void LIS302D_ChangePowerControl(SPI_TypeDef* spi, bool enableActiveMode) {
uint8_t tmpreg;
// Read the CTRL_REG1, enable/disable the PD memory flag and write it back
LIS302DL_Read(spi, &tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
tmpreg &= (uint8_t)~LIS302DL_BIT1; // Unset the FS bit
if (enableActiveMode) { // If the bit is set, we are in active mode, else in power down control
tmpreg |= (uint8_t)LIS302DL_BIT1;
}
LIS302DL_Write(spi, &tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
}
void LIS302DL_ChangeScaleMode(SPI_TypeDef* spi, bool fullScaleEnable) {
uint8_t tmpreg;
// Read the CTRL_REG1, enable/disable the FS memory flag and write it back
LIS302DL_Read(spi, &tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
tmpreg &= (uint8_t)~LIS302DL_BIT2; // Unset the FS bit
if (!fullScaleEnable) { // If the bit is not set, we are in ±2.3g mode (full scale)
tmpreg |= (uint8_t)LIS302DL_BIT2;
}
LIS302DL_Write(spi, &tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
}
void LIS302D_ChangeDataRate(SPI_TypeDef* spi, bool enableHighSpeed) {
uint8_t tmpreg;
// Read the CTRL_REG1, enable/disable the DR memory flag and write it back
LIS302DL_Read(spi, &tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
tmpreg &= (uint8_t)~LIS302DL_BIT0; // Unset the FS bit
if (!enableHighSpeed) { // If the bit is set, we are on 400Hz, otherwise on 100Hz
tmpreg |= (uint8_t)LIS302DL_BIT0;
}
LIS302DL_Write(spi, &tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
}
/**
* @brief Reboot memory content of LIS302DL
* @param None
* @retval None
*/
void LIS302DL_RebootCmd(void) {
uint8_t tmpreg;
/* Read CTRL_REG2 register */
LIS302DL_Read(&tmpreg, LIS302DL_CTRL_REG2_ADDR, 1);
/* Enable or Disable the reboot memory */
tmpreg |= LIS302DL_BOOT_REBOOTMEMORY;
/* Write value to MEMS CTRL_REG2 regsister */
LIS302DL_Write(&tmpreg, LIS302DL_CTRL_REG2_ADDR, 1);
}
void LIS302DL_InterruptConfig(LIS302DL_InterruptConfigTypeDef *LIS302DL_IntConfigStruct)
{
uint8_t ctrl = 0x00;
/* Read CLICK_CFG register */
LIS302DL_Read(&ctrl, LIS302DL_CLICK_CFG_REG_ADDR, 1);
/* Configure latch Interrupt request, click interrupts and double click interrupts */
ctrl = (uint8_t)(LIS302DL_IntConfigStruct->Latch_Request| \
LIS302DL_IntConfigStruct->SingleClick_Axes | \
LIS302DL_IntConfigStruct->DoubleClick_Axes);
/* Write value to MEMS CLICK_CFG register */
LIS302DL_Write(&ctrl, LIS302DL_CLICK_CFG_REG_ADDR, 1);
}
void LIS302DL_Init(LIS302DL_InitTypeDef *LIS302DL_InitStruct)
{
uint8_t ctrl = 0x00;
/* Configure the low level interface ---------------------------------------*/
// LIS302DL_LowLevel_Init();
/* Configure MEMS: data rate, power mode, full scale, self test and axes */
ctrl = (uint8_t) (LIS302DL_InitStruct->Output_DataRate | LIS302DL_InitStruct->Power_Mode | \
LIS302DL_InitStruct->Full_Scale | LIS302DL_InitStruct->Self_Test
| \
LIS302DL_InitStruct->Axes_Enable);
/* Write value to MEMS CTRL_REG1 regsister */
LIS302DL_Write(&ctrl, LIS302DL_CTRL_REG1_ADDR, 1);
}
/**
* @brief Change the lowpower mode for LIS302DL
* @param LowPowerMode: new state for the lowpower mode.
