int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_ADC1_Init();
MX_USART1_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
lsm6ds3tr_c_read_data_polling();
}
/* USER CODE END 3 */
}
/**
* [url=home.php?mod=space&uid=247401]@brief[/url] System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
__HAL_FLASH_SET_LATENCY(FLASH_LATENCY_1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
void lsm6ds3tr_c_read_data_polling(void)
{
/* Initialize mems driver interface */
stmdev_ctx_t dev_ctx;
dev_ctx.write_reg = platform_write;
dev_ctx.read_reg = platform_read;
// dev_ctx.mdelay = platform_delay;
dev_ctx.handle = &hi2c1;
/* Wait sensor boot time */
HAL_Delay(BOOT_TIME);
/* Check device ID */
whoamI = 0x6a;
lsm6ds3tr_c_device_id_get(&dev_ctx, &whoamI);
if ( whoamI != LSM6DS3TR_C_ID )
while (1); /*manage here device not found */
/* Restore default configuration*/
lsm6ds3tr_c_reset_set(&dev_ctx, PROPERTY_ENABLE);
do {
lsm6ds3tr_c_reset_get(&dev_ctx, &rst);
lsm6ds3tr_c_reset_set(&dev_ctx, 0);
} while (rst);
/* Enable Block Data Update */
// lsm6ds3tr_c_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
/* Set Output Data Rate */
lsm6ds3tr_c_xl_data_rate_set(&dev_ctx, LSM6DS3TR_C_XL_ODR_12Hz5);
lsm6ds3tr_c_gy_data_rate_set(&dev_ctx, LSM6DS3TR_C_GY_ODR_12Hz5);
/* Set full scale */
lsm6ds3tr_c_xl_full_scale_set(&dev_ctx, LSM6DS3TR_C_2g);
lsm6ds3tr_c_gy_full_scale_set(&dev_ctx, LSM6DS3TR_C_2000dps);
/* Configure filtering chain(No aux interface) */
/* Accelerometer - analog filter */
//lsm6ds3tr_c_xl_filter_analog_set(&dev_ctx,LSM6DS3TR_C_XL_ANA_BW_400Hz);
/* Accelerometer - LPF1 path ( LPF2 not used )*/
//lsm6ds3tr_c_xl_lp1_bandwidth_set(&dev_ctx, LSM6DS3TR_C_XL_LP1_ODR_DIV_4);
/* Accelerometer - LPF1 + LPF2 path */
//lsm6ds3tr_c_xl_lp2_bandwidth_set(&dev_ctx,LSM6DS3TR_C_XL_LOW_NOISE_LP_ODR_DIV_100);
/* Accelerometer - High Pass / Slope path */
//lsm6ds3tr_c_xl_reference_mode_set(&dev_ctx, PROPERTY_DISABLE);
//lsm6ds3tr_c_xl_hp_bandwidth_set(&dev_ctx, LSM6DS3TR_C_XL_HP_ODR_DIV_100);
/* Gyroscope - filtering chain */
//lsm6ds3tr_c_gy_band_pass_set(&dev_ctx,LSM6DS3TR_C_HP_260mHz_LP1_STRONG);
/* Read samples in polling mode (no int) */
while (1) {
/* Read output only if new value is available */
lsm6ds3tr_c_reg_t reg;
lsm6ds3tr_c_status_reg_get(&dev_ctx, ®.status_reg);
if (reg.status_reg.xlda) {
/* Read magnetic field data */
memset(data_raw_acceleration, 0x00, 3 * sizeof(int16_t));
lsm6ds3tr_c_acceleration_raw_get(&dev_ctx,
data_raw_acceleration);
acceleration_mg[0] = lsm6ds3tr_c_from_fs2g_to_mg(
data_raw_acceleration[0]);
acceleration_mg[1] = lsm6ds3tr_c_from_fs2g_to_mg(
data_raw_acceleration[1]);
acceleration_mg[2] = lsm6ds3tr_c_from_fs2g_to_mg(
data_raw_acceleration[2]);
}
if (reg.status_reg.gda) {
/* Read magnetic field data */
memset(data_raw_angular_rate, 0x00, 3 * sizeof(int16_t));
lsm6ds3tr_c_angular_rate_raw_get(&dev_ctx,
data_raw_angular_rate);
angular_rate_mdps[0] = lsm6ds3tr_c_from_fs2000dps_to_mdps(
data_raw_angular_rate[0]);
angular_rate_mdps[1] = lsm6ds3tr_c_from_fs2000dps_to_mdps(
data_raw_angular_rate[1]);
angular_rate_mdps[2] = lsm6ds3tr_c_from_fs2000dps_to_mdps(
data_raw_angular_rate[2]);
}
if (reg.status_reg.tda) {
/* Read temperature data */
memset(&data_raw_temperature, 0x00, sizeof(int16_t));
lsm6ds3tr_c_temperature_raw_get(&dev_ctx, &data_raw_temperature);
temperature_degC = lsm6ds3tr_c_from_lsb_to_celsius(
data_raw_temperature );
}
}
}
/*
* @brief Write generic device register (platform dependent)
*
* @param handle customizable argument. In this examples is used in
* order to select the correct sensor bus handler.
* @param reg register to write
* @param bufp pointer to data to write in register reg
* @param len number of consecutive register to write
*
*/
static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
uint16_t len)
{
HAL_I2C_Mem_Write(handle, LSM6DS3TR_C_I2C_ADD_L, reg,
I2C_MEMADD_SIZE_8BIT, (uint8_t*) bufp, len, 1000);
return 0;
}
/*
* @brief Read generic device register (platform dependent)
*
* @param handle customizable argument. In this examples is used in
* order to select the correct sensor bus handler.
* @param reg register to read
* @param bufp pointer to buffer that store the data read
* @param len number of consecutive register to read
*
*/
static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
uint16_t len)
{
HAL_I2C_Mem_Read(handle, LSM6DS3TR_C_I2C_ADD_L, reg,
I2C_MEMADD_SIZE_8BIT, bufp, len, 1000);
return 0;
}
/*
* @brief Write generic device register (platform dependent)
*
* @param tx_buffer buffer to transmit
* @param len number of byte to send
*
*/
/* USER CODE END 4 */
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