测试LIS2MDL磁力计花费了几天的时间，主要是在数据的显示时遇到了坑，从传感器返回的值是16位带符号的整数，开始我按二进制方式，大于32767的就按负数进行换算，但总是没有达到目的，折腾了许多才反映过来应该直接判断是否小于零，最后达到了目的，显示的结果与串口输出结果完全一致。下图是串口输出的测试结果：
这是LCD显示的结果，显示分两个屏幕，第一屏显示轴向、自测前数据和自测数据。
第二屏显示三个轴向的自测前后数据差和下限、上限：
下图是测试时的照片：
这是开机屏幕：
现在还不清楚自测前后的数据表示什么，在测试中，如果开发不移动，每次测试返回的值都有少许差别，如果移动了位置则差别较大，目前仍在继续测试中，看能否弄清楚数值与位置或方向之间的规律。
下面是添加了显示的代码：
/**
* [url=home.php?mod=space&uid=159083]@brief[/url] Performs LIS2MDL magnetometer self-test执行Lis2Mdl磁强计自检
* @retval BSP status
*/
static int32_t LIS2MDL_SelfTest(void)
{
int32_t test_result = BSP_ERROR_NONE;
uint32_t i;
IKS01A3_MOTION_SENSOR_Axes_t data_nost;
IKS01A3_MOTION_SENSOR_Axes_t data_st;
IKS01A3_MOTION_SENSOR_Axes_t data;
uint8_t prev_reg_values[ST_REG_COUNT];
int32_t ret;
int16_t temp;
(void)snprintf(dataOut, MAX_BUF_SIZE, "\r\nStarting LIS2MDL magnetometer self-test ...\r\nKeep the device still!!!\r\n");
printf("%s", dataOut);
HAL_Delay(INDICATION_DELAY);
BSP_LED_On(LED2);
/* Store current settings of the sensor 存储传感器的当前设置*/
for (i = 0; i < ST_REG_COUNT; i++)
{
if ((ret = IKS01A3_MOTION_SENSOR_Read_Register(IKS01A3_LIS2MDL_0, reg_addr[i], &prev_reg_values[i])) != BSP_ERROR_NONE)
{
return ret;
}
}
/* Set the sensor for self-test 设置传感器进行自检*/
for (i = 0; i < ST_REG_COUNT; i++)
{
if ((ret = IKS01A3_MOTION_SENSOR_Write_Register(IKS01A3_LIS2MDL_0, reg_addr[i], st_reg_values[i])) != BSP_ERROR_NONE)
{
return ret;
}
}
/* Wait defined time for stable output 等待确定的稳定输出时间*/
HAL_Delay(POWER_UP_DELAY);
/* Read first data and discard it 读取第一个数据并丢弃它*/
if (LIS2MDL_M_Get_Data(&data) != BSP_ERROR_NONE)
{
Error_Handler();
}
data_nost.x = 0;
data_nost.y = 0;
data_nost.z = 0;
/* Read valid data multiple times and average it 多次读取有效数据并取其平均值*/
for (i = 0; i < (uint32_t)N_SAMPLES; i++)
{
if (LIS2MDL_M_Get_Data(&data) != BSP_ERROR_NONE)
{
Error_Handler();
}
data_nost.x += data.x;
data_nost.y += data.y;
data_nost.z += data.z;
}
data_nost.x /= N_SAMPLES;
data_nost.y /= N_SAMPLES;
data_nost.z /= N_SAMPLES;
/* Enable self-test 启用自检*/
if ((ret = IKS01A3_MOTION_SENSOR_Set_SelfTest(IKS01A3_LIS2MDL_0, MOTION_MAGNETO, 1)) != BSP_ERROR_NONE)
{
return ret;
}
/* Wait defined time for stable output */
HAL_Delay(ST_ENABLED_DELAY);
/* Read first data and discard it 读取第一个数据并丢弃它*/
if (LIS2MDL_M_Get_Data(&data) != BSP_ERROR_NONE)
{
Error_Handler();
}
data_st.x = 0;
data_st.y = 0;
data_st.z = 0;
/* Read valid data multiple times and average it 多次读取有效数据并取其平均值*/
for (i = 0; i < (uint32_t)N_SAMPLES; i++)
{
if (LIS2MDL_M_Get_Data(&data) != BSP_ERROR_NONE)
{
Error_Handler();
}
data_st.x += data.x;
data_st.y += data.y;
data_st.z += data.z;
}
data_st.x /= N_SAMPLES;
data_st.y /= N_SAMPLES;
data_st.z /= N_SAMPLES;
/* Restore previous settings of the sensor 恢复传感器以前的设置*/
for (i = 0; i < ST_REG_COUNT; i++)
{
if ((ret = IKS01A3_MOTION_SENSOR_Write_Register(IKS01A3_LIS2MDL_0, reg_addr[i], prev_reg_values[i])) != BSP_ERROR_NONE)
{
return ret;
}
}
/* Evaluate the test 评估测试*/
if (abs(data_st.x - data_nost.x) < LO_LIM)
{
test_result = BSP_ERROR_COMPONENT_FAILURE;
}
if (abs(data_st.x - data_nost.x) > HI_LIM)
{
test_result = BSP_ERROR_COMPONENT_FAILURE;
}
if (abs(data_st.y - data_nost.y) < LO_LIM)
{
test_result = BSP_ERROR_COMPONENT_FAILURE;
}
if (abs(data_st.y - data_nost.y) > HI_LIM)
{
test_result = BSP_ERROR_COMPONENT_FAILURE;
}
if (abs(data_st.z - data_nost.z) < LO_LIM)
{
test_result = BSP_ERROR_COMPONENT_FAILURE;
}
if (abs(data_st.z - data_nost.z) > HI_LIM)
{
test_result = BSP_ERROR_COMPONENT_FAILURE;
}
/* Print measured data 打印测量数据*/
(void)snprintf(dataOut, MAX_BUF_SIZE, "\r\nMeasured magnetic field [mgauss]:\r\n");
//测量磁场: 轴,自测前,自测
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, "\r\n AXIS | PRE-SELFTEST | SELFTEST\r\n");
