[运动传感器] LSM6DSL的BlueNRG-1测试代码

littleshrimp 2018-7-31 13:59 楼主

传感器驱动使用STMems_Standard_C_drivers
BlueNRG-1的SDK_EVAL_I2C.c库使用的是7位设备地址，使用lsm6dsl_reg.h的LSM6DSL_I2C_ADD_x时需要或移一位转成7位地址

/******************** (C) COPYRIGHT 2015 STMicroelectronics ********************
* File Name : I2C/Master_Polling/main.c
* Author : RF Application Team
* Version : V1.0.0
* Date : September-2015
* Description : Code demostrating the I2C master functionality
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "BlueNRG_x_device.h"
#include <stdio.h>
#include <string.h>
#include "BlueNRG1_conf.h"
#include "SDK_EVAL_Config.h"
#include "lsm6dsl_reg.h"
/** @addtogroup BlueNRG1_StdPeriph_Examples BlueNRG1 Standard Peripheral Examples
* @{
*/
/** @addtogroup I2C_Examples I2C Examples
* @{
*/
/** @addtogroup I2C_Master I2C Master
* @{
*/
/* Private typedef -----------------------------------------------------------*/
typedef enum {
I2C_OP_FAILED = 0,
I2C_OP_SUCCEED
}
I2C_AppOpStatus;
/* Private define ------------------------------------------------------------*/
#define TOGGLE_DL1 '1'
#define TOGGLE_DL2 '2'
#define TOGGLE_DL3 '3'
/* I2C Device address */
#define DEV_ADDRESS 0xBE
/* I2C clock frequency */
#define SDK_EVAL_I2C_CLK_SPEED (10000)
#define TX_BUF_DIM 1000
#define MAX_BUF_SIZE 256
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
static axis3bit16_t data_raw_acceleration;
static axis3bit16_t data_raw_angular_rate;
static axis1bit16_t data_raw_temperature;
static float acceleration_mg[3];
static float angular_rate_mdps[3];
static float temperature_degC;
static uint8_t whoamI, rst;
static char tx_buffer[TX_BUF_DIM];
lsm6dsl_ctx_t dev_ctx;
/* Private functions ---------------------------------------------------------*/
static int32_t platform_write(void *handle, uint8_t Reg, uint8_t *Bufp,
uint16_t len)
{
SdkEvalI2CWrite(Bufp, LSM6DSL_I2C_ADD_L >> 1, Reg, len);
return 0;
}
static int32_t platform_read(void *handle, uint8_t Reg, uint8_t *Bufp,
uint16_t len)
{
SdkEvalI2CRead(Bufp, LSM6DSL_I2C_ADD_L >> 1, Reg, len);
return 0;
}
/* Main Example --------------------------------------------------------------*/
void example_main(void)
{
/*
* Initialize mems driver interface
*/
dev_ctx.write_reg = platform_write;
dev_ctx.read_reg = platform_read;
SdkEvalI2CInit(10000);
printf("i2c init");
/*
* Check device ID
*/
whoamI = 0;
lsm6dsl_device_id_get(&dev_ctx, &whoamI);
printf("%d",whoamI);
if ( whoamI != LSM6DSL_ID )
while(1); /*manage here device not found */
/*
* Restore default configuration
*/
lsm6dsl_reset_set(&dev_ctx, PROPERTY_ENABLE);
do {
lsm6dsl_reset_get(&dev_ctx, &rst);
} while (rst);
/*
* Enable Block Data Update
*/
lsm6dsl_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
/*
* Set Output Data Rate
*/
lsm6dsl_xl_data_rate_set(&dev_ctx, LSM6DSL_XL_ODR_12Hz5);
lsm6dsl_gy_data_rate_set(&dev_ctx, LSM6DSL_GY_ODR_12Hz5);
/*
* Set full scale
*/
lsm6dsl_xl_full_scale_set(&dev_ctx, LSM6DSL_2g);
lsm6dsl_gy_full_scale_set(&dev_ctx, LSM6DSL_2000dps);
/*
