加速度磁力计.docx
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加速度磁力计
LSM303DLHC应用单片机程序-----STM32F303
1.单片机端口配置初始化
以STM32F303程序为例
staticvoidLSM303DLHC_LowLevel_Init（void）
{
GPIO_InitTypeDefGPIO_InitStructure;
EXTI_InitTypeDefEXTI_InitStructure;
I2C_InitTypeDefI2C_InitStructure;
/*EnabletheI2Cperiph*/
RCC_APB1PeriphClockCmd（LSM303DLHC_I2C_CLK,ENABLE）;
/*EnableSCKandSDAGPIOclocks*/
RCC_AHBPeriphClockCmd（LSM303DLHC_I2C_SCK_GPIO_CLK|LSM303DLHC_I2C_SDA_GPIO_CLK,ENABLE）;
/*EnableINT1GPIOclock*/
RCC_AHBPeriphClockCmd（LSM303DLHC_I2C_INT1_GPIO_CLK,ENABLE）;
/*EnableINT2GPIOclock*/
RCC_AHBPeriphClockCmd（LSM303DLHC_I2C_INT2_GPIO_CLK,ENABLE）;
/*EnableDRDYclock*/
RCC_AHBPeriphClockCmd（LSM303DLHC_DRDY_GPIO_CLK,ENABLE）;
GPIO_PinAFConfig（LSM303DLHC_I2C_SCK_GPIO_PORT,LSM303DLHC_I2C_SCK_SOURCE,LSM303DLHC_I2C_SCK_AF）;
GPIO_PinAFConfig（LSM303DLHC_I2C_SDA_GPIO_PORT,LSM303DLHC_I2C_SDA_SOURCE,LSM303DLHC_I2C_SDA_AF）;
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;
/*I2CSCKpinconfiguration*/
GPIO_InitStructure.GPIO_Pin=LSM303DLHC_I2C_SCK_PIN;
GPIO_Init（LSM303DLHC_I2C_SCK_GPIO_PORT,&GPIO_InitStructure）;
/*I2CSDApinconfiguration*/
GPIO_InitStructure.GPIO_Pin=LSM303DLHC_I2C_SDA_PIN;
GPIO_Init（LSM303DLHC_I2C_SDA_GPIO_PORT,&GPIO_InitStructure）;
/*MemsDRDY*/
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
/*MemsDRDYpinconfiguration*/
GPIO_InitStructure.GPIO_Pin=LSM303DLHC_DRDY_PIN;
GPIO_Init（LSM303DLHC_DRDY_GPIO_PORT,&GPIO_InitStructure）;
/*ConnectEXTILinetoMemsDRDYPin*/
SYSCFG_EXTILineConfig（LSM303DLHC_DRDY_EXTI_PORT_SOURCE,LSM303DLHC_DRDY_EXTI_PIN_SOURCE）;
EXTI_InitStructure.EXTI_Line=LSM303DLHC_DRDY_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode=EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger=EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd=ENABLE;
EXTI_Init（&EXTI_InitStructure）;
/*I2Cconfiguration-------------------------------------------------------*/
I2C_InitStructure.I2C_Mode=I2C_Mode_I2C;
I2C_InitStructure.I2C_AnalogFilter=I2C_AnalogFilter_Enable;
I2C_InitStructure.I2C_DigitalFilter=0x00;
I2C_InitStructure.I2C_OwnAddress1=0x00;
I2C_InitStructure.I2C_Ack=I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress=I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_Timing=0x00902025;
/*ApplyLSM303DLHC_I2Cconfigurationafterenablingit*/
I2C_Init（LSM303DLHC_I2C,&I2C_InitStructure）;
/*LSM303DLHC_I2CPeripheralEnable*/
I2C_Cmd（LSM303DLHC_I2C,ENABLE）;
/*ConfigureGPIOPINstodetectInterrupts*/
GPIO_InitStructure.GPIO_Pin=LSM303DLHC_I2C_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（LSM303DLHC_I2C_INT1_GPIO_PORT,&GPIO_InitStructure）;
GPIO_InitStructure.GPIO_Pin=LSM303DLHC_I2C_INT2_PIN;
GPIO_Init（LSM303DLHC_I2C_INT2_GPIO_PORT,&GPIO_InitStructure）;
}
2.LSM303DLHC芯片初始化MAG（磁力）寄存器函数
