Diff: main.c

Revision:

4:e38891a2d67c

Parent:

2:742027e49b6f

diff -r eacf05659590 -r e38891a2d67c main.c
--- a/main.c	Wed May 02 04:11:59 2018 +0000
+++ b/main.c	Wed Apr 03 22:00:45 2019 +0000
@@ -10,11 +10,11 @@
 	while(I2C1->ISR & I2C_ISR_BUSY);
 	I2C1->CR2 = (I2C1->CR2 & I2C_CR2_CLEAR_MASK) | I2C_CR2_RELOAD | I2C_CR2_START | (1<<16) | address;
 	while(!(I2C1->ISR & I2C_ISR_TXIS));
-	I2C1->TXDR=reg;
+	I2C1->TXDR = reg;
 	while(!(I2C1->ISR & I2C_ISR_TCR));
 	I2C1->CR2 = (I2C1->CR2 & I2C_CR2_CLEAR_MASK) | I2C_CR2_AUTOEND | (1<<16) | address;
 	while(!(I2C1->ISR & I2C_ISR_TXIS));
-	I2C1->TXDR=val;
+	I2C1->TXDR = val;
 	while(!(I2C1->ISR & I2C_ISR_STOPF));
 	I2C1->ICR = I2C_ICR_STOPCF;
 }
@@ -24,12 +24,12 @@
 	I2C1->CR2 = (I2C1->CR2 & I2C_CR2_CLEAR_MASK) | I2C_CR2_START | (1<<16) | address;
 	while(!(I2C1->ISR & I2C_ISR_TXIS));
 	if(nbytes>1) reg |= 0x80;
-	I2C1->TXDR=reg;
+	I2C1->TXDR=  reg;
 	while(!(I2C1->ISR & I2C_ISR_TC));
 	I2C1->CR2 = (I2C1->CR2 & I2C_CR2_CLEAR_MASK) | I2C_CR2_AUTOEND | I2C_CR2_START | I2C_CR2_RD_WRN | (nbytes<<16) | address;
 	while(nbytes--) {
 		while(!(I2C1->ISR & I2C_ISR_RXNE));
-		*data++=I2C1->RXDR;
+		*data++ = I2C1->RXDR;
 	}
 	while(!(I2C1->ISR & I2C_ISR_STOPF));
 	I2C1->ICR = I2C_ICR_STOPCF;
@@ -53,13 +53,13 @@
 void MemsConfig(void)
 {
   i2cInit();
-  i2cWrite(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG1_A,LSM303DLHC_NORMAL_MODE | LSM303DLHC_ODR_50_HZ | LSM303DLHC_AXES_ENABLE);
-  i2cWrite(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A,LSM303DLHC_FULLSCALE_2G | LSM303DLHC_BlockUpdate_Continous | LSM303DLHC_BLE_LSB | LSM303DLHC_HR_ENABLE);
-  i2cWrite(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A,LSM303DLHC_HPM_NORMAL_MODE | LSM303DLHC_HPFCF_16 | LSM303DLHC_HPF_AOI1_DISABLE | LSM303DLHC_HPF_AOI2_DISABLE);
+  i2cWrite(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG1_A, LSM303DLHC_NORMAL_MODE | LSM303DLHC_ODR_50_HZ | LSM303DLHC_AXES_ENABLE);
+  i2cWrite(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A, LSM303DLHC_FULLSCALE_2G | LSM303DLHC_BlockUpdate_Continous | LSM303DLHC_BLE_LSB | LSM303DLHC_HR_ENABLE);
+  i2cWrite(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG2_A, LSM303DLHC_HPM_NORMAL_MODE | LSM303DLHC_HPFCF_16 | LSM303DLHC_HPF_AOI1_DISABLE | LSM303DLHC_HPF_AOI2_DISABLE);
  
   i2cWrite(MAG_I2C_ADDRESS, LSM303DLHC_CRA_REG_M, LSM303DLHC_TEMPSENSOR_ENABLE | LSM303DLHC_ODR_30_HZ);
   i2cWrite(MAG_I2C_ADDRESS, LSM303DLHC_CRB_REG_M, LSM303DLHC_FS_8_1_GA);
-  i2cWrite(MAG_I2C_ADDRESS, LSM303DLHC_MR_REG_M,LSM303DLHC_CONTINUOS_CONVERSION);
+  i2cWrite(MAG_I2C_ADDRESS, LSM303DLHC_MR_REG_M, LSM303DLHC_CONTINUOS_CONVERSION);
 }
 
 void ReadAccelerometer(int16_t * data) {  
@@ -77,15 +77,15 @@
 
 int ReadTemperature() {
 	int t=0;
-	i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_TEMP_OUT_L_M, (uint8_t *)&t,1);
-	i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_TEMP_OUT_H_M, (uint8_t *)&t+1,1);
+	i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_TEMP_OUT_L_M, (uint8_t *)&t, 1);
+	i2cRead(MAG_I2C_ADDRESS, LSM303DLHC_TEMP_OUT_H_M, (uint8_t *)&t+1, 1);
 	return t/64;
 }
 
 volatile  unsigned	sysTiming;
 volatile  unsigned  sysTicks = 0;
 
-void SysTick_Handler(void) {
+__attribute__ ((section ("ccmram"))) void SysTick_Handler(void) {
         sysTicks++;
         if (sysTiming > 0) --sysTiming; 
 }
@@ -97,7 +97,6 @@
 }
 
 int main(void) {
-    
     SysTick_Config((SystemCoreClock / 1000));
     RCC->AHBENR |= RCC_AHBENR_GPIOEEN | RCC_AHBENR_GPIOAEN;    
     GPIOE->MODER = (GPIOE->MODER&0xffff) | 0x55550000; // output mode for PE8-15
@@ -105,38 +104,36 @@
 
 	MemsConfig();
 	int16_t acc[3],mag[3],temp;
-    int b=0;
-    int TH=200*16;
+    int b = 0;
+    int TH = 200*16;
     while(1) {
-    	
     	ReadAccelerometer(acc);
     	ReadMagnetometer(mag);
     	float heading = atan2(mag[1], mag[0]);
-        heading=heading * 180 / 3.14159265359f;
-        if (heading < 0) heading +=360;
+        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 %f\n",mag[0],mag[1],mag[2],temp, heading);
-    	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;
+    	printf("Acc: %d %d %d\n", acc[0]/16, acc[1]/16, acc[2]/16);
+    	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) {
+    		 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;
+    		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;
+    			if(acc[0] < -TH) b = 1<<5;
+	    		 	else if(acc[0] > TH) b = 1<<1;
     		}
     	}
-    	GPIOE->BSRR=b<<8;
+    	GPIOE->BSRR = b<<8;
     	while(GPIOA->IDR&1);
     	sysDelayMs(100);
-    	
     }
 }