* This parameter can be one of the following values:
* @arg LIS302DL_LOWPOWERMODE_POWERDOWN: Power down mode
* @arg LIS302DL_LOWPOWERMODE_ACTIVE: Active mode
* @retval None
*/
void LIS302DL_LowpowerCmd(uint8_t LowPowerMode) {
uint8_t tmpreg;
/* Read CTRL_REG1 register */
LIS302DL_Read(&tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
/* Set new low power mode configuration */
tmpreg &= (uint8_t) ~LIS302DL_LOWPOWERMODE_ACTIVE;
tmpreg |= LowPowerMode;
/* Write value to MEMS CTRL_REG1 regsister */
LIS302DL_Write(&tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
}
/**
* @brief Data Rate command
* @param DataRateValue: Data rate value
* This parameter can be one of the following values:
* @arg LIS302DL_DATARATE_100: 100 Hz output data rate
* @arg LIS302DL_DATARATE_400: 400 Hz output data rate
* @retval None
*/
void LIS302DL_DataRateCmd(uint8_t DataRateValue) {
uint8_t tmpreg;
/* Read CTRL_REG1 register */
LIS302DL_Read(&tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
/* Set new Data rate configuration */
tmpreg &= (uint8_t) ~LIS302DL_DATARATE_400;
tmpreg |= DataRateValue;
/* Write value to MEMS CTRL_REG1 regsister */
LIS302DL_Write(&tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
}
void LIS302DL_ClickInterruptConfiguration(SPI_TypeDef* spi, LIS302DL_ClickInterruptConfig* pConfig) {
// Map the configuration to be always BigEndian
uint8_t cnf = 0x00;
cnf |= pConfig->Latched ? (uint8_t)LIS302DL_BIT1 : 0x00;
cnf |= pConfig->DoubleClick_Z ? (uint8_t)LIS302DL_BIT2 : 0x00;
cnf |= pConfig->SingleClick_Z ? (uint8_t)LIS302DL_BIT3 : 0x00;
cnf |= pConfig->DoubleClick_Y ? (uint8_t)LIS302DL_BIT4 : 0x00;
cnf |= pConfig->SingleClick_Y ? (uint8_t)LIS302DL_BIT5 : 0x00;
cnf |= pConfig->DoubleClick_X ? (uint8_t)LIS302DL_BIT6 : 0x00;
cnf |= pConfig->SingleClick_X ? (uint8_t)LIS302DL_BIT7 : 0x00;
LIS302DL_Write(&cnf, LIS302DL_CLICK_CFG_REG_ADDR, 1);
}
/**
* @brief Change the Full Scale of LIS302DL
* @param FS_value: new full scale value.
* This parameter can be one of the following values:
* @arg LIS302DL_FULLSCALE_2_3: +-2.3g
* @arg LIS302DL_FULLSCALE_9_2: +-9.2g
* @retval None
*/
void LIS302DL_FullScaleCmd(uint8_t FS_value) {
uint8_t tmpreg;
/* Read CTRL_REG1 register */
LIS302DL_Read(&tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
/* Set new full scale configuration */
tmpreg &= (uint8_t) ~LIS302DL_FULLSCALE_9_2;
tmpreg |= FS_value;
/* Write value to MEMS CTRL_REG1 regsister */
LIS302DL_Write(&tmpreg, LIS302DL_CTRL_REG1_ADDR, 1);
}
void prvMEMS_Config(void)
{
uint8_t ctrl = 0;
uint32_t i=0; //simple index for software delay
LIS302DL_InitTypeDef LIS302DL_InitStruct;
LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
/* Set configuration of LIS302DL*/
LIS302DL_InitStruct.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
LIS302DL_InitStruct.Output_DataRate = LIS302DL_DATARATE_400;
LIS302DL_InitStruct.Axes_Enable = LIS302DL_X_ENABLE | LIS302DL_Y_ENABLE | LIS302DL_Z_ENABLE;
LIS302DL_InitStruct.Full_Scale = LIS302DL_FULLSCALE_2_3;
LIS302DL_InitStruct.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_InitStruct);
/* Set configuration of Internal High Pass Filter of LIS302DL*/
LIS302DL_InterruptStruct.Latch_Request = LIS302DL_INTERRUPTREQUEST_LATCHED;
