Diff: main.c

Revision:

0:ed38888a34c2

Child:

1:c92d1851a036

Child:

4:7502a660b77f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.c	Sun May 22 23:34:31 2016 +0000
@@ -0,0 +1,100 @@
+
+#include <stm32f3_discovery.h>
+#include "stm32f3_discovery_lsm303dlhc.h"
+
+void AccelerometerConfig(void)
+{
+  LSM303DLHCMag_InitTypeDef LSM303DLHC_InitStructure;
+  LSM303DLHCAcc_InitTypeDef LSM303DLHCAcc_InitStructure;
+  LSM303DLHCAcc_FilterConfigTypeDef LSM303DLHCFilter_InitStructure;
+  
+  /* Configure MEMS magnetometer main parameters: temp, working mode, full Scale and Data rate */
+  LSM303DLHC_InitStructure.Temperature_Sensor = LSM303DLHC_TEMPSENSOR_DISABLE;
+  LSM303DLHC_InitStructure.MagOutput_DataRate =LSM303DLHC_ODR_30_HZ ;
+  LSM303DLHC_InitStructure.MagFull_Scale = LSM303DLHC_FS_8_1_GA;
+  LSM303DLHC_InitStructure.Working_Mode = LSM303DLHC_CONTINUOS_CONVERSION;
+  LSM303DLHC_MagInit(&LSM303DLHC_InitStructure);
+  
+   /* Fill the accelerometer structure */
+  LSM303DLHCAcc_InitStructure.Power_Mode = LSM303DLHC_NORMAL_MODE;
+  LSM303DLHCAcc_InitStructure.AccOutput_DataRate = LSM303DLHC_ODR_50_HZ;
+  LSM303DLHCAcc_InitStructure.Axes_Enable= LSM303DLHC_AXES_ENABLE;
+  LSM303DLHCAcc_InitStructure.AccFull_Scale = LSM303DLHC_FULLSCALE_2G;
+  LSM303DLHCAcc_InitStructure.BlockData_Update = LSM303DLHC_BlockUpdate_Continous;
+  LSM303DLHCAcc_InitStructure.Endianness=LSM303DLHC_BLE_LSB;
+  LSM303DLHCAcc_InitStructure.High_Resolution=LSM303DLHC_HR_ENABLE;
+  /* Configure the accelerometer main parameters */
+  LSM303DLHC_AccInit(&LSM303DLHCAcc_InitStructure);
+  
+  /* Fill the accelerometer LPF structure */
+  LSM303DLHCFilter_InitStructure.HighPassFilter_Mode_Selection =LSM303DLHC_HPM_NORMAL_MODE;
+  LSM303DLHCFilter_InitStructure.HighPassFilter_CutOff_Frequency = LSM303DLHC_HPFCF_16;
+  LSM303DLHCFilter_InitStructure.HighPassFilter_AOI1 = LSM303DLHC_HPF_AOI1_DISABLE;
+  LSM303DLHCFilter_InitStructure.HighPassFilter_AOI2 = LSM303DLHC_HPF_AOI2_DISABLE;
+
+  /* Configure the accelerometer LPF main parameters */
+  LSM303DLHC_AccFilterConfig(&LSM303DLHCFilter_InitStructure);
+}
+
+void ReadAccelerometer(int16_t * data)
+{
+  uint8_t buffer[6];
+  
+  LSM303DLHC_Read(ACC_I2C_ADDRESS, LSM303DLHC_OUT_X_L_A, buffer, 6);
+  
+  for(int i=0; i<3; i++) {
+	data[i]=((int16_t)((uint16_t)buffer[2*i+1] << 8) + buffer[2*i])/16;
+  }
+}
+
+volatile  unsigned	sysTiming;
+volatile  unsigned  sysTicks = 0;
+
+void SysTick_Handler(void) {
+        sysTicks++;
+        if (sysTiming > 0) --sysTiming; 
+}
+
+void sysDelayMs(unsigned dly) {
+	sysTiming = dly;
+	while (sysTiming > 0) __wfi();
+
+}
+
+int main(void) {
+    
+    SysTick_Config((SystemCoreClock / 1000));
+    RCC->AHBENR |= RCC_AHBPeriph_GPIOE | RCC_AHBPeriph_GPIOA;    
+    GPIOE->MODER = (GPIOE->MODER&0xffff) | 0x55550000; // output mode for PE8-15
+	GPIOA->MODER = (GPIOA->MODER&0xfffffffc)  ; // input mode for PA0
+
+	AccelerometerConfig();
+	int16_t acc[3];
+    int b=0;
+    int TH=200;
+    while(1) {
+    	
+    	ReadAccelerometer(acc);
+    	GPIOE->BSRR=b<<(8+16);
+    	b=0;
+    	if(acc[1]<-TH) {
+    		 if(acc[0]<-TH) b=1<<4;
+    		 	else if(acc[0]>TH) b=1<<2;
+    		 		else b=1<<3;
+    	} else {
+    		if(acc[1]>TH) {
+	    		 if(acc[0]<-TH) b=1<<6;
+	    		 	else if(acc[0]>TH) b=1<<0;
+    			 		else b=1<<7;
+    		} else {
+    			if(acc[0]<-TH) b=1<<5;
+	    		 	else if(acc[0]>TH) b=1<<1;
+    		}
+    	}
+    	GPIOE->BSRR=b<<8;
+    	while(GPIOA->IDR&1);
+    	sysDelayMs(100);
+    	
+    }
+}
+