* Configure filtering chain(No aux interface)
*/
/* Accelerometer - analog filter */
lsm6dsl_xl_filter_analog_set(&dev_ctx, LSM6DSL_XL_ANA_BW_400Hz);
/* Accelerometer - LPF1 path ( LPF2 not used )*/
//lsm6dsl_xl_lp1_bandwidth_set(&dev_ctx, LSM6DSL_XL_LP1_ODR_DIV_4);
/* Accelerometer - LPF1 + LPF2 path */
lsm6dsl_xl_lp2_bandwidth_set(&dev_ctx, LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_100);
/* Accelerometer - High Pass / Slope path */
//lsm6dsl_xl_reference_mode_set(&dev_ctx, PROPERTY_DISABLE);
//lsm6dsl_xl_hp_bandwidth_set(&dev_ctx, LSM6DSL_XL_HP_ODR_DIV_100);
/* Gyroscope - filtering chain */
lsm6dsl_gy_band_pass_set(&dev_ctx, LSM6DSL_HP_260mHz_LP1_STRONG);
/*
* Read samples in polling mode (no int)
*/
while(1)
{
/*
* Read output only if new value is available
*/
lsm6dsl_reg_t reg;
lsm6dsl_status_reg_get(&dev_ctx, ®.status_reg);
if (reg.status_reg.xlda)
{
/* Read magnetic field data */
memset(data_raw_acceleration.u8bit, 0x00, 3*sizeof(int16_t));
lsm6dsl_acceleration_raw_get(&dev_ctx, data_raw_acceleration.u8bit);
acceleration_mg[0] = LSM6DSL_FROM_FS_2g_TO_mg( data_raw_acceleration.i16bit[0]);
acceleration_mg[1] = LSM6DSL_FROM_FS_2g_TO_mg( data_raw_acceleration.i16bit[1]);
acceleration_mg[2] = LSM6DSL_FROM_FS_2g_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]);
printf( tx_buffer);
}
if (reg.status_reg.gda)
{
/* Read magnetic field data */
memset(data_raw_angular_rate.u8bit, 0x00, 3*sizeof(int16_t));
lsm6dsl_angular_rate_raw_get(&dev_ctx, data_raw_angular_rate.u8bit);
angular_rate_mdps[0] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[0]);
angular_rate_mdps[1] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[1]);
angular_rate_mdps[2] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[2]);
sprintf((char*)tx_buffer, "Angular rate [mdps]:%4.2f\t%4.2f\t%4.2f\r\n",
angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]);
printf( tx_buffer);
}
if (reg.status_reg.tda)
{
/* Read temperature data */
memset(data_raw_temperature.u8bit, 0x00, sizeof(int16_t));
lsm6dsl_temperature_raw_get(&dev_ctx, data_raw_temperature.u8bit);
temperature_degC = LSM6DSL_FROM_LSB_TO_degC( data_raw_temperature.i16bit );
sprintf((char*)tx_buffer, "Temperature [degC]:%6.2f\r\n", temperature_degC );
printf( tx_buffer);
}
}
}
/**
* [url=home.php?mod=space&uid=159083]@brief[/url] Main program code
* @param None
* @retval None
*/
int main(void)
{
/* System initialization function */
SystemInit();
/* Identify BlueNRG1 platform */
SdkEvalIdentification();
/* UART initialization */
SdkEvalComUartInit(UART_BAUDRATE);
/* Infinite loop for process command */
example_main();
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/******************* (C) COPYRIGHT 2015 STMicroelectronics *****END OF FILE****/

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回复评论（2）

沙发 zfw152666

不错的代码，我也正在学习

点赞 2018-10-29 15:15

板凳 2147939282

学习下最近项目有遇到

点赞 2019-6-19 19:05

[运动传感器] LSM6DSL的BlueNRG-1测试代码

回复评论 （2）

沙发 zfw152666

板凳 2147939282

回复评论（2）