Martin Johnson
/
accelerometer_test_minimal
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: STM32F3-Discovery-minimal
Fork of
accelerometer_test
by 
Martin Johnson
Diff: main.c
- Revision:
- 2:742027e49b6f
- Parent:
- 1:c92d1851a036
- Child:
- 4:e38891a2d67c
--- a/main.c Wed May 02 01:56:42 2018 +0000
+++ b/main.c Wed May 02 04:06:26 2018 +0000
@@ -1,6 +1,8 @@
#include <stm32f3_discovery.h>
#include <stm32f3_discovery_lsm303dlhc.h>
+#include <stdio.h>
+#include <math.h>
#define I2C_CR2_CLEAR_MASK ~(I2C_CR2_SADD | I2C_CR2_NBYTES | I2C_CR2_RELOAD | I2C_CR2_AUTOEND | I2C_CR2_RD_WRN | I2C_CR2_START | I2C_CR2_STOP)
@@ -37,7 +39,7 @@
RCC->APB1ENR |= RCC_APB1ENR_I2C1EN;
// configure GPIOPB6 and 7
RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
- GPIOB->AFR[0] = (GPIOC->AFR[0] & 0x00ffffff) | 0x44000000; // alt funcs for GPIOB6 and 7 are 4
+ GPIOB->AFR[0] = (GPIOB->AFR[0] & 0x00ffffff) | 0x44000000; // alt funcs for GPIOB6 and 7 are 4
GPIOB->OSPEEDR |= 0xf000; // speed high
GPIOB->OTYPER &= ~0xc0; // output type pp
GPIOB->MODER = (GPIOB->MODER & ~0xf000) | 0xa000; // mode af (10)
@@ -65,12 +67,12 @@
}
void ReadMagnetometer(int16_t * data) {
- i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_X_L_M, (uint8_t *)data, 6);
- i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_X_H_M, (uint8_t *)data+1, 6);
- i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Y_L_M, (uint8_t *)data+2, 6);
- i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Y_H_M, (uint8_t *)data+3, 6);
- i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Z_L_M, (uint8_t *)data+4, 6);
- i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Z_H_M, (uint8_t *)data+5, 6);
+ i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_X_L_M, (uint8_t *)data, 1);
+ i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_X_H_M, (uint8_t *)data+1, 1);
+ i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Y_L_M, (uint8_t *)data+2, 1);
+ i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Y_H_M, (uint8_t *)data+3, 1);
+ i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Z_L_M, (uint8_t *)data+4, 1);
+ i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_OUT_Z_H_M, (uint8_t *)data+5, 1);
}
int ReadTemperature() {
@@ -109,9 +111,12 @@
ReadAccelerometer(acc);
ReadMagnetometer(mag);
+ float heading = atan2(mag[1], mag[0]);
+ heading=heading * 180 / 3.14159265359f;
+ if (heading < 0) heading +=360;
temp=ReadTemperature();
printf("Acc: %d %d %d\n",acc[0]/16,acc[1]/16,acc[2]/16);
- printf("Mag: %d %d %d %d\n",mag[0],mag[1],mag[2],temp);
+ printf("Mag: %d %d %d %d %f\n",mag[0],mag[1],mag[2],temp, heading);
GPIOE->BSRR=b<<(8+16);
b=0;
if(acc[1]<-TH) {