/**
* @brief
* @param None
* @retval None
*/
void LIS302DL_Reset(void)
{
uint8_t ctrl = 0;
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_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 Click Window */
ctrl = 0xC0;
LIS302DL_Write(&ctrl, LIS302DL_CLICK_CTRL_REG3_ADDR, 1);
}
/**
* @brief configure the mems accelometer
* @param None
* @retval None
*/
static void Mems_Config(void)
{
uint8_t ctrl = 0;
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_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);
/* Configure Interrupt control register: enable Click interrupt on INT1 and
INT2 on Z axis high event */
ctrl = 0x3F;
LIS302DL_Write(&ctrl, LIS302DL_CTRL_REG3_ADDR, 1);
/* Enable Interrupt generation on click on Z axis */
ctrl = 0x50;
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);
/* Enable interrupt on Y axis high event */
ctrl = 0x4C;
LIS302DL_Write(&ctrl, LIS302DL_FF_WU_CFG1_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 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);
}
/**
* @brief Set LIS302DL Interrupt configuration
* @param None
* @retval None
*/
void LIS302DL_Click_IntConfig(void) {
uint8_t ctrl = 0x00;
LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
ACCELERO_IO_ITConfig();
/* 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);
/* Configure Interrupt control register: enable Click interrupt on INT1 and
INT2 on Z axis high event */
ctrl = 0x3F;
ACCELERO_IO_Write(&ctrl, LIS302DL_CTRL_REG3_ADDR, 1);
/* Enable Interrupt generation on click on Z axis */
ctrl = 0x50;
ACCELERO_IO_Write(&ctrl, LIS302DL_CLICK_CFG_REG_ADDR, 1);
/* Configure Click Threshold on X/Y axis (10 x 0.5g) */
ctrl = 0xAA;
ACCELERO_IO_Write(&ctrl, LIS302DL_CLICK_THSY_X_REG_ADDR, 1);
/* Configure Click Threshold on Z axis (10 x 0.5g) */
ctrl = 0x0A;
ACCELERO_IO_Write(&ctrl, LIS302DL_CLICK_THSZ_REG_ADDR, 1);
/* Enable interrupt on Y axis high event */
ctrl = 0x4C;
ACCELERO_IO_Write(&ctrl, LIS302DL_FF_WU_CFG1_REG_ADDR, 1);
/* Configure Time Limit */
ctrl = 0x03;
ACCELERO_IO_Write(&ctrl, LIS302DL_CLICK_TIMELIMIT_REG_ADDR, 1);
/* Configure Latency */
ctrl = 0x7F;
ACCELERO_IO_Write(&ctrl, LIS302DL_CLICK_LATENCY_REG_ADDR, 1);
/* Configure Click Window */
ctrl = 0x7F;
ACCELERO_IO_Write(&ctrl, LIS302DL_CLICK_WINDOW_REG_ADDR, 1);
}
/* Function to initialize the LIS302DL. */
void acc_init(void) {
LIS302DL_InitTypeDef LIS302DL_conf;
LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
LIS302DL_conf.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
LIS302DL_conf.Output_DataRate = LIS302DL_DATARATE_100;
LIS302DL_conf.Axes_Enable = LIS302DL_XYZ_ENABLE;
LIS302DL_conf.Full_Scale = LIS302DL_FULLSCALE_2_3;
LIS302DL_conf.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_conf);
LIS302DL_InterruptStruct.Latch_Request = LIS302DL_INTERRUPTREQUEST_LATCHED;
LIS302DL_InterruptStruct.SingleClick_Axes=LIS302DL_CLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptStruct.DoubleClick_Axes=LIS302DL_DOUBLECLICKINTERRUPT_XYZ_DISABLE;
LIS302DL_InterruptConfig(&LIS302DL_InterruptStruct);
interruptEnable();
}
void initMems () {
LIS302DL_InitTypeDef init;
init.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE; /*Mode */
init.Output_DataRate = LIS302DL_DATARATE_100 ; /* OUT data rate 100 Hz*/
init.Axes_Enable = LIS302DL_XYZ_ENABLE; /* Axes enable */
init.Full_Scale = LIS302DL_FULLSCALE_2_3; /* Full scale */
init.Self_Test = LIS302DL_SELFTEST_NORMAL; /* self test */
LIS302DL_Init(&init);
LIS302DL_InterruptConfigTypeDef singleClick;
singleClick.Latch_Request = LIS302DL_INTERRUPTREQUEST_LATCHED; // Latch interrupt request into CLICK_SRC register
singleClick.SingleClick_Axes = LIS302DL_CLICKINTERRUPT_Z_ENABLE; // Single Click Axes Interrupts
singleClick.DoubleClick_Axes = LIS302DL_DOUBLECLICKINTERRUPT_XYZ_DISABLE; // Double Click Axes Interrupts
LIS302DL_InterruptConfig(&singleClick);
}
/**
* @brief Configures and initializes the accelerometer.