LIS302DL_InterruptStruct.SingleClick_Axes = LIS302DL_CLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptStruct.DoubleClick_Axes = LIS302DL_DOUBLECLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptConfig(&LIS302DL_InterruptStruct);
/* Required delay for the MEMS Accelerometer: Turn-on time = 3/Output data Rate
= 3/100 = 30ms */
for(i=0;i<0x1FFFF;i++);
/* Configure Interrupt control register: enable Click interrupt1 */
ctrl = 0x07;
LIS302DL_Write(&ctrl, LIS302DL_CTRL_REG3_ADDR, 1);
/* Enable Interrupt generation on click/double click on Z axis */
ctrl = 0x70;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_CFG_REG_ADDR, 1);
/* Configure Click Threshold on X/Y axis (10 x 0.5g) */
ctrl = 0xAA;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_THSY_X_REG_ADDR, 1);
/* Configure Click Threshold on Z axis (10 x 0.5g) */
ctrl = 0x0A;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_THSZ_REG_ADDR, 1);
/* Configure Time Limit */
ctrl = 0x03;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_TIMELIMIT_REG_ADDR, 1);
/* Configure Latency */
ctrl = 0x7F;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_LATENCY_REG_ADDR, 1);
/* Configure Click Window */
ctrl = 0x7F;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_WINDOW_REG_ADDR, 1);
}
void initAccelerometer() {
LIS302DL_InitTypeDef LIS302DL_InitStruct;
LIS302DL_InitStruct.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
LIS302DL_InitStruct.Output_DataRate = LIS302DL_DATARATE_100;
LIS302DL_InitStruct.Axes_Enable = LIS302DL_XYZ_ENABLE;
LIS302DL_InitStruct.Full_Scale = LIS302DL_FULLSCALE_2_3;
LIS302DL_InitStruct.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_InitStruct);
for (uint64_t i = 0; i < 10000000; i++);
// LIS302DL_FilterConfigTypeDef LIS302DL_FilterStruct;
// LIS302DL_FilterStruct.HighPassFilter_Data_Selection = LIS302DL_FILTEREDDATASELECTION_OUTPUTREGISTER;
// LIS302DL_FilterStruct.HighPassFilter_CutOff_Frequency = LIS302DL_HIGHPASSFILTER_LEVEL_1;
// LIS302DL_FilterStruct.HighPassFilter_Interrupt = LIS302DL_HIGHPASSFILTERINTERRUPT_1_2;
// LIS302DL_FilterConfig(&LIS302DL_FilterStruct);
init_acc_fifo();
// LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
// LIS302DL_InterruptStruct.Latch_Request = LIS302DL_INTERRUPTREQUEST_LATCHED;
// LIS302DL_InterruptStruct.SingleClick_Axes = LIS302DL_CLICKINTERRUPT_XYZ_ENABLE;
// LIS302DL_InterruptStruct.DoubleClick_Axes = LIS302DL_DOUBLECLICKINTERRUPT_XYZ_DISABLE;
// LIS302DL_InterruptConfig(&LIS302DL_InterruptStruct);
uint8_t ctrl = 0x00;
// LIS302DL_Write(&ctrl, LIS302DL_FF_WU_CFG1_REG_ADDR, 1);
ctrl = 0x04;
LIS302DL_Write(&ctrl, LIS302DL_CTRL_REG3_ADDR, 1);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOE, EXTI_PinSource0);
EXTI_InitTypeDef EXTI_InitStructure;
EXTI_InitStructure.EXTI_Line = EXTI_Line0;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x01;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void LIS302DL_Init(SPI_TypeDef* spi, const LIS302DL_Config* pConfig) {
// Map the configuration to be always BigEndian
uint8_t cnf = 0x00;
cnf |= pConfig->DataRate ? (uint8_t)LIS302DL_BIT0 : 0x00;
cnf |= pConfig->PowerDown ? (uint8_t)LIS302DL_BIT1 : 0x00;
cnf |= pConfig->FullScale ? (uint8_t)LIS302DL_BIT2 : 0x00;
cnf |= pConfig->SelfTest_P ? (uint8_t)LIS302DL_BIT3 : 0x00;
cnf |= pConfig->SelfTest_M ? (uint8_t)LIS302DL_BIT4 : 0x00;
