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[资料] LSM6DSL的BlueNRG-1测试代码
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 楼主 | 发布于 2019-11-20 | 只看楼主
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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


  1. /******************** (C) COPYRIGHT 2015 STMicroelectronics ********************
  2. * File Name          : I2C/Master_Polling/main.c 
  3. * Author             : RF Application Team
  4. * Version            : V1.0.0
  5. * Date               : September-2015
  6. * Description        : Code demostrating the I2C master functionality
  7. ********************************************************************************
  8. * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  9. * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
  10. * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
  11. * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
  12. * CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
  13. * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  14. *******************************************************************************/


  17. /* Includes ------------------------------------------------------------------*/
  18. #include "BlueNRG_x_device.h"
  19. #include <stdio.h>
  20. #include <string.h>
  21. #include "BlueNRG1_conf.h"
  22. #include "SDK_EVAL_Config.h"
  23. #include "lsm6dsl_reg.h"

  25. /** @addtogroup BlueNRG1_StdPeriph_Examples BlueNRG1 Standard Peripheral Examples
  26.   * @{
  27.   */

  29. /** @addtogroup I2C_Examples I2C Examples
  30.   * @{
  31.   */

  33. /** @addtogroup I2C_Master I2C Master
  34.   * @{
  35.   */

  37. /* Private typedef -----------------------------------------------------------*/
  38. typedef enum {
  39.   I2C_OP_FAILED = 0,
  40.   I2C_OP_SUCCEED
  41. } 
  42. I2C_AppOpStatus;

  44. /* Private define ------------------------------------------------------------*/
  45. #define TOGGLE_DL1                         '1'
  46. #define TOGGLE_DL2                         '2'
  47. #define TOGGLE_DL3                         '3'

  49. /* I2C Device address */
  50. #define DEV_ADDRESS             0xBE

  52. /* I2C clock frequency */
  53. #define SDK_EVAL_I2C_CLK_SPEED  (10000)

  55. #define TX_BUF_DIM          1000
  56. #define MAX_BUF_SIZE 256

  58. /* Private macro -------------------------------------------------------------*/
  59. /* Private variables ---------------------------------------------------------*/
  60. /* Private function prototypes -----------------------------------------------*/



  64. static axis3bit16_t data_raw_acceleration;
  65. static axis3bit16_t data_raw_angular_rate;
  66. static axis1bit16_t data_raw_temperature;
  67. static float acceleration_mg[3];
  68. static float angular_rate_mdps[3];
  69. static float temperature_degC;
  70. static uint8_t whoamI, rst;
  71. static char tx_buffer[TX_BUF_DIM];
  72. lsm6dsl_ctx_t dev_ctx;
  73. /* Private functions ---------------------------------------------------------*/
  74. static int32_t platform_write(void *handle, uint8_t Reg, uint8_t *Bufp,
  75.                               uint16_t len)
  76. {
  77.   SdkEvalI2CWrite(Bufp, LSM6DSL_I2C_ADD_L >> 1, Reg, len);
  78.   return 0;
  79. }

  81. static int32_t platform_read(void *handle, uint8_t Reg, uint8_t *Bufp,
  82.                              uint16_t len)
  83. {
  84.   SdkEvalI2CRead(Bufp, LSM6DSL_I2C_ADD_L >> 1, Reg, len);
  85.   return 0;
  86. }

  88. /* Main Example --------------------------------------------------------------*/
  89. void example_main(void)
  90. {
  91.   /*
  92.    *  Initialize mems driver interface
  93.    */
  94.   dev_ctx.write_reg = platform_write;
  95.   dev_ctx.read_reg = platform_read;
  96.   
  97.   SdkEvalI2CInit(10000);
  98.   printf("i2c init");
  99.   /*
  100.    *  Check device ID
  101.    */
  102.   whoamI = 0;
  103.   lsm6dsl_device_id_get(&dev_ctx, &whoamI);
  104.   
  105.   printf("%d",whoamI);
  106.   if ( whoamI != LSM6DSL_ID )
  107.     while(1); /*manage here device not found */
  108.   /*
  109.    *  Restore default configuration
  110.    */
  111.   lsm6dsl_reset_set(&dev_ctx, PROPERTY_ENABLE);
  112.   do {
  113.     lsm6dsl_reset_get(&dev_ctx, &rst);
  114.   } while (rst);
  115.   /*
  116.    *  Enable Block Data Update
  117.    */
  118.   lsm6dsl_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
  119.   /*
  120.    * Set Output Data Rate
  121.    */
  122.   lsm6dsl_xl_data_rate_set(&dev_ctx, LSM6DSL_XL_ODR_12Hz5);
  123.   lsm6dsl_gy_data_rate_set(&dev_ctx, LSM6DSL_GY_ODR_12Hz5);
  124.   /*
  125.    * Set full scale
  126.    */  
  127.   lsm6dsl_xl_full_scale_set(&dev_ctx, LSM6DSL_2g);
  128.   lsm6dsl_gy_full_scale_set(&dev_ctx, LSM6DSL_2000dps);
  129.   
  130.   /*
  131.    * Configure filtering chain(No aux interface)
  132.    */  
  133.   /* Accelerometer - analog filter */
  134.   lsm6dsl_xl_filter_analog_set(&dev_ctx, LSM6DSL_XL_ANA_BW_400Hz);
  135.   
  136.   /* Accelerometer - LPF1 path ( LPF2 not used )*/
  137.   //lsm6dsl_xl_lp1_bandwidth_set(&dev_ctx, LSM6DSL_XL_LP1_ODR_DIV_4);
  138.   
  139.   /* Accelerometer - LPF1 + LPF2 path */   
  140.   lsm6dsl_xl_lp2_bandwidth_set(&dev_ctx, LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_100);
  141.   
  142.   /* Accelerometer - High Pass / Slope path */
  143.   //lsm6dsl_xl_reference_mode_set(&dev_ctx, PROPERTY_DISABLE);
  144.   //lsm6dsl_xl_hp_bandwidth_set(&dev_ctx, LSM6DSL_XL_HP_ODR_DIV_100);
  145.   
  146.   /* Gyroscope - filtering chain */
  147.   lsm6dsl_gy_band_pass_set(&dev_ctx, LSM6DSL_HP_260mHz_LP1_STRONG);
  148.   
  149.   /*
  150.    * Read samples in polling mode (no int)
  151.    */
  152.   while(1)
  153.   {
  154.     /*
  155.      * Read output only if new value is available
  156.      */
  157.     lsm6dsl_reg_t reg;
  158.     lsm6dsl_status_reg_get(&dev_ctx, ®.status_reg);