*
* @note This method configures and initializes the accelerometer. Power
* mode is set to active, data rate to 100, all axes are enabled,
* full scale is set to 2_3, and self test is set to normal.
*/
void ACCEL_Config(void){
LIS302DL_InitTypeDef LIS302DL_InitStructure;
LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
//These four parts are what make up the structure.
//Defined in the driver.
//Power_Mode can either be LIS302DL_LOWPOWERMODE_ACTIVE or
//LIS302DL_LOWPOWERMODE_POWERDOWN. Active seems to be the obvious choice
LIS302DL_InitStructure.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
//Data rate is either 100Hz or 400Hz. As we're only polling at
//25Hz, the slower rate is fine.
LIS302DL_InitStructure.Output_DataRate = LIS302DL_DATARATE_100;
//Enable all the axes. Obvious choice
LIS302DL_InitStructure.Axes_Enable = LIS302DL_XYZ_ENABLE;
//Either 2_3 or 9_2. 2_3 (0x00) seems to be a scale capable of +-2g. This
//is appropriate because we are going to be measuring a stable tilt
LIS302DL_InitStructure.Full_Scale = LIS302DL_FULLSCALE_2_3;
//SELFTEST_NORMAL = 0x00. This means that the self test mode is off.
//Self test applies a known force (electromagnetic) to the sensor
//so that the user can ensure it's working properly. This should be off.
LIS302DL_InitStructure.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_InitStructure);
//Enable single taps on the Z axis
LIS302DL_InterruptStruct.SingleClick_Axes = LIS302DL_CLICKINTERRUPT_Z_ENABLE;
//Disable double taps
LIS302DL_InterruptStruct.DoubleClick_Axes = LIS302DL_DOUBLECLICKINTERRUPT_XYZ_DISABLE;
//Interrupt will latch to high until LIS302DL_CLICK_SRC_REG_ADDR is read.
LIS302DL_InterruptStruct.Latch_Request = LIS302DL_INTERRUPTREQUEST_LATCHED;
LIS302DL_InterruptConfig(&LIS302DL_InterruptStruct);
Accel_Interrupt_Config();
Filter_Configuration(&Filter_Structure_X);
Filter_Configuration(&Filter_Structure_Y);
Filter_Configuration(&Filter_Structure_Z);
}
/**
* @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)
{
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);
}
}
int main(void)
{
SystemInit();
SystemCoreClockUpdate(); // inicjalizacja dystrybucji czasu procesora
/* Enable the SPI periph */
RCC_APB2PeriphClockCmd(LIS302DL_SPI_CLK, ENABLE);
/* Enable SCK, MOSI and MISO GPIO clocks */
RCC_AHB1PeriphClockCmd(LIS302DL_SPI_SCK_GPIO_CLK | LIS302DL_SPI_MISO_GPIO_CLK |
LIS302DL_SPI_MOSI_GPIO_CLK, ENABLE);
/* Enable CS GPIO clock */
RCC_AHB1PeriphClockCmd(LIS302DL_SPI_CS_GPIO_CLK, ENABLE);
/* Enable INT1 GPIO clock */
RCC_AHB1PeriphClockCmd(LIS302DL_SPI_INT1_GPIO_CLK, ENABLE);
/* Enable INT2 GPIO clock */
RCC_AHB1PeriphClockCmd(LIS302DL_SPI_INT2_GPIO_CLK, ENABLE);
GPIO_PinAFConfig(LIS302DL_SPI_SCK_GPIO_PORT, LIS302DL_SPI_SCK_SOURCE,
LIS302DL_SPI_SCK_AF);
GPIO_PinAFConfig(LIS302DL_SPI_MISO_GPIO_PORT, LIS302DL_SPI_MISO_SOURCE,
LIS302DL_SPI_MISO_AF);
GPIO_PinAFConfig(LIS302DL_SPI_MOSI_GPIO_PORT, LIS302DL_SPI_MOSI_SOURCE,
LIS302DL_SPI_MOSI_AF);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/* SPI SCK pin configuration */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_SCK_PIN;
GPIO_Init(LIS302DL_SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
/* SPI MOSI pin configuration */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_MOSI_PIN;
