 11 * @attention
elmot 1:d0dfbce63a89 12 *
elmot 1:d0dfbce63a89 13 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
elmot 1:d0dfbce63a89 14 *
elmot 1:d0dfbce63a89 15 * Redistribution and use in source and binary forms, with or without modification,
elmot 1:d0dfbce63a89 16 * are permitted provided that the following conditions are met:
elmot 1:d0dfbce63a89 17 * 1. Redistributions of source code must retain the above copyright notice,
elmot 1:d0dfbce63a89 18 * this list of conditions and the following disclaimer.
elmot 1:d0dfbce63a89 19 * 2. Redistributions in binary form must reproduce the above copyright notice,
elmot 1:d0dfbce63a89 20 * this list of conditions and the following disclaimer in the documentation
elmot 1:d0dfbce63a89 21 * and/or other materials provided with the distribution.
elmot 1:d0dfbce63a89 22 * 3. Neither the name of STMicroelectronics nor the names of its contributors
elmot 1:d0dfbce63a89 23 * may be used to endorse or promote products derived from this software
elmot 1:d0dfbce63a89 24 * without specific prior written permission.
elmot 1:d0dfbce63a89 25 *
elmot 1:d0dfbce63a89 26 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
elmot 1:d0dfbce63a89 27 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
elmot 1:d0dfbce63a89 28 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
elmot 1:d0dfbce63a89 29 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
elmot 1:d0dfbce63a89 30 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
elmot 1:d0dfbce63a89 31 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
elmot 1:d0dfbce63a89 32 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
elmot 1:d0dfbce63a89 33 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
elmot 1:d0dfbce63a89 34 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
elmot 1:d0dfbce63a89 35 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
elmot 1:d0dfbce63a89 36 *
elmot 1:d0dfbce63a89 37 ******************************************************************************
elmot 1:d0dfbce63a89 38 */
elmot 1:d0dfbce63a89 39
elmot 1:d0dfbce63a89 40 /* Includes ------------------------------------------------------------------*/
elmot 1:d0dfbce63a89 41 #include "stm32l476g_discovery.h"
elmot 1:d0dfbce63a89 42 #include "stm32l476g_discovery_compass.h"
elmot 1:d0dfbce63a89 43 #include "lsm303c.h"
elmot 1:d0dfbce63a89 44 #include <math.h>
elmot 1:d0dfbce63a89 45
elmot 1:d0dfbce63a89 46 /** @addtogroup BSP
elmot 1:d0dfbce63a89 47 * @{
elmot 1:d0dfbce63a89 48 */
elmot 1:d0dfbce63a89 49
elmot 1:d0dfbce63a89 50 /** @addtogroup STM32L476G_DISCOVERY
elmot 1:d0dfbce63a89 51 * @{
elmot 1:d0dfbce63a89 52 */
elmot 1:d0dfbce63a89 53
