LIS2MDL驱动文件

/* *********************************************************************************************** * LIS2MDL磁力计驱动 * * 实现LIS2MDL底层驱动 * * Filename : LIS2MDL.c * Version : V1.00 * Programmer(s) : FengDuo * *********************************************************************************************** */ #define LIS2MDL_MOUDLE //文件声明 /* *********************************************************************************************** * INCLUDE FILES *********************************************************************************************** */ #include "includes.h" /* *********************************************************************************************** * LOCAL DEFINES *********************************************************************************************** */ static LIS2MDL_SAMPLE_DEF LIS2MDLSample; /* *********************************************************************************************** * LOCAL FUNCTION PROTOTYPES *********************************************************************************************** */ static void LIS2MDL_IOInit(void); static CPU_INT08U LIS2MDL_Register_Read(CPU_INT08U addr); static void LIS2MDL_Register_Write(CPU_INT08U addr,CPU_INT08U val); static void LIS2MDL_Read_XYZ(CPU_INT16S *x,CPU_INT16S *y,CPU_INT16S *z); static void LIS2MDL_Read_Offset(CPU_INT16S *x_offset,CPU_INT16S *y_offset,CPU_INT16S *z_offset); static void LIS2MDL_Write_Offset(CPU_INT16S x_offset,CPU_INT16S y_offset,CPU_INT16S z_offset); static void LIS2MDL_Clean_Offset(void); static CPU_BOOLEAN LIS2MDL_Wait_Data_Update(CPU_INT08U max_cnt); static CPU_BOOLEAN LIS2MDL_Read_Average(CPU_INT16S *x,CPU_INT16S *y,CPU_INT16S *z,CPU_INT08U times); #ifdef LIS2MDL_READ_TEMP static void LIS2MDL_Read_TEMP(CPU_INT16S *temp); #endif /* *********************************************************************************************** LOCAL FUNCTIONS *********************************************************************************************** */ /* *********************************************************************************************** * LIS2MDL_IOInit * * Description: LIS2MDL磁力计 IO初始化 * * Argument(s): 无 * * Return(s) : 无 * * Caller(s) : * *********************************************************************************************** */ static void LIS2MDL_IOInit(void) { GPIO_InitTypeDef GPIO_InitStruct; GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; GPIO_InitStruct.Pull = GPIO_PULLUP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Pin = LIS2MDL_PIN_SCL |LIS2MDL_PIN_SDA; GPIO_InitStruct.Alternate = GPIO_AF4_I2C1; HAL_GPIO_Init(LIS2MDL_PORT_SDA_SCL, &GPIO_InitStruct); } /* *********************************************************************************************** * LIS2MDL_Register_Write * * Description: 写LIS2MDL寄存器 * * Argument(s): * addr: IN, 寄存器地址 * val: IN, 要写入的值 * * Return(s) : 无 * * Caller(s) : * *********************************************************************************************** */ static void LIS2MDL_Register_Write(CPU_INT08U addr,CPU_INT08U val) { CPU_INT08U len = 0x01; LIS2MDL_HardI2C_Register_Write(LIS2MDL_ADDR_WRITE, addr, &val, len); } /* *********************************************************************************************** * LIS2MDL_Register_Read * * Description: 读LIS2MDL寄存器 * * Argument(s): * addr: IN, 寄存器地址 * * Return(s) : 寄存器读取值 * * Caller(s) : * *********************************************************************************************** */ static CPU_INT08U LIS2MDL_Register_Read(CPU_INT08U addr) { CPU_INT08U temp = 0x00, len = 0x01; LIS2MDL_HardI2C_Register_Read(LIS2MDL_ADDR_READ, addr, &temp, len); return temp; } /* *********************************************************************************************** * LIS2MDL_Read_XYZ * * Description: LIS2MDL读取XYZ三轴磁场强度 * * Argument(s): * x: OUT, X轴数据地址 * y: OUT, Y轴数据地址 * z: OUT, Z轴数据地址 * * Return(s) : 无 * * Caller(s) : * *********************************************************************************************** */ static void LIS2MDL_Read_XYZ(CPU_INT16S *x,CPU_INT16S *y,CPU_INT16S *z) { CPU_INT08U buf[LIS2MDL_XYZBUF_LEN]; LIS2MDL_HardI2C_Register_Read(LIS2MDL_ADDR_READ, LIS2MDL_ADDR_XOUTL, buf, LIS2MDL_XYZBUF_LEN); *x=(CPU_INT16S)((buf[1]<<8)+buf[0]); *y=(CPU_INT16S)((buf[3]<<8)+buf[2]); *z=(CPU_INT16S)((buf[5]<<8)+buf[4]); } #ifdef LIS2MDL_READ_TEMP /* *********************************************************************************************** * LIS2MDL_Read_TEMP * * Description: LIS2MDL读取温度值 * * Argument(s): * temp: OUT, 温度数据地址 * * Return(s) : 无 * * Caller(s) : * *********************************************************************************************** */ static void LIS2MDL_Read_TEMP(CPU_INT16S *temp) { CPU_INT08U buf[LIS2MDL_TEMBUF_LEN]; CPU_INT16S dataT; LIS2MDL_HardI2C_Register_Read(LIS2MDL_ADDR_READ, LIS2MDL_ADDR_TEMPL, buf, LIS2MDL_TEMBUF_LEN); dataT = (CPU_INT16S)((buf[1]<<8)+buf[0]); *temp= dataT/8+25; } #endif /* *********************************************************************************************** * LIS2MDL_Read_Offset * * Description: LIS2MDL读取XYZ三轴OFFSET * * Argument(s): * x_offset: OUT, X轴OFFSET数据地址 * y_offset: OUT, Y轴OFFSET数据地址 * z_offset: OUT, Z轴OFFSET数据地址 * * Return(s) : 无 * * Caller(s) : * *********************************************************************************************** */ static void LIS2MDL_Read_Offset(CPU_INT16S *x_offset,CPU_INT16S *y_offset,CPU_INT16S *z_offset) { CPU_INT08U buf[LIS2MDL_OFFSETBUF_LEN]; LIS2MDL_HardI2C_Register_Read(LIS2MDL_ADDR_READ, LIS2MDL_ADDR_OFFSETX_L, buf, LIS2MDL_OFFSETBUF_LEN); *x_offset = (CPU_INT16S)((buf[1]<<8)+buf[0]); *y_offset = (CPU_INT16S)((buf[3]<<8)+buf[2]); *z_offset = (CPU_INT16S)((buf[5]<<8)+buf[4]); } /* *********************************************************************************************** * LIS2MDL_Clean_Offset * * Description: 将LIS2MDL XYZ三轴OFFSET清0 * * Argument(s): 无 * * Return(s) : 无 * * Caller(s) : * *********************************************************************************************** */ static void LIS2MDL_Clean_Offset(void) { CPU_INT08U i; for(i = 0x00;i < LIS2MDL_OFFSETBUF_LEN;i++) { LIS2MDL_Register_Write(LIS2MDL_ADDR_OFFSETX_L+i,0x00); } HAL_Delay(100); } /* *********************************************************************************************** * LIS2MDL_Write_Offset * * Description: 写入LIS2MDL XYZ三轴OFFSET * * Argument(s): * x_offset: OUT, X轴OFFSET * y_offset: OUT, Y轴OFFSET * z_offset: OUT, Z轴OFFSET * * Return(s) : 无 * * Caller(s) : * *********************************************************************************************** */ static void LIS2MDL_Write_Offset(CPU_INT16S x_offset,CPU_INT16S y_offset,CPU_INT16S z_offset) { CPU_INT08U buf[LIS2MDL_OFFSETBUF_LEN]; buf[0] = x_offset & 0xFF; buf[1] = (x_offset >> 8) & 0xFF; buf[2] = y_offset & 0xFF; buf[3] = (y_offset >> 8) & 0xFF