cnf |= pConfig->ZAxisEnabled ? (uint8_t)LIS302DL_BIT5 : 0x00;
cnf |= pConfig->YAxisEnabled ? (uint8_t)LIS302DL_BIT6 : 0x00;
cnf |= pConfig->XAxisEnabled ? (uint8_t)LIS302DL_BIT7 : 0x00;
LIS302DL_Write(&cnf, LIS302DL_CTRL_REG1_ADDR, 1);
}
void LIS302DL_WakeupInterruptConfiguration(SPI_TypeDef* spi, LIS302DL_WakeupInterruptConfig* pConfig, uint8_t intNum) {
// Map the configuration to be always BigEndian
uint8_t cnf = 0x00;
cnf |= pConfig->CombineInterrupts ? (uint8_t)LIS302DL_BIT0 : 0x00;
cnf |= pConfig->Latched ? (uint8_t)LIS302DL_BIT1 : 0x00;
cnf |= pConfig->Z_High ? (uint8_t)LIS302DL_BIT2 : 0x00;
cnf |= pConfig->Z_Low ? (uint8_t)LIS302DL_BIT3 : 0x00;
cnf |= pConfig->Y_High ? (uint8_t)LIS302DL_BIT4 : 0x00;
cnf |= pConfig->Y_Low ? (uint8_t)LIS302DL_BIT5 : 0x00;
cnf |= pConfig->X_High ? (uint8_t)LIS302DL_BIT6 : 0x00;
cnf |= pConfig->X_Low ? (uint8_t)LIS302DL_BIT7 : 0x00;
LIS302DL_Write(&cnf, ((intNum & LIS302DL_INTERRUPT_NUM_2) ? LIS302DL_FF_WU_CFG2_REG_ADDR : LIS302DL_FF_WU_CFG1_REG_ADDR), 1);
}
void LIS302DL_GlobalInterruptConfiguration(SPI_TypeDef* spi, LIS302DL_GlobalInterruptConfig* pConfig) {
// Get the current configuration
uint8_t cnf = 0x00;
LIS302DL_Read(&cnf, LIS302DL_CTRL_REG2_ADDR, 1);
// Unset the bits we want configure
cnf &= (uint8_t)~(LIS302DL_BIT3 | LIS302DL_BIT4 | LIS302DL_BIT5 | LIS302DL_BIT6 | LIS302DL_BIT7);
// Map the configuration to be always BigEndian
cnf |= pConfig->SendData ? (uint8_t)LIS302DL_BIT3 : 0x00;
cnf |= pConfig->Interrupt_1 ? (uint8_t)LIS302DL_BIT4 : 0x00;
cnf |= pConfig->Interrupt_2 ? (uint8_t)LIS302DL_BIT5 : 0x00;
cnf |= (pConfig->CutOffFrequency <= (uint8_t)LIS302DL_HIGHPASS_CUTOFF_SLOW) ? pConfig->CutOffFrequency : 0x00;
LIS302DL_Write(&cnf, LIS302DL_CTRL_REG2_ADDR, 1);
}
/**
* @brief Set LIS302DL Internal High Pass Filter configuration.
* @param LIS302DL_Filter_ConfigTypeDef: pointer to a LIS302DL_FilterConfig_TypeDef
* structure that contains the configuration setting for the LIS302DL Filter.
* @retval None
*/
void LIS302DL_FilterConfig(LIS302DL_FilterConfigTypeDef *LIS302DL_FilterConfigStruct) {
uint8_t ctrl = 0x00;
/* Read CTRL_REG2 register */
LIS302DL_Read(&ctrl, LIS302DL_CTRL_REG2_ADDR, 1);
/* Clear high pass filter cut-off level, interrupt and data selection bits*/
ctrl &= (uint8_t) ~(LIS302DL_FILTEREDDATASELECTION_OUTPUTREGISTER | \
LIS302DL_HIGHPASSFILTER_LEVEL_3 | \
LIS302DL_HIGHPASSFILTERINTERRUPT_1_2);
/* Configure MEMS high pass filter cut-off level, interrupt and data selection bits */
ctrl |= (uint8_t) (LIS302DL_FilterConfigStruct->HighPassFilter_Data_Selection | \
LIS302DL_FilterConfigStruct->HighPassFilter_CutOff_Frequency | \
LIS302DL_FilterConfigStruct->HighPassFilter_Interrupt);
/* Write value to MEMS CTRL_REG2 register */
LIS302DL_Write(&ctrl, LIS302DL_CTRL_REG2_ADDR, 1);
}
void send_byte_to_LIS(uint8_t byte, uint8_t address) {
LIS302DL_Write(&byte, address, 1);
}
void LIS302DL_Init() {
GPIO_SetBits(GPIOE, GPIO_Pin_3);
u8 reg = 0x47;
LIS302DL_Write(0x20, ®, 1);
GPIO_ResetBits(GPIOE, GPIO_Pin_3);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
USART3_Config();
uint8_t ctrl = 0;
LIS302DL_InitTypeDef LIS302DL_InitStruct;
LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
/* SysTick end of count event each 10ms */
SysTick_Config(SystemCoreClock/ 100);
/* Set configuration of LIS302DL*/
