159 lines
5.4 KiB
C
159 lines
5.4 KiB
C
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/******************** (C) COPYRIGHT 2020 GEEKIMU *******************************
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* File Name : LIS3MDL.c
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* Current Version : V2.0 & ST 3.5.0
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* Author : zhanli 719901725@qq.com & JustFeng.
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* Date of Issued : 2019.5.26 zhanli : Create
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* Comments : LIS3MDL <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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********************************************************************************/
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#include "stm32f10x_spi.h"
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#include "calibrate.h"
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#include "LIS3MDL_register_map.h"
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#include "LIS3MDL.h"
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#include "sys.h"
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#include "spi.h"
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extern Calibrate_Info mCali_Info; /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<D0A3><D7BC>Ϣ */
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>IO<49>ڶ<EFBFBD><DAB6><EFBFBD>
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#define LIS3MDL_CS GPIO_Pin_12
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#define LIS3MDL_CS_G GPIOB
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#define LIS3MDL_CS_L PBout(12) = 0
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#define LIS3MDL_CS_H PBout(12) = 1
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/**----------------------------------------------------------------------
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* Function : LIS3MDL_IO_Init
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* Description : <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>LIS3MDL(<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)<EFBFBD><EFBFBD>IO<EFBFBD><EFBFBD>
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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void LIS3MDL_IO_Init(){
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); /* ʹ<><CAB9>PA<50>˿<EFBFBD>ʱ<EFBFBD><CAB1> */
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GPIO_InitStructure.GPIO_Pin = LIS3MDL_CS; /* mpu6500 CS<43>˿<EFBFBD><CBBF><EFBFBD><EFBFBD><EFBFBD> */
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; /* IO<49><4F><EFBFBD>ٶ<EFBFBD>Ϊ50MHz */
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GPIO_Init(LIS3MDL_CS_G, &GPIO_InitStructure); /* <20><><EFBFBD><EFBFBD><EFBFBD>趨<EFBFBD><E8B6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD>˿<EFBFBD> */
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GPIO_SetBits(LIS3MDL_CS_G, LIS3MDL_CS); /* <20><>Ĭ<EFBFBD><C4AC><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD>Ƭѡ */
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}
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/**----------------------------------------------------------------------
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* Function : LIS3MDL_Init
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* Description : LIS3MDL(<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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void LIS3MDL_Init(){
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LIS3MDL_IO_Init();
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// Reset the part
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LIS3MDL_Write_Byte(CTRL_REG2, 0x0c);
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Delay_Ms(10);
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// Enable "ultra-high performance" and 80 Hz
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LIS3MDL_Write_Byte(CTRL_REG1, 0x7c);
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Delay_Ms(10);
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// Enable z-axis "ultra-high performance"
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LIS3MDL_Write_Byte(CTRL_REG4, 0x0c);
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Delay_Ms(10);
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// Make multibyte sensor reads atomic
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LIS3MDL_Write_Byte(CTRL_REG5, 0x40);
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Delay_Ms(10);
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// Go into continuous conversion mode
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LIS3MDL_Write_Byte(CTRL_REG3, 0x00);
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Delay_Ms(10);
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}
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/**----------------------------------------------------------------------
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* Function : LIS3MDL_GetRawData
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* Description : LIS3MDL(<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)<EFBFBD><EFBFBD>ȡԭʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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void LIS3MDL_GetRawData(s16 *mx,s16 *my,s16 *mz){
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uint8_t Buff[2]; /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD> */
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// <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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Buff[0] = LIS3MDL_Read_Byte(OUT_X_L);
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Buff[1] = LIS3MDL_Read_Byte(OUT_X_H);
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*mx = (Buff[1] << 8 ) | Buff[0];
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Buff[0] = LIS3MDL_Read_Byte(OUT_Y_L);
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Buff[1] = LIS3MDL_Read_Byte(OUT_Y_H);
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*my = (Buff[1] << 8 ) | Buff[0];
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Buff[0] = LIS3MDL_Read_Byte(OUT_Z_L);
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Buff[1] = LIS3MDL_Read_Byte(OUT_Z_H);
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*mz = (Buff[1] << 8 ) | Buff[0];
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}
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/**----------------------------------------------------------------------
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* Function : LIS3MDL_GetData
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* Description : LIS3MDL(<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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void LIS3MDL_GetData(float *mx,float *my,float *mz)
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{
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LIS3MDL_Data mLIS3MDL_Data;
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LIS3MDL_GetRawData(&mLIS3MDL_Data.Mag[0],&mLIS3MDL_Data.Mag[1],&mLIS3MDL_Data.Mag[2]);
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*mx = mLIS3MDL_Data.Mag[1] / 10.0f;
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*my = - mLIS3MDL_Data.Mag[0] / 10.0f;
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*mz = mLIS3MDL_Data.Mag[2] / 10.0f;
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Magnet_Calibrate(mx, my, mz, mCali_Info);
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}
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/**----------------------------------------------------------------------
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* Function : Magnet_Calibrate
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* Description : <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ʋ<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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void Magnet_Calibrate(float *mx, float *my, float *mz, Calibrate_Info mCali_Info)
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{
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*mx = *mx - mCali_Info.Mag_Offset[0];
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*my = *my - mCali_Info.Mag_Offset[1];
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*mz = *mz - mCali_Info.Mag_Offset[2];
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*mx = *mx * mCali_Info.Mag_Scale[0][0];
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*my = *my * mCali_Info.Mag_Scale[1][1];
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*mz = *mz * mCali_Info.Mag_Scale[2][2];
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}
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/**----------------------------------------------------------------------
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* Function : LIS3MDL_Write_Byte
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* Description : MPU6500дһ<EFBFBD>ֽ<EFBFBD>
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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uint8_t LIS3MDL_Write_Byte(uint8_t reg,uint8_t data)
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{
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LIS3MDL_CS_L;
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SPI2_ReadWriteByte(reg);
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SPI2_ReadWriteByte(data);
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LIS3MDL_CS_H;
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return 0;
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}
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/**----------------------------------------------------------------------
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* Function : LIS3MDL_Read_Byte
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* Description : MPU6500<EFBFBD><EFBFBD>һ<EFBFBD>ֽ<EFBFBD>
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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uint8_t LIS3MDL_Read_Byte(uint8_t reg)
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{
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uint8_t tmp = 0;
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LIS3MDL_CS_L;
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SPI2_ReadWriteByte(reg|0x80);
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tmp = SPI2_ReadWriteByte(0xff);
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LIS3MDL_CS_H;
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return tmp;
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}
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