elmot 1:d0dfbce63a89 54 /** @defgroup STM32L476G_DISCOVERY_COMPASS STM32L476G-DISCOVERY COMPASS
elmot 1:d0dfbce63a89 55 * @{
elmot 1:d0dfbce63a89 56 */
elmot 1:d0dfbce63a89 57
elmot 1:d0dfbce63a89 58 /* Private typedef -----------------------------------------------------------*/
elmot 1:d0dfbce63a89 59 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Types Private Types
elmot 1:d0dfbce63a89 60 * @{
elmot 1:d0dfbce63a89 61 */
elmot 1:d0dfbce63a89 62 /**
elmot 1:d0dfbce63a89 63 * @}
elmot 1:d0dfbce63a89 64 */
elmot 1:d0dfbce63a89 65
elmot 1:d0dfbce63a89 66 /* Private defines ------------------------------------------------------------*/
elmot 1:d0dfbce63a89 67 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Constants Private Constants
elmot 1:d0dfbce63a89 68 * @{
elmot 1:d0dfbce63a89 69 */
elmot 1:d0dfbce63a89 70 /**
elmot 1:d0dfbce63a89 71 * @}
elmot 1:d0dfbce63a89 72 */
elmot 1:d0dfbce63a89 73
elmot 1:d0dfbce63a89 74 /* Private macros ------------------------------------------------------------*/
elmot 1:d0dfbce63a89 75 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Macros Private Macros
elmot 1:d0dfbce63a89 76 * @{
elmot 1:d0dfbce63a89 77 */
elmot 1:d0dfbce63a89 78 /**
elmot 1:d0dfbce63a89 79 * @}
elmot 1:d0dfbce63a89 80 */
elmot 1:d0dfbce63a89 81
elmot 1:d0dfbce63a89 82 /* Private variables ---------------------------------------------------------*/
elmot 1:d0dfbce63a89 83 /** @defgroup STM32L476G_DISCOVERY_COMPASS_Private_Variables Private Variables
elmot 1:d0dfbce63a89 84 * @{
elmot 1:d0dfbce63a89 85 */
elmot 1:d0dfbce63a89 86 static ACCELERO_DrvTypeDef *AccelerometerDrv;
elmot 1:d0dfbce63a89 87 static MAGNETO_DrvTypeDef *MagnetoDrv;
elmot 1:d0dfbce63a89 88
elmot 1:d0dfbce63a89 89 /**
elmot 1:d0dfbce63a89 90 * @}
elmot 1:d0dfbce63a89 91 */
elmot 1:d0dfbce63a89 92
elmot 1:d0dfbce63a89 93 /* Private function prototypes -----------------------------------------------*/
elmot 1:d0dfbce63a89 94 /** @addtogroup STM32L476G_DISCOVERY_COMPASS_Private_FunctionPrototypes Private Functions
elmot 1:d0dfbce63a89 95 * @{
elmot 1:d0dfbce63a89 96 */
elmot 1:d0dfbce63a89 97 /**
elmot 1:d0dfbce63a89 98 * @}
elmot 1:d0dfbce63a89 99 */
elmot 1:d0dfbce63a89 100
elmot 1:d0dfbce63a89 101 /* Exported functions ---------------------------------------------------------*/
elmot 1:d0dfbce63a89 102 /** @addtogroup STM32L476G_DISCOVERY_COMPASS_Exported_Functions
elmot 1:d0dfbce63a89 103 * @{
elmot 1:d0dfbce63a89 104 */
elmot 1:d0dfbce63a89 105 extern void ACCELERO_IO_DeInit(void);
elmot 1:d0dfbce63a89 106 extern void MAGNETO_IO_DeInit(void);
elmot 1:d0dfbce63a89 107
elmot 1:d0dfbce63a89 108 /**
elmot 1:d0dfbce63a89 109 * @brief Initialize the COMPASS.
elmot 1:d0dfbce63a89 110 * @retval COMPASS_OK or COMPASS_ERROR