LIS302DL_InitStruct.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
LIS302DL_InitStruct.Output_DataRate = LIS302DL_DATARATE_100;
LIS302DL_InitStruct.Axes_Enable = LIS302DL_X_ENABLE | LIS302DL_Y_ENABLE | LIS302DL_Z_ENABLE;
LIS302DL_InitStruct.Full_Scale = LIS302DL_FULLSCALE_2_3;
LIS302DL_InitStruct.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_InitStruct);
/* Set configuration of Internal High Pass Filter of LIS302DL*/
LIS302DL_InterruptStruct.Latch_Request = LIS302DL_INTERRUPTREQUEST_LATCHED;
LIS302DL_InterruptStruct.SingleClick_Axes = LIS302DL_CLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptStruct.DoubleClick_Axes = LIS302DL_DOUBLECLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptConfig(&LIS302DL_InterruptStruct);
/* Required delay for the MEMS Accelerometre: Turn-on time = 3/Output data Rate
= 3/100 = 30ms */
Delay(30);
/* Configure Interrupt control register: enable Click interrupt1 */
ctrl = 0x07;
LIS302DL_Write(&ctrl, LIS302DL_CTRL_REG3_ADDR, 1);
/* Enable Interrupt generation on click/double click on Z axis */
ctrl = 0x70;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_CFG_REG_ADDR, 1);
/* Configure Click Threshold on X/Y axis (10 x 0.5g) */
ctrl = 0xAA;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_THSY_X_REG_ADDR, 1);
/* Configure Click Threshold on Z axis (10 x 0.5g) */
ctrl = 0x0A;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_THSZ_REG_ADDR, 1);
/* Configure Time Limit */
ctrl = 0x03;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_TIMELIMIT_REG_ADDR, 1);
/* Configure Latency */
ctrl = 0x7F;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_LATENCY_REG_ADDR, 1);
/* Configure Click Window */
ctrl = 0x7F;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_WINDOW_REG_ADDR, 1);
/* TIM configuration -------------------------------------------------------*/
TIM_Config();
LIS302DL_Read(Buffer, LIS302DL_OUT_X_ADDR, 6);
XOffset = (int8_t)Buffer[0];
YOffset = (int8_t)Buffer[2];
ZOffset = (int8_t)Buffer[4];
while(1)
{
a=(int8_t)(Buffer[0]);
if(a<0){
a=-a;
printf("\r\n X = -%d \r\n", a);
}
else{
printf("\r\n X = %d \r\n", a);
}
//printf("\r\n Y =%d \r\n", (int8_t)Buffer[2]);
//printf("\r\n Z =%d \r\n", (int8_t)Buffer[4]);
/*
temp=XOffset/sqrt((YOffset*YOffset+ZOffset*ZOffset));
angle_x=atan(temp);
angle_x=((angle_x*180)/3.14);
temp1=(int16_t)angle_x;
temp2=(angle_x-temp1)*1000;
printf("\r\n Angle_X=%d.%d \r\n", temp1,temp2);//use sqrt & atan
//原子教你玩的方法*/
/*
angle_ax=(XOffset-1100)/64;
angle_ax=(angle_ax*1.2*180/3.14);
temp1=(int16_t)angle_ax;
temp2=(angle_ax-temp1)*1000;
if(temp1<0){
a=-temp1;
b=-temp2;
printf("\r\n Angle_ax=%d.%d \r\n",a,b);
}
//網路上的方法*/
b=(float)((int8_t)Buffer[0]-XOffset)*(int32_t)LIS302DL_SENSITIVITY_2_3G/1000*180/3.14;
if(b<0){
x_acc=-b;
temp1=(int8_t)x_acc;
temp2=(x_acc-temp1)*10000;
if(temp2<0){temp2=-temp2;}
printf("\r\n X_Acc= -%d.%d \r\n", temp1,temp2);
}
else{
x_acc=b;
temp1=(int8_t)x_acc;
temp2=(x_acc-temp1)*10000;
if(temp2<0){temp2=-temp2;}
printf("\r\n X_Acc= %d.%d \r\n", temp1,temp2);
}
//openbox
Delay(100);
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
//RCC_Config();
//GPIO_Config();
//RCC_MCO1Config(RCC_MCO1Source_PLLCLK,RCC_MCO1Div_1);
uint8_t tmpreg;
LIS302DL_InitTypeDef LIS302DL_InitStruct;