GPIO_Init(LIS302DL_SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
/* SPI MISO pin configuration */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_MISO_PIN;
GPIO_Init(LIS302DL_SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
/* SPI configuration -------------------------------------------------------*/
SPI_InitTypeDef SPI_InitStructure;
SPI_I2S_DeInit(LIS302DL_SPI);
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_Init(LIS302DL_SPI, &SPI_InitStructure);
/* Enable SPI1 */
SPI_Cmd(LIS302DL_SPI, ENABLE);
/* Configure GPIO PIN for Lis Chip select */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_CS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(LIS302DL_SPI_CS_GPIO_PORT, &GPIO_InitStructure);
/* Deselect : Chip Select high */
GPIO_SetBits(LIS302DL_SPI_CS_GPIO_PORT, LIS302DL_SPI_CS_PIN);
/* Configure GPIO PINs to detect Interrupts */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_INT1_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(LIS302DL_SPI_INT1_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_INT2_PIN;
GPIO_Init(LIS302DL_SPI_INT2_GPIO_PORT, &GPIO_InitStructure);
LIS302DL_InitTypeDef LIS302DL_InitStruct;
uint8_t ctrl = 0x00;
/* 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);
LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
/* 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);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_GPIOA, ENABLE);
/* Configure PD12, PD13, PD14 and PD15 in output pushpull mode */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStructure);
STM32F4_Discovery_LEDInit(LED3);
STM32F4_Discovery_LEDInit(LED4);
STM32F4_Discovery_LEDInit(LED5);
STM32F4_Discovery_LEDInit(LED6);
STM32F4_Discovery_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
STM32F4_Discovery_LEDOn(LED3);
Delay(0xFFFF);
STM32F4_Discovery_LEDOff(LED3);
USBD_Init(&USB_OTG_dev,
#ifdef USE_USB_OTG_HS
USB_OTG_HS_CORE_ID,
#else
USB_OTG_FS_CORE_ID,
#endif
&USR_desc,
&USBD_HID_cb,
&USR_cb);
//char button=0;
while (1)
{
Delay(0xFF);
if (OutBuffer[0]&1) STM32F4_Discovery_LEDOn(LED3);
else STM32F4_Discovery_LEDOff(LED3);
if (OutBuffer[0]&2) STM32F4_Discovery_LEDOn(LED4);
else STM32F4_Discovery_LEDOff(LED4);
if (OutBuffer[0]&4) STM32F4_Discovery_LEDOn(LED5);
else STM32F4_Discovery_LEDOff(LED5);
if (OutBuffer[0]&8) STM32F4_Discovery_LEDOn(LED6);
else STM32F4_Discovery_LEDOff(LED6);
//if ((STM32F4_Discovery_PBGetState(BUTTON_USER) == Bit_SET)&&(button==0))
// {
// int i=0;
Delay(0xFF);
InBuffer[0] = przyspieszenie_x;
InBuffer[1] = przyspieszenie_y;
USBD_HID_SendReport (&USB_OTG_dev, InBuffer, 64);
// }
// button = STM32F4_Discovery_PBGetState(BUTTON_USER);
LIS302DL_Read(&przyspieszenie_x, LIS302DL_OUT_X_ADDR, 1);
if(przyspieszenie_x>127)
{
przyspieszenie_x=przyspieszenie_x-1;
przyspieszenie_x=(~przyspieszenie_x)&0xFF;
przyspieszenie_x=-przyspieszenie_x;
}
LIS302DL_Read(&przyspieszenie_y, LIS302DL_OUT_Y_ADDR, 1);
if(przyspieszenie_y>127)
{
przyspieszenie_y=przyspieszenie_y-1;
przyspieszenie_y=(~przyspieszenie_y)&0xFF;
przyspieszenie_y=-przyspieszenie_y;
}
/*LIS302DL_Read(&przyspieszenie_z, LIS302DL_OUT_Z_ADDR, 1);
if(przyspieszenie_z>127)
{
przyspieszenie_z=przyspieszenie_z-1;
przyspieszenie_z=(~przyspieszenie_z)&0xFF;
przyspieszenie_z=-przyspieszenie_z;
}*/
}
}