elmot 1:d0dfbce63a89 111 */
elmot 1:d0dfbce63a89 112 COMPASS_StatusTypeDef BSP_COMPASS_Init(void)
elmot 1:d0dfbce63a89 113 {
elmot 1:d0dfbce63a89 114 COMPASS_StatusTypeDef ret = COMPASS_OK;
elmot 1:d0dfbce63a89 115 uint16_t ctrl = 0x0000;
elmot 1:d0dfbce63a89 116 ACCELERO_InitTypeDef LSM303C_InitStructure;
elmot 1:d0dfbce63a89 117 ACCELERO_FilterConfigTypeDef LSM303C_FilterStructure;
elmot 1:d0dfbce63a89 118 MAGNETO_InitTypeDef LSM303C_InitStructureMag;
elmot 1:d0dfbce63a89 119
elmot 1:d0dfbce63a89 120 if(Lsm303cDrv_accelero.ReadID() != LMS303C_ACC_ID)
elmot 1:d0dfbce63a89 121 {
elmot 1:d0dfbce63a89 122 ret = COMPASS_ERROR;
elmot 1:d0dfbce63a89 123 }
elmot 1:d0dfbce63a89 124 else
elmot 1:d0dfbce63a89 125 {
elmot 1:d0dfbce63a89 126 /* Initialize the COMPASS accelerometer driver structure */
elmot 1:d0dfbce63a89 127 AccelerometerDrv = &Lsm303cDrv_accelero;
elmot 1:d0dfbce63a89 128
elmot 1:d0dfbce63a89 129 /* MEMS configuration ------------------------------------------------------*/
elmot 1:d0dfbce63a89 130 /* Fill the COMPASS accelerometer structure */
elmot 1:d0dfbce63a89 131 LSM303C_InitStructure.AccOutput_DataRate = LSM303C_ACC_ODR_50_HZ;
elmot 1:d0dfbce63a89 132 LSM303C_InitStructure.Axes_Enable= LSM303C_ACC_AXES_ENABLE;
elmot 1:d0dfbce63a89 133 LSM303C_InitStructure.AccFull_Scale = LSM303C_ACC_FULLSCALE_2G;
elmot 1:d0dfbce63a89 134 LSM303C_InitStructure.BlockData_Update = LSM303C_ACC_BDU_CONTINUOUS;
elmot 1:d0dfbce63a89 135 LSM303C_InitStructure.High_Resolution = LSM303C_ACC_HR_DISABLE;
elmot 1:d0dfbce63a89 136 LSM303C_InitStructure.Communication_Mode = LSM303C_ACC_SPI_MODE;
elmot 1:d0dfbce63a89 137
elmot 1:d0dfbce63a89 138 /* Configure MEMS: data rate, power mode, full scale and axes */
elmot 1:d0dfbce63a89 139 ctrl = (LSM303C_InitStructure.High_Resolution | LSM303C_InitStructure.AccOutput_DataRate | \
elmot 1:d0dfbce63a89 140 LSM303C_InitStructure.Axes_Enable | LSM303C_InitStructure.BlockData_Update);
elmot 1:d0dfbce63a89 141
elmot 1:d0dfbce63a89 142 ctrl |= (LSM303C_InitStructure.AccFull_Scale | LSM303C_InitStructure.Communication_Mode) << 8;
elmot 1:d0dfbce63a89 143
elmot 1:d0dfbce63a89 144 /* Configure the COMPASS accelerometer main parameters */
elmot 1:d0dfbce63a89 145 AccelerometerDrv->Init(ctrl);
elmot 1:d0dfbce63a89 146
elmot 1:d0dfbce63a89 147 /* Fill the COMPASS accelerometer HPF structure */
elmot 1:d0dfbce63a89 148 LSM303C_FilterStructure.HighPassFilter_Mode_Selection = LSM303C_ACC_HPM_NORMAL_MODE;
elmot 1:d0dfbce63a89 149 LSM303C_FilterStructure.HighPassFilter_CutOff_Frequency = LSM303C_ACC_DFC1_ODRDIV50;
elmot 1:d0dfbce63a89 150 LSM303C_FilterStructure.HighPassFilter_Stat = LSM303C_ACC_HPI2S_INT1_DISABLE | LSM303C_ACC_HPI2S_INT2_DISABLE;