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* SysTick end of count event each 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
//NVIC_SetPriority(SysTick_IRQn, -1);
/* MEMS configuration and set int1/int2 pins*/
LIS302DL_InitStruct.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
LIS302DL_InitStruct.Output_DataRate = LIS302DL_DATARATE_100;
LIS302DL_InitStruct.Axes_Enable = LIS302DL_XYZ_ENABLE;
LIS302DL_InitStruct.Full_Scale = LIS302DL_FULLSCALE_2_3;
LIS302DL_InitStruct.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_InitStruct);
//Set INT1/INT2 pins
tmpreg = 0x40;
LIS302DL_Write(&tmpreg, LIS302DL_CTRL_REG3_ADDR, 1);
//Initialize the touchscreen
TSC_Init();
/* Initialize LEDs and push-buttons mounted on STM324xG-EVAL board */
STM_EVAL_LEDInit(LED1);
STM_EVAL_LEDInit(LED2);
//STM_EVAL_LEDInit(LED3);
//STM_EVAL_LEDInit(LED4);
/* Initialize the LCD */
STM324xG_LCD_Init();
//STM_EVAL_LEDOn(LED1);
LCD_Clear(Black);
LCD_SetTextColor(White);
LCD_LOG_SetHeader("STM32 Camera Demo");
LCD_LOG_SetFooter (" Copyright (c) STMicroelectronics" );
/* ADC configuration */
ADC_Config();
/* Initializes the DCMI interface (I2C and GPIO) used to configure the camera */
//OV9655_HW_Init();
OV9712_HW_Init();
/* Read the OV9655/OV2640 Manufacturer identifier */
//OV9655_ReadID(&OV9655_Camera_ID);
OV9712_ReadID(&OV9712_Camera_ID);
//while(1);
if(OV9655_Camera_ID.PID == 0x96)
{
Camera = OV9712_CAMERA;
sprintf((char*)buffer, "OV9655 Camera ID 0x%x", OV9655_Camera_ID.PID);
ValueMax = 2;
}
else if(OV9712_Camera_ID.PIDH == 0x97)
{
Camera = OV9712_CAMERA;
sprintf((char*)buffer, "OV9712 Camera ID 0x%x", OV9712_Camera_ID.PIDH);
ValueMax = 2;
}
else
{
LCD_SetTextColor(LCD_COLOR_RED);
sprintf((char*)buffer, "OV Camera ID 0x%02x%02x", OV9655_Camera_ID.Version, OV9712_Camera_ID.PIDH);
LCD_DisplayStringLine(LINE(4), buffer);
while(1);
}
LCD_SetTextColor(LCD_COLOR_YELLOW);
LCD_DisplayStringLine(LINE(4), (uint8_t*)buffer);
LCD_SetTextColor(LCD_COLOR_WHITE);
Delay(200);
/* Initialize demo */
ImageFormat = (ImageFormat_TypeDef)BMP_QVGA;
/* Configure the Camera module mounted on STM324xG-EVAL board */
Demo_LCD_Clear();
LCD_DisplayStringLine(LINE(4), "Camera Init.. ");
Camera_Config();
sprintf((char*)buffer, " Image selected: %s", ImageForematArray[ImageFormat]);
LCD_DisplayStringLine(LINE(4),(uint8_t*)buffer);
LCD_ClearLine(LINE(4));
Demo_LCD_Clear();
if(ImageFormat == BMP_QQVGA)
{
/* LCD Display window */
LCD_SetDisplayWindow(60, 80, 160, 120);
ReverseLCD();
LCD_WriteRAM_Prepare();
}
else if(ImageFormat == BMP_QVGA)
{
/* LCD Display window */
LCD_SetDisplayWindow(0, 0, 320, 240);
ReverseLCD();
LCD_WriteRAM_Prepare();
}
{
int i, j;
for (j = 0; j < 16; j++)
{
LCD_SetDisplayWindow(0, (240 / 16) * j, 320, (240 / 16));
LCD_WriteRAM_Prepare();
for (i = 0; i < 320 * 240 / 16; i++)
{
LCD_WriteRAM(0x0003 << j);
}
}
}
/* Enable DMA2 stream 1 and DCMI interface then start image capture */
DMA_Cmd(DMA2_Stream1, ENABLE);
DCMI_Cmd(ENABLE);
/* Insert 100ms delay: wait 100ms */
//Delay(200);
DCMI_CaptureCmd(ENABLE);
while(1)
{
OV9655_BrightnessConfig(0x7F);//
//static int step = 0;
int i, block, begin;
unsigned short *p;
if (!bShot)
{
begin = (datablock - 11 + 48) % 48;
for (block = begin; block < begin + 11; block++)
{
p = (unsigned short *)(0x20000000 + (320 * 240 * 2 / 16) * ((block) % 12));
