/**
* @brief Configure the Mems to compass application.
* @param None
* @retval None
*/
void Demo_CompassConfig(void)
{
LSM303DLHCMag_InitTypeDef LSM303DLHC_InitStructure;
LSM303DLHCAcc_InitTypeDef LSM303DLHCAcc_InitStructure;
LSM303DLHCAcc_FilterConfigTypeDef LSM303DLHCFilter_InitStructure;
/* Configure MEMS magnetometer main parameters: temp, working mode, full Scale and Data rate */
LSM303DLHC_InitStructure.Temperature_Sensor = LSM303DLHC_TEMPSENSOR_DISABLE;
LSM303DLHC_InitStructure.MagOutput_DataRate =LSM303DLHC_ODR_30_HZ ;
LSM303DLHC_InitStructure.MagFull_Scale = LSM303DLHC_FS_8_1_GA;
LSM303DLHC_InitStructure.Working_Mode = LSM303DLHC_CONTINUOS_CONVERSION;
LSM303DLHC_MagInit(&LSM303DLHC_InitStructure);
/* Fill the accelerometer structure */
LSM303DLHCAcc_InitStructure.Power_Mode = LSM303DLHC_NORMAL_MODE;
LSM303DLHCAcc_InitStructure.AccOutput_DataRate = LSM303DLHC_ODR_50_HZ;
LSM303DLHCAcc_InitStructure.Axes_Enable= LSM303DLHC_AXES_ENABLE;
LSM303DLHCAcc_InitStructure.AccFull_Scale = LSM303DLHC_FULLSCALE_2G;
LSM303DLHCAcc_InitStructure.BlockData_Update = LSM303DLHC_BlockUpdate_Continous;
LSM303DLHCAcc_InitStructure.Endianness=LSM303DLHC_BLE_LSB;
LSM303DLHCAcc_InitStructure.High_Resolution=LSM303DLHC_HR_ENABLE;
/* Configure the accelerometer main parameters */
LSM303DLHC_AccInit(&LSM303DLHCAcc_InitStructure);
/* Fill the accelerometer LPF structure */
LSM303DLHCFilter_InitStructure.HighPassFilter_Mode_Selection =LSM303DLHC_HPM_NORMAL_MODE;
LSM303DLHCFilter_InitStructure.HighPassFilter_CutOff_Frequency = LSM303DLHC_HPFCF_16;
LSM303DLHCFilter_InitStructure.HighPassFilter_AOI1 = LSM303DLHC_HPF_AOI1_DISABLE;
LSM303DLHCFilter_InitStructure.HighPassFilter_AOI2 = LSM303DLHC_HPF_AOI2_DISABLE;
/* Configure the accelerometer LPF main parameters */
LSM303DLHC_AccFilterConfig(&LSM303DLHCFilter_InitStructure);
}
void compass_init(void) {
LSM303DLHCMag_InitTypeDef LSM303DLHC_InitStructure;
LSM303DLHC_InitStructure.Temperature_Sensor = LSM303DLHC_TEMPSENSOR_DISABLE;
LSM303DLHC_InitStructure.MagOutput_DataRate = LSM303DLHC_ODR_30_HZ;
LSM303DLHC_InitStructure.MagFull_Scale = LSM303DLHC_FS_8_1_GA;
LSM303DLHC_InitStructure.Working_Mode = LSM303DLHC_CONTINUOS_CONVERSION;
LSM303DLHC_MagInit(&LSM303DLHC_InitStructure);
}
void accelerometerCompassInit()
{
LSM303DLHCMag_InitTypeDef LSM303DLHC_InitStructure;
LSM303DLHCAcc_InitTypeDef LSM303DLHCAcc_InitStructure;
LSM303DLHCAcc_FilterConfigTypeDef LSM303DLHCFilter_InitStructure;
uint8_t threshold;
/* Configure MEMS magnetometer main parameters: temp, working mode, full Scale and Data rate */
LSM303DLHC_InitStructure.Temperature_Sensor = LSM303DLHC_TEMPSENSOR_DISABLE;
LSM303DLHC_InitStructure.MagOutput_DataRate =LSM303DLHC_ODR_30_HZ ;
LSM303DLHC_InitStructure.MagFull_Scale = LSM303DLHC_FS_8_1_GA;
LSM303DLHC_InitStructure.Working_Mode = LSM303DLHC_CONTINUOS_CONVERSION;
LSM303DLHC_MagInit(&LSM303DLHC_InitStructure);
/* Fill the accelerometer structure */
LSM303DLHCAcc_InitStructure.Power_Mode = LSM303DLHC_NORMAL_MODE;
LSM303DLHCAcc_InitStructure.AccOutput_DataRate = LSM303DLHC_ODR_50_HZ;
LSM303DLHCAcc_InitStructure.Axes_Enable= LSM303DLHC_AXES_ENABLE;
LSM303DLHCAcc_InitStructure.AccFull_Scale = LSM303DLHC_FULLSCALE_2G;
LSM303DLHCAcc_InitStructure.BlockData_Update = LSM303DLHC_BlockUpdate_Continous;
LSM303DLHCAcc_InitStructure.Endianness=LSM303DLHC_BLE_LSB;
LSM303DLHCAcc_InitStructure.High_Resolution=LSM303DLHC_HR_ENABLE;
/* Configure the accelerometer main parameters */
LSM303DLHC_AccInit(&LSM303DLHCAcc_InitStructure);
/* Fill the accelerometer LPF structure */
LSM303DLHCFilter_InitStructure.HighPassFilter_Mode_Selection =LSM303DLHC_HPM_NORMAL_MODE;
LSM303DLHCFilter_InitStructure.HighPassFilter_CutOff_Frequency = LSM303DLHC_HPFCF_16;
LSM303DLHCFilter_InitStructure.HighPassFilter_AOI1 = LSM303DLHC_HPF_AOI1_DISABLE;
LSM303DLHCFilter_InitStructure.HighPassFilter_AOI2 = LSM303DLHC_HPF_AOI2_DISABLE;
/* Configure the accelerometer LPF main parameters */
LSM303DLHC_AccFilterConfig(&LSM303DLHCFilter_InitStructure);
LSM303DLHC_AccIT1Config(LSM303DLHC_IT1_AOI1, ENABLE);
threshold = 126;
LSM303DLHC_Write(ACC_I2C_ADDRESS, LSM303DLHC_INT1_THS_A, 1, &threshold);
LSM303DLHC_AccINT1InterruptConfig(LSM303DLHC_OR_COMBINATION,
(LSM303DLHC_X_HIGH |
LSM303DLHC_Y_HIGH |
LSM303DLHC_Z_HIGH), ENABLE);
}
uint8_t BSP_MAGNETO_Init(void)
{
uint8_t ret = ACCELERO_ERROR;
LACCELERO_InitTypeDef LSM303DLHC_InitStruct;
if(LSM303DLHC_MagReadID() == I_AM_LMS303DLHC) {
LSM303DLHC_InitStruct.Temperature_Sensor = LSM303DLHC_TEMPSENSOR_DISABLE;
LSM303DLHC_InitStruct.MagFull_Scale = LSM303DLHC_FS_1_3_GA;
LSM303DLHC_InitStruct.MagOutput_DataRate = LSM303DLHC_ODR_75_HZ;
LSM303DLHC_InitStruct.Working_Mode = LSM303DLHC_CONTINUOS_CONVERSION;
LSM303DLHC_MagInit(&LSM303DLHC_InitStruct);
ret = ACCELERO_OK;
}
else
{
ret = ACCELERO_ERROR;
}
return ret;
}
