asm330lhh-STdC嵌入式程序示例

/* ****************************************************************************** * @file asm330lhh_multi_read_fifo_simple.c * @author Sensors Software Solution Team * @brief This file show the simplest way to get data from sensor FIFO. * ****************************************************************************** * @attention * * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics. * All rights reserved.</center></h2> * * This software component is licensed by ST under BSD 3-Clause license, * the "License"; You may not use this file except in compliance with the * License. You may obtain a copy of the License at: * opensource.org/licenses/BSD-3-Clause * ****************************************************************************** */ /* * This example was developed using the following STMicroelectronics * evaluation boards: * * - STEVAL_MKI109V3 + STEVAL-MKI195V1 * - NUCLEO_F411RE + STEVAL-MKI195V1 * - DISCOVERY_SPC584B + STEVAL-MKI195V1 * * and STM32CubeMX tool with STM32CubeF4 MCU Package * * Used interfaces: * * STEVAL_MKI109V3 - Host side: USB (Virtual COM) * - Sensor side: SPI(Default) / I2C(supported) * * NUCLEO_STM32F411RE - Host side: UART(COM) to USB bridge * - Sensor side: I2C(Default) / SPI(supported) * * DISCOVERY_SPC584B - Host side: UART(COM) to USB bridge * - Sensor side: I2C(Default) / SPI(supported) * * If you need to run this example on a different hardware platform a * modification of the functions: `platform_write`, `platform_read`, * `tx_com` and 'platform_init' is required. * */ /* STMicroelectronics evaluation boards definition * * Please uncomment ONLY the evaluation boards in use. * If a different hardware is used please comment all * following target board and redefine yours. */ //#define STEVAL_MKI109V3 /* little endian */ //#define NUCLEO_F411RE /* little endian */ //#define SPC584B_DIS /* big endian */ /* ATTENTION: By default the driver is little endian. If you need switch * to big endian please see "Endianness definitions" in the * header file of the driver (_reg.h). */ #if defined(STEVAL_MKI109V3) /* MKI109V3: Define communication interface */ #define SENSOR_BUS hspi2 /* MKI109V3: Vdd and Vddio power supply values */ #define PWM_3V3 915 #elif defined(NUCLEO_F411RE) /* NUCLEO_F411RE: Define communication interface */ #define SENSOR_BUS hi2c1 #elif defined(SPC584B_DIS) /* DISCOVERY_SPC584B: Define communication interface */ #define SENSOR_BUS I2CD1 #endif /* Includes ------------------------------------------------------------------*/ #include <string.h> #include <stdio.h> #include "asm330lhh_reg.h" #if defined(NUCLEO_F411RE) #include "stm32f4xx_hal.h" #include "usart.h" #include "gpio.h" #include "i2c.h" #elif defined(STEVAL_MKI109V3) #include "stm32f4xx_hal.h" #include "usbd_cdc_if.h" #include "gpio.h" #include "spi.h" #include "tim.h" #elif defined(SPC584B_DIS) #include "components.h" #endif /* Private macro -------------------------------------------------------------*/ #define BOOT_TIME 10 //ms typedef union { int16_t i16bit[3]; uint8_t u8bit[6]; } axis3bit16_t; /* Private variables ---------------------------------------------------------*/ static axis3bit16_t data_raw_acceleration; static axis3bit16_t data_raw_angular_rate; static axis3bit16_t dummy; static float acceleration_mg[3]; static float angular_rate_mdps[3]; static uint8_t whoamI, rst; static uint8_t tx_buffer[1000]; /* Extern variables ----------------------------------------------------------*/ /* Private functions ---------------------------------------------------------*/ /* * WARNING: * Functions declare in this section are defined at the end of this file * and are strictly related to the hardware platform used. * */ static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp, uint16_t len); static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len); static void tx_com( uint8_t *tx_buffer, uint16_t len ); static void platform_delay(uint32_t ms); static void platform_init(void); /* Main Example --------------------------------------------------------------*/ void asm330lhh_fifo_read(void) { stmdev_ctx_t dev_ctx; /* Uncomment to configure INT 1 */ //asm330lhh_pin_int1_route_t int1_route; /* Uncomment to configure INT 2 */ //asm330lhh_pin_int2_route_t int2_route; /* Initialize mems driver interface */ dev_ctx.write_reg = platform_write; dev_ctx.read_reg = platform_read; dev_ctx.mdelay = platform_delay; dev_ctx.handle = &SENSOR_BUS; /* Init test platform */ platform_init(); /* Wait sensor boot time */ platform_delay(BOOT_TIME); /* Check device ID */ asm330lhh_device_id_get(&dev_ctx, &whoamI); if (whoamI != ASM330LHH_ID) while (1); /* Restore default configuration */ asm330lhh_reset_set(&dev_ctx, PROPERTY_ENABLE); do { asm330lhh_reset_get(&dev_ctx, &rst); } while (rst); /* Start device configuration. */ asm330lhh_device_conf_set(&dev_ctx, PROPERTY_ENABLE); /* Enable Block Data Update */ asm330lhh_block_data_update_set(&dev_ctx, PROPERTY_ENABLE); /* Set full scale */ asm330lhh_xl_full_scale_set(&dev_ctx, ASM330LHH_2g); asm330lhh_gy_full_scale_set(&dev_ctx, ASM330LHH_2000dps); /* Set FIFO watermark (number of unread sensor data TAG + 6 bytes * stored in FIFO) to 10 samples */ asm330lhh_fifo_watermark_set(&dev_ctx, 10); /* Set FIFO batch XL/Gyro ODR to 12.5Hz */ asm330lhh_fifo_xl_batch_set(&dev_ctx, ASM330LHH_XL_BATCHED_AT_12Hz5); asm330lhh_fifo_gy_batch_set(&dev_ctx, ASM330LHH_GY_BATCHED_AT_12Hz5); /* Set FIFO mode to Stream mode (aka Continuous Mode) */ asm330lhh_fifo_mode_set(&dev_ctx, ASM330LHH_STREAM_MODE); /* Enable drdy 75 μs pulse: uncomment if interrupt must be pulsed */ //asm330lhh_data_ready_mode_set(&dev_ctx, ASM330LHH_DRDY_PULSED); /* Uncomment if interrupt generation on Free Fall INT1 pin */ //asm330lhh_pin_int1_route_get(&dev_ctx, &int1_route); //int1_route.reg.int1_ctrl.int1_fifo_th = PROPERTY_ENABLE; //asm330lhh_pin_int1_route_set(&dev_ctx, &int1_route); /* Uncomment if interrupt generation on Free Fall INT2 pin */ //asm330lhh_pin_int2_route_get(&dev_ctx, &int2_route); //int2_route.reg.int2_ctrl.int2_fifo_th = PROPERTY_ENABLE; //asm330lhh_pin_int2_route_set(&dev_ctx, &int2_route); /* Set Output Data Rate */ asm330lhh_xl_data_rate_set(&dev_ctx, ASM330LHH_XL_ODR_12Hz5); asm330lhh_gy_data_rate_set(&dev_ctx, ASM330LHH_GY_ODR_12Hz5); /* Wait samples. */ while (1) { asm330lhh_fifo_tag_t reg_tag; uint8_t wmflag = 0; uint16_t num = 0; /* Read watermark flag */ asm330lhh_fifo_wtm_flag_get(&dev_ctx, &wmflag); if (wmflag > 0) { /* Read number of samples in FIFO */ asm330lhh_fifo_data_level_get(&dev_ctx, &num); while (num--) { /* Read FIFO tag */ asm330lhh_fifo_sensor_tag_get(&dev_ctx, &reg_tag); switch (reg_tag) { case ASM330LHH_XL_NC_TAG: memset(data_raw_acceleration.u8bit, 0x00, 3 * sizeof(int16_t)); asm330lhh_fifo_out_raw_get(&dev_ctx, data_raw_acceleration.u8bit); acceleration_mg[0] = asm330lhh_from_fs2g_to_mg(data_raw_acceleration.i16bit[0]); acceleration_mg[1] = asm330lhh_from_fs2g_to_mg(data_raw_acceleration.i16bit[1]); acceleration_mg[2] = asm330lhh_from_fs2g_to_mg(data_raw_acceleration.i16bit[2]); sprintf((char *)tx_buffer, "Acceleration [mg]:%4.2f\t%4.2f\t%4.2f\r\n", acceleration_mg[0], acceleration_mg[1], acceleration_mg[2]); tx_com(tx_buffer, strlen((char const *)tx_buffer)); break; case ASM330LHH_GYRO_NC_TAG: memset(dat