LCD_SetDisplayWindow(0, (block % 16) * (240 / 16), 320, (240 / 16));
//LCD_SetCursor(0, (block % 16) * (240 / 16));
LCD_WriteRAM_Prepare();
for (i = 0; i < 320 * 240 / 16; i++)
{
LCD_WriteRAM(*p++);
}
}
}
if (TSC_TouchDet())
{
int x, y;
TP_GetAdXY(&x, &y);
if (x > 300 && x < 2800 && y > 300 && y < 2800)
{
if (x < 1550 && y < 1550)
{
uint32_t StartSector = 0, EndSector = 0, Address = 0, SectorCounter = 0;
int m;
//拍照bShot
bShot = 1;
while(datablock % 16);
DMA_Cmd(DMA2_Stream1, DISABLE);
DCMI_Cmd(DISABLE);
//STM_EVAL_LEDOn(LED2);
DMA_ClearFlag(DMA2_Stream1, 0x2F7D0F7D);
DMA_ClearFlag(DMA2_Stream1, 0x0F7D0F7D);
DMA_ClearITPendingBit(DMA2_Stream1, DMA_IT_TCIF1);
datablock = 0;
DMA2_Stream1->M0AR = 0x20000000 + 9600 * (datablock % 12);
DMA_SetCurrDataCounter(DMA2_Stream1, (320 * 240 * 2 / 4) / 16);
DCMI_Cmd(ENABLE);
DMA_Cmd(DMA2_Stream1, ENABLE);
{
unsigned long *p, *q;
while(datablock < 4); //等待准备好前4块数据，就将这4块数据导入到0x10000000+0x50000之后。
q = (unsigned long *)(0x20000000);
p = (unsigned long *)(0x10000000 + 0x5000);
while (q < (unsigned long *)(0x20000000 + 4 * (320 * 240 * 2 / 16)))
{
*p = *q;
p++;
q++;
}
}
while(datablock < 16); //等待全部采集完成。
STM_EVAL_LEDOn(LED2); //LED2亮表示采集完成。
LCD_SetDisplayWindow(0, 0, 320, 240);
LCD_WriteRAM_Prepare();
LCD_Clear(Black);
//RAM位置
/*
序号 地址 大小
1: 0x10005000+9600*0 9600
2: 0x10005000+9600*1 9600
3: 0x10005000+9600*2 9600
4: 0x10005000+9600*3 9600
5: 0x20000000+9600*5 9600
6: 0x20000000+9600*6 9600
7: 0x20000000+9600*7 9600
8: 0x20000000+9600*8 9600
9: 0x20000000+9600*9 9600
10: 0x20000000+9600*10 9600
11: 0x20000000+9600*11 9600
12: 0x20000000+9600*0 9600
13: 0x20000000+9600*1 9600
14: 0x20000000+9600*2 9600
15: 0x20000000+9600*3 9600
*/
for (m = 0; m < 16; m++) //显示保存的图片
{
unsigned short *q;
if (m < 4)
{
q = (unsigned short *)(0x10000000 + 0x5000 + m * (320 * 240 * 2 / 16));
}
else
{
q = (unsigned short *)(0x20000000 + (m % 12) * (320 * 240 * 2 / 16));
}
LCD_SetDisplayWindow(0, m * (240 / 16), 320, (240 / 16));
LCD_WriteRAM_Prepare();
for (i = 0; i < 320 * 240 / 16; i++)
{
LCD_WriteRAM(*q++);
}
}
/* Erase the user Flash area ***********/
FLASH_Unlock();
/* Clear pending flags (if any) */
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR |
FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR|FLASH_FLAG_PGSERR);
/* Get the number of the start and end sectors */
StartSector = GetSector(FLASH_USER_START_ADDR);
EndSector = GetSector(FLASH_USER_END_ADDR);
for (SectorCounter = StartSector; SectorCounter < EndSector; SectorCounter += 8)
{
/* Device voltage range supposed to be [2.7V to 3.6V], the operation will
be done by word */
if (FLASH_EraseSector(SectorCounter, VoltageRange_3) != FLASH_COMPLETE)
{
/* Error occurred while sector erase.
User can add here some code to deal with this error */
while (1)
{
}
}
}
for (m = 0; m < 16; m++) //保存图片到flash
{
unsigned long *q;
Address = FLASH_USER_START_ADDR + m * (320 * 240 * 2 / 16);
if (m < 4)
{
q = (unsigned long *)(0x10000000 + 0x5000 + m * (320 * 240 * 2 / 16));
}
else
{
q = (unsigned long *)(0x20000000 + (m % 12) * (320 * 240 * 2 / 16));
}
while (Address < FLASH_USER_START_ADDR + (m + 1) *(320 * 240 * 2 / 16))
{
if (FLASH_ProgramWord(Address, *q) == FLASH_COMPLETE)
{
Address = Address + 4;
q++;
}
else
{
/* Error occurred while writing data in Flash memory.
