/**
* @brief Read LSM303DLHC ID.
* @param None
* @retval ID
*/
uint8_t LSM303DLHC_AccReadID(void)
{
uint8_t ctrl = 0x00;
/* Low level init */
COMPASSACCELERO_IO_Init();
/* Read value at Who am I register address */
ctrl = COMPASSACCELERO_IO_Read(ACC_I2C_ADDRESS, LSM303DLHC_WHO_AM_I_ADDR);
return ctrl;
}
/**
* @brief Set LSM303DLHC Initialization.
* @param InitStruct: Init parameters
* @retval None
*/
void LSM303DLHC_AccInit(uint16_t InitStruct)
{
uint8_t ctrl = 0x00;
/* Low level init */
COMPASSACCELERO_IO_Init();
/* Write value to ACC MEMS CTRL_REG1 register */
ctrl = (uint8_t) InitStruct;
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG1_A, ctrl);
/* Write value to ACC MEMS CTRL_REG4 register */
ctrl = (uint8_t) (InitStruct << 8);
COMPASSACCELERO_IO_Write(ACC_I2C_ADDRESS, LSM303DLHC_CTRL_REG4_A, ctrl);
}
static void HW_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* Init STM32F401 discovery LEDs */
BSP_LED_Init(LED3);
BSP_LED_Init(LED4);
BSP_LED_Init(LED5);
BSP_LED_Init(LED6);
/* Init SPI and I2C */
GYRO_IO_Init();
COMPASSACCELERO_IO_Init();
/* Init on-board AccelMag */
BSP_ACCELERO_Init();
/* Init BlueNRG CS, Reset, and IRQ pin */
BLUENRG_CS_GPIO_CLK_ENABLE();
GPIO_InitStruct.Pin = BLUENRG_CS_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(BLUENRG_CS_GPIO_PORT, &GPIO_InitStruct);
HAL_GPIO_WritePin(BLUENRG_CS_GPIO_PORT, BLUENRG_CS_PIN, GPIO_PIN_SET);
BLUENRG_RESET_GPIO_CLK_ENABLE();
GPIO_InitStruct.Pin = BLUENRG_RESET_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(BLUENRG_RESET_GPIO_PORT, &GPIO_InitStruct);
BLUENRG_IRQ_GPIO_CLK_ENABLE();
GPIO_InitStruct.Pin = BLUENRG_IRQ_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(BLUENRG_IRQ_GPIO_PORT, &GPIO_InitStruct);
#ifdef WITH_USART
/* Init USART port */
UsartHandle.Instance = USART2;
UsartHandle.Init.BaudRate = 9600;
UsartHandle.Init.WordLength = USART_WORDLENGTH_8B;
UsartHandle.Init.StopBits = USART_STOPBITS_1;
UsartHandle.Init.Parity = USART_PARITY_NONE;
UsartHandle.Init.Mode = USART_MODE_TX_RX;
if (HAL_USART_Init(&UsartHandle) != HAL_OK)
{
ColorfulRingOfDeath();
}
#endif
#ifdef WITH_VCP
/* Init Device Library */
USBD_Init(&hUSBDDevice, &VCP_Desc, 0);
/* Add Supported Class */
USBD_RegisterClass(&hUSBDDevice, &USBD_CDC);
/* Add CDC Interface Class */
USBD_CDC_RegisterInterface(&hUSBDDevice, &USBD_CDC_fops);
/* Start Device Process */
USBD_Start(&hUSBDDevice);
#endif
}