  160.     if (reg.status_reg.xlda)
  161.     {
  162.       /* Read magnetic field data */
  163.       memset(data_raw_acceleration.u8bit, 0x00, 3*sizeof(int16_t));
  164.       lsm6dsl_acceleration_raw_get(&dev_ctx, data_raw_acceleration.u8bit);
  165.       acceleration_mg[0] = LSM6DSL_FROM_FS_2g_TO_mg( data_raw_acceleration.i16bit[0]);
  166.       acceleration_mg[1] = LSM6DSL_FROM_FS_2g_TO_mg( data_raw_acceleration.i16bit[1]);
  167.       acceleration_mg[2] = LSM6DSL_FROM_FS_2g_TO_mg( data_raw_acceleration.i16bit[2]);
  168.       
  169.       sprintf((char*)tx_buffer, "Acceleration [mg]:%4.2f\t%4.2f\t%4.2f\r\n",
  170.               acceleration_mg[0], acceleration_mg[1], acceleration_mg[2]);
  171.       printf( tx_buffer);
  172.     } 
  173.     if (reg.status_reg.gda)
  174.     {
  175.       /* Read magnetic field data */
  176.       memset(data_raw_angular_rate.u8bit, 0x00, 3*sizeof(int16_t));
  177.       lsm6dsl_angular_rate_raw_get(&dev_ctx, data_raw_angular_rate.u8bit);
  178.       angular_rate_mdps[0] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[0]);
  179.       angular_rate_mdps[1] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[1]);
  180.       angular_rate_mdps[2] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[2]);
  181.       
  182.       sprintf((char*)tx_buffer, "Angular rate [mdps]:%4.2f\t%4.2f\t%4.2f\r\n",
  183.               angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]);
  184.       printf( tx_buffer);
  185.     }    
  186.     if (reg.status_reg.tda)
  187.     {   
  188.       /* Read temperature data */
  189.       memset(data_raw_temperature.u8bit, 0x00, sizeof(int16_t));
  190.       lsm6dsl_temperature_raw_get(&dev_ctx, data_raw_temperature.u8bit);
  191.       temperature_degC = LSM6DSL_FROM_LSB_TO_degC( data_raw_temperature.i16bit );
  192.        
  193.       sprintf((char*)tx_buffer, "Temperature [degC]:%6.2f\r\n", temperature_degC );
  194.       printf( tx_buffer);
  195.     }
  196.   }
  197. }
  198. /**
  199. * [url=home.php?mod=space&uid=159083]@brief[/url]  Main program code
  200. * @param  None
  201. * @retval None
  202. */
  203. int main(void)
  204. {
  205.   /* System initialization function */
  206.   SystemInit();
  207.   
  208.   /* Identify BlueNRG1 platform */
  209.   SdkEvalIdentification();
  210.   
  211.   /* UART initialization */
  212.   SdkEvalComUartInit(UART_BAUDRATE);
  213.      
  214.   /* Infinite loop for process command */
  215.   example_main();
  216. }


  219. #ifdef USE_FULL_ASSERT

  221. /**
  222.   * @brief  Reports the name of the source file and the source line number
  223.   *         where the assert_param error has occurred.
  224.   * @param  file: pointer to the source file name
  225.   * @param  line: assert_param error line source number
  226.   */
  227. void assert_failed(uint8_t* file, uint32_t line)
  228. { 
  229.   /* User can add his own implementation to report the file name and line number,
  230.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  232.   /* Infinite loop */
  233.   while (1)
  234.   {
  235.   }
  236. }

  238. #endif

  240. /**
  241.   * @}
  242.   */

  244. /**
  245.   * @}
  246.   */

  248. /**
  249.   * @}
  250.   */

  252. /******************* (C) COPYRIGHT 2015 STMicroelectronics *****END OF FILE****/


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