User can add here some code to deal with this error */
while (1)
{
}
}
}
}
STM_EVAL_LEDOff(LED2);
LCD_SetDisplayWindow(0, 0, 320, 240);
LCD_WriteRAM_Prepare();
LCD_Clear(Black);
for (m = 0; m < 16; m++) //显示flash中的图片
{
unsigned short *q;
q = (unsigned short *)(FLASH_USER_START_ADDR + m * (320 * 240 * 2 / 16));
LCD_SetDisplayWindow(0, m * (240 / 16), 320, (240 / 16));
LCD_WriteRAM_Prepare();
for (i = 0; i < 320 * 240 / 16; i++)
{
LCD_WriteRAM(*q++);
}
}
/* Lock the Flash to disable the flash control register access (recommended
to protect the FLASH memory against possible unwanted operation) *********/
FLASH_Lock();
}
else if (x >= 1550 && y < 1550)
{
//righttop
STM_EVAL_LEDOff(LED1);
STM_EVAL_LEDOff(LED2);
bShot = 0;
datablock = 0;
DMA_Cmd(DMA2_Stream1, ENABLE);
DCMI_Cmd(ENABLE);
}
else if (x < 1550 && y >= 1550)
{
//righttop
//DMA_Cmd(DMA2_Stream1, ENABLE);
//DCMI_Cmd(ENABLE);
}
else if (x >= 1550 && y >= 1550)
{
//righttop
//DMA_Cmd(DMA2_Stream1, ENABLE);
//DCMI_Cmd(ENABLE);
}
}
}
//Delay(10);
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
USART3_Config(); //USART3 init
uint8_t ctrl = 0;
LIS302DL_InitTypeDef LIS302DL_InitStruct;
LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
/* SysTick end of count event each 10ms */
SysTick_Config(SystemCoreClock/ 100);
/* Set configuration of LIS302DL*/
LIS302DL_InitStruct.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
LIS302DL_InitStruct.Output_DataRate = LIS302DL_DATARATE_100;
LIS302DL_InitStruct.Axes_Enable = LIS302DL_X_ENABLE | LIS302DL_Y_ENABLE | LIS302DL_Z_ENABLE;
LIS302DL_InitStruct.Full_Scale = LIS302DL_FULLSCALE_2_3;
LIS302DL_InitStruct.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_InitStruct);
/* Set configuration of Internal High Pass Filter of LIS302DL*/
LIS302DL_InterruptStruct.Latch_Request = LIS302DL_INTERRUPTREQUEST_LATCHED;
LIS302DL_InterruptStruct.SingleClick_Axes = LIS302DL_CLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptStruct.DoubleClick_Axes = LIS302DL_DOUBLECLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptConfig(&LIS302DL_InterruptStruct);
/* Required delay for the MEMS Accelerometre: Turn-on time = 3/Output data Rate
= 3/100 = 30ms */
Delay(30);
/* Configure Interrupt control register: enable Click interrupt1 */
ctrl = 0x07;
LIS302DL_Write(&ctrl, LIS302DL_CTRL_REG3_ADDR, 1);
/* Enable Interrupt generation on click/double click on Z axis */
ctrl = 0x70;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_CFG_REG_ADDR, 1);
/* Configure Click Threshold on X/Y axis (10 x 0.5g) */
ctrl = 0xAA;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_THSY_X_REG_ADDR, 1);
/* Configure Click Threshold on Z axis (10 x 0.5g) */
ctrl = 0x0A;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_THSZ_REG_ADDR, 1);
/* Configure Time Limit */
ctrl = 0x03;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_TIMELIMIT_REG_ADDR, 1);
/* Configure Latency */
ctrl = 0x7F;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_LATENCY_REG_ADDR, 1);
/* Configure Click Window */
ctrl = 0x7F;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_WINDOW_REG_ADDR, 1);
/* TIM configuration -------------------------------------------------------*/
TIM_Config();
LIS302DL_Read(Buffer, LIS302DL_OUT_X_ADDR, 6);
XOffset = (int8_t)Buffer[0];
YOffset = (int8_t)Buffer[2];
ZOffset = (int8_t)Buffer[4];
while(1)
{
b=(float)((int8_t)Buffer[0]-XOffset)*(int32_t)LIS302DL_SENSITIVITY_2_3G/1000*180/3.14; //把X軸裡面的值轉換成角度
if(b<0){
x_acc=-b;
temp1=(int8_t)x_acc;
temp2=(x_acc-temp1)*10000; //把小數點部分乘上10000，以便程式印出(usart3的printf功能無法印出float)
if(temp2<0){temp2=-temp2;}
printf("\r\n X_Acc= -%d.%d \r\n", temp1,temp2);
}
else{
x_acc=b;
temp1=(int8_t)x_acc;
temp2=(x_acc-temp1)*10000;
if(temp2<0){temp2=-temp2;}
printf("\r\n X_Acc= %d.%d \r\n", temp1,temp2);
}
Delay(100);
}
}