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, "--------------|--------------|--------------\r\n");
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, " X | %8ld | %8ld\r\n", data_nost.x, data_st.x);
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, " Y | %8ld | %8ld\r\n", data_nost.y, data_st.y);
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, " Z | %8ld | %8ld\r\n", data_nost.z, data_st.z);
printf("%s", dataOut);
//添加LCD显示的代码开始
LCD_clear();
LCD_write_BG(10,0,(uint8_t *)"磁场传感器");
LCD_write_ASCII(0,2,(uint8_t *)"PRE-SEL. SELF.");
LCD_write_ASCII(0,3,(uint8_t *)"X");
LCD_write_ASCII(0,4,(uint8_t *)"Y");
LCD_write_ASCII(0,5,(uint8_t *)"Z");
if(data_nost.x < 0){
LCD_write_value(15,3,5,0,0,65536 - data_nost.x);
LCD_write_ASCII(15,3,(uint8_t *)"-");
}
else
LCD_write_value(15,3,5,0,0,data_nost.x);
if(data_st.x < 0){
LCD_write_value(50,3,5,0,0,65536 - data_st.x);
LCD_write_ASCII(50,3,(uint8_t *)"-");
}
else
LCD_write_value(50,3,5,0,0,data_st.x);
if(data_nost.y < 0){
LCD_write_value(15,4,5,0,0,65536 - data_nost.y);
LCD_write_ASCII(15,4,(uint8_t *)"-");
}
else
LCD_write_value(15,4,5,0,0,data_nost.y);
if(data_st.y < 0){
LCD_write_value(50,4,5,0,0,65536 - data_st.y);
LCD_write_ASCII(50,4,(uint8_t *)"-");
}
else
LCD_write_value(50,4,5,0,0,data_st.y);
if(data_nost.z < 0){
LCD_write_value(15,5,5,0,0,65536 - data_nost.z);
LCD_write_ASCII(15,5,(uint8_t *)"-");
}
else
LCD_write_value(15,5,5,0,0,data_nost.z);
if(data_st.z < 0){
LCD_write_value(50,5,5,0,0,65536 - data_st.z);
LCD_write_ASCII(50,5,(uint8_t *)"-");
}
else
LCD_write_value(50,5,5,0,0,data_st.z);
//添加LCD显示的代码结束
/* Print test limits and data 打印测试限值和数据*/
(void)snprintf(dataOut, MAX_BUF_SIZE, "\r\nTest limits and data [mgauss]:\r\n");
//试验限值和数据: 下限,差异,上限
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, "\r\n LOW LIMIT | DIFFERENCE | HIGH LIMIT\r\n");
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, "--------------|--------------|--------------\r\n");
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, "%8d | %8d | %8d\r\n", LO_LIM, (int)abs(data_st.x - data_nost.x), HI_LIM);
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, "%8d | %8d | %8d\r\n", LO_LIM, (int)abs(data_st.y - data_nost.y), HI_LIM);
printf("%s", dataOut);
(void)snprintf(dataOut, MAX_BUF_SIZE, "%8d | %8d | %8d\r\n", LO_LIM, (int)abs(data_st.z - data_nost.z), HI_LIM);
printf("%s", dataOut);
//添加LCD显示的代码开始
HAL_Delay(8000);
LCD_clear();
LCD_write_BG(10,0,(uint8_t *)"磁场传感器");
LCD_write_ASCII(0,2,(uint8_t *)"LOW DIFF. HIGH");
LCD_write_value(0,3,2,0,0,LO_LIM);
temp = data_st.x - data_nost.x;
if(temp < 0){
LCD_write_value(15,3,5,0,0,65536 - temp);
LCD_write_ASCII(15,3,(uint8_t *)"-");
}
else
LCD_write_value(15,3,5,0,0,temp);
LCD_write_value(60,3,3,0,0,HI_LIM);
LCD_write_value(0,4,2,0,0,LO_LIM);
temp = data_st.y - data_nost.y;
if(temp < 0){
LCD_write_value(15,4,5,0,0,65536 - temp);
LCD_write_ASCII(15,4,(uint8_t *)"-");
}
else
LCD_write_value(15,4,5,0,0,temp);
LCD_write_value(60,4,3,0,0,HI_LIM);
LCD_write_value(0,5,2,0,0,LO_LIM);
temp = data_st.z - data_nost.z;
if(temp < 0){
LCD_write_value(15,5,5,0,0,65536 - temp);
LCD_write_ASCII(15,5,(uint8_t *)"-");
}
else
LCD_write_value(15,5,5,0,0,temp);
LCD_write_value(60,5,3,0,0,HI_LIM);
//添加LCD显示的代码结束
/* Print the test result */
if (test_result == BSP_ERROR_NONE)
{
(void)snprintf(dataOut, MAX_BUF_SIZE, "\r\nLIS2MDL magnetometer self-test PASSED!\r\n");
}
else
{
(void)snprintf(dataOut, MAX_BUF_SIZE, "\r\nLIS2MDL magnetometer self-test FAILED!\r\n");
}
printf("%s", dataOut);
BSP_LED_Off(LED2);
return ret;
}
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