elmot 1:d0dfbce63a89 151
elmot 1:d0dfbce63a89 152 /* Configure MEMS: mode, cutoff frequency, Filter status, Click, AOI1 and AOI2 */
elmot 1:d0dfbce63a89 153 ctrl = (uint8_t) (LSM303C_FilterStructure.HighPassFilter_Mode_Selection |\
elmot 1:d0dfbce63a89 154 LSM303C_FilterStructure.HighPassFilter_CutOff_Frequency|\
elmot 1:d0dfbce63a89 155 LSM303C_FilterStructure.HighPassFilter_Stat);
elmot 1:d0dfbce63a89 156
elmot 1:d0dfbce63a89 157 /* Configure the COMPASS accelerometer LPF main parameters */
elmot 1:d0dfbce63a89 158 AccelerometerDrv->FilterConfig(ctrl);
elmot 1:d0dfbce63a89 159 }
elmot 1:d0dfbce63a89 160
elmot 1:d0dfbce63a89 161 if(Lsm303cDrv_magneto.ReadID() != LMS303C_MAG_ID)
elmot 1:d0dfbce63a89 162 {
elmot 1:d0dfbce63a89 163 ret = COMPASS_ERROR;
elmot 1:d0dfbce63a89 164 }
elmot 1:d0dfbce63a89 165 else
elmot 1:d0dfbce63a89 166 {
elmot 1:d0dfbce63a89 167 /* Initialize the COMPASS magnetometer driver structure */
elmot 1:d0dfbce63a89 168 MagnetoDrv = &Lsm303cDrv_magneto;
elmot 1:d0dfbce63a89 169
elmot 1:d0dfbce63a89 170 /* MEMS configuration ------------------------------------------------------*/
elmot 1:d0dfbce63a89 171 /* Fill the COMPASS magnetometer structure */
elmot 1:d0dfbce63a89 172 LSM303C_InitStructureMag.Register1 = LSM303C_MAG_TEMPSENSOR_DISABLE | LSM303C_MAG_OM_XY_ULTRAHIGH | LSM303C_MAG_ODR_40_HZ;
elmot 1:d0dfbce63a89 173 LSM303C_InitStructureMag.Register2 = LSM303C_MAG_FS_16_GA | LSM303C_MAG_REBOOT_DEFAULT | LSM303C_MAG_SOFT_RESET_DEFAULT;
elmot 1:d0dfbce63a89 174 LSM303C_InitStructureMag.Register3 = LSM303C_MAG_SPI_MODE | LSM303C_MAG_CONFIG_NORMAL_MODE | LSM303C_MAG_CONTINUOUS_MODE;
elmot 1:d0dfbce63a89 175 LSM303C_InitStructureMag.Register4 = LSM303C_MAG_OM_Z_ULTRAHIGH | LSM303C_MAG_BLE_LSB;
elmot 1:d0dfbce63a89 176 LSM303C_InitStructureMag.Register5 = LSM303C_MAG_BDU_CONTINUOUS;
elmot 1:d0dfbce63a89 177 /* Configure the COMPASS magnetometer main parameters */
elmot 1:d0dfbce63a89 178 MagnetoDrv->Init(LSM303C_InitStructureMag);
elmot 1:d0dfbce63a89 179 }
elmot 1:d0dfbce63a89 180
elmot 1:d0dfbce63a89 181 return ret;
elmot 1:d0dfbce63a89 182 }
elmot 1:d0dfbce63a89 183
elmot 1:d0dfbce63a89 184 /**
elmot 1:d0dfbce63a89 185 * @brief DeInitialize the COMPASS.
elmot 1:d0dfbce63a89 186 * @retval None.
elmot 1:d0dfbce63a89 187 */
elmot 1:d0dfbce63a89 188 void BSP_COMPASS_DeInit(void)
elmot 1:d0dfbce63a89 189 {
elmot 1:d0dfbce63a89 190 /* DeInitialize the COMPASS accelerometer & magnetometer IO interfaces */
elmot 1:d0dfbce63a89 191 ACCELERO_IO_DeInit();
elmot 1:d0dfbce63a89 192 MAGNETO_IO_DeInit();
elmot 1:d0dfbce63a89 193 }
elmot 1:d0dfbce63a89 194
elmot 1:d0dfbce63a89 195 /**
elmot 1:d0dfbce63a89 196 * @brief Put the COMPASS in low power mode.
elmot 1:d0dfbce63a89 197 * @retval None
elmot 1:d0dfbce63a89 198 */
elmot 1:d0dfbce63a89 199 void BSP_COMPASS_LowPower(void)
elmot 1:d0dfbce63a89 200 {
elmot 1:d0dfbce63a89 201 /* Put the COMPASS accelerometer in low power mode */
elmot 1:d0dfbce63a89 202 if(AccelerometerDrv->LowPower != NULL)
elmot 1:d0dfbce63a89 203 {
elmot 1:d0dfbce63a89 204 AccelerometerDrv->LowPower();
elmot 1:d0dfbce63a89 205 }
elmot 1:d0dfbce63a89 206 /* Put the COMPASS magnetometer in low power mode */
elmot 1:d0dfbce63a89 207 if(MagnetoDrv->LowPower != NULL)
elmot 1:d0dfbce63a89 208 {
elmot 1:d0dfbce63a89 209 MagnetoDrv->LowPower();
elmot 1:d0dfbce63a89 210 }
elmot 1:d0dfbce63a89 211 }
elmot 1:d0dfbce63a89 212
elmot 1:d0dfbce63a89 213 /**
elmot 1:d0dfbce63a89 214 * @brief Get XYZ acceleration values.
elmot 1:d0dfbce63a89 215 * @param pDataXYZ Pointer on 3 angular accelerations table with
elmot 1:d0dfbce63a89 216 * pDataXYZ[0] = X axis, pDataXYZ[1] = Y axis, pDataXYZ[2] = Z axis
elmot 1:d0dfbce63a89 217 * @retval None
elmot 1:d0dfbce63a89 218 */
elmot 1:d0dfbce63a89 219 void BSP_COMPASS_AccGetXYZ(int16_t *pDataXYZ)
elmot 1:d0dfbce63a89 220 {
elmot 1:d0dfbce63a89 221 if(AccelerometerDrv->GetXYZ!= NULL)
elmot 1:d0dfbce63a89 222 {
elmot 1:d0dfbce63a89 223 AccelerometerDrv->GetXYZ(pDataXYZ);
elmot 1:d0dfbce63a89 224 }
elmot 1:d0dfbce63a89 225 }
elmot 1:d0dfbce63a89 226
elmot 1:d0dfbce63a89 227 /**
elmot 1:d0dfbce63a89 228 * @brief Get XYZ magnetometer values.
elmot 1:d0dfbce63a89 229 * @param pDataXYZ Pointer on 3 magnetometer values table with
elmot 1:d0dfbce63a89 230 * pDataXYZ[0] = X axis, pDataXYZ[1] = Y axis, pDataXYZ[2] = Z axis
elmot 1:d0dfbce63a89 231 * @retval None
elmot 1:d0dfbce63a89 232 */
elmot 1:d0dfbce63a89 233 void BSP_COMPASS_MagGetXYZ(int16_t *pDataXYZ)
elmot 1:d0dfbce63a89 234 {
elmot 1:d0dfbce63a89 235 if(MagnetoDrv->GetXYZ!= NULL)
elmot 1:d0dfbce63a89 236 {
elmot 1:d0dfbce63a89 237 MagnetoDrv->GetXYZ(pDataXYZ);
elmot 1:d0dfbce63a89 238 }
elmot 1:d0dfbce63a89 239 }
elmot 1:d0dfbce63a89 240
elmot 1:d0dfbce63a89 241 /**
elmot 1:d0dfbce63a89 242 * @}
elmot 1:d0dfbce63a89 243 */
elmot 1:d0dfbce63a89 244
elmot 1:d0dfbce63a89 245 /**
elmot 1:d0dfbce63a89 246 * @}
elmot 1:d0dfbce63a89 247 */
elmot 1:d0dfbce63a89 248
elmot 1:d0dfbce63a89 249 /**
elmot 1:d0dfbce63a89 250 * @}
elmot 1:d0dfbce63a89 251 */
elmot 1:d0dfbce63a89 252
elmot 1:d0dfbce63a89 253 /**
elmot 1:d0dfbce63a89 254 * @}
elmot 1:d0dfbce63a89 255 */
elmot 1:d0dfbce63a89 256
elmot 1:d0dfbce63a89 257 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/