给地址寄存器写值及功能参见LSM303DLHC数据手册
voidLSM303DLHC_MagInit（LSM303DLHCMag_InitTypeDef*LSM303DLHC_InitStruct）
{
uint8_tcra_regm=0x00,crb_regm=0x00,mr_regm=0x00;
/*Configurethelowlevelinterface---------------------------------------*/
LSM303DLHC_InitStructure.Temperature_Sensor=LSM303DLHC_TEMPSENSOR_DISABLE;//配置值0x00
LSM303DLHC_InitStructure.MagOutput_DataRate=LSM303DLHC_ODR_30_HZ;//配置值0x14
LSM303DLHC_InitStructure.MagFull_Scale=LSM303DLHC_FS_8_1_GA;//配置值0xE0
LSM303DLHC_InitStructure.Working_Mode=LSM303DLHC_CONTINUOS_CONVERSION;//配置值0x00
LSM303DLHC_LowLevel_Init（）;
/*ConfigureMEMS:
tempandDatarate*/
cra_regm|=（uint8_t）（LSM303DLHC_InitStruct->Temperature_Sensor|LSM303DLHC_InitStruct->MagOutput_DataRate）;
/*ConfigureMEMS:
fullScale*/
crb_regm|=（uint8_t）（LSM303DLHC_InitStruct->MagFull_Scale）;
/*ConfigureMEMS:
workingmode*/
mr_regm|=（uint8_t）（LSM303DLHC_InitStruct->Working_Mode）;
/*WritevaluetoMagMEMSCRA_REGregsister*/
LSM303DLHC_Write（MAG_I2C_ADDRESS,LSM303DLHC_CRA_REG_M,&cra_regm）;
/*WritevaluetoMagMEMSCRB_REGregsister*/
LSM303DLHC_Write（MAG_I2C_ADDRESS,LSM303DLHC_CRB_REG_M,&crb_regm）;
/*WritevaluetoMagMEMSMR_REGregsister*/
LSM303DLHC_Write（MAG_I2C_ADDRESS,LSM303DLHC_MR_REG_M,&mr_regm）;
}
3.LSM303DLHC芯片初始化ACC（加速度）寄存器函数
voidLSM303DLHC_AccInit（LSM303DLHCAcc_InitTypeDef*LSM303DLHC_InitStruct）
{
uint8_tctrl1=0x00,ctrl4=0x00;
/*Configurethelowlevelinterface---------------------------------------*/
LSM303DLHCAcc_InitStructure.Power_Mode=LSM303DLHC_NORMAL_MODE;//配置值0x00
LSM303DLHCAcc_InitStructure.AccOutput_DataRate=LSM303DLHC_ODR_50_HZ;//配置值0x40
LSM303DLHCAcc_InitStructure.Axes_Enable=LSM303DLHC_AXES_ENABLE;//配置值0x07
LSM303DLHCAcc_InitStructure.AccFull_Scale=LSM303DLHC_FULLSCALE_2G;//配置值0x00
LSM303DLHCAcc_InitStructure.BlockData_Update=LSM303DLHC_BlockUpdate_Continous;//配置值0x00
LSM303DLHCAcc_InitStructure.Endianness=LSM303DLHC_BLE_LSB;//配置值0x00
LSM303DLHCAcc_InitStructure.High_Resolution=LSM303DLHC_HR_ENABLE;//配置值0x08
LSM303DLHC_LowLevel_Init（）;
/*ConfigureMEMS:
datarate,powermode,fullscaleandaxes*/
ctrl1|=（uint8_t）（LSM303DLHC_InitStruct->Power_Mode|LSM303DLHC_InitStruct->AccOutput_DataRate|\
LSM303DLHC_InitStruct->Axes_Enable）;
ctrl4|=（uint8_t）（LSM303DLHC_InitStruct->BlockData_Update|LSM303DLHC_InitStruct->Endianness|\
LSM303DLHC_InitStruct->AccFull_Scale|LSM303DLHC_InitStruct->High_Resolution）;
/*WritevaluetoACCMEMSCTRL_REG1regsister*/
LSM303DLHC_Write（ACC_I2C_ADDRESS,LSM303DLHC_CTRL_REG1_A,&ctrl1）;
/*WritevaluetoACCMEMSCTRL_REG4regsister*/
LSM303DLHC_Write（ACC_I2C_ADDRESS,LSM303DLHC_CTRL_REG4_A,&ctrl4）;
}
/*FilltheaccelerometerLPFstructure*/
LSM303DLHCFilter_InitStructure.HighPassFilter_Mode_Selection=LSM303DLHC_HPM_NORMAL_MODE;//配置值0x80
LSM303DLHCFilter_InitStructure.HighPassFilter_CutOff_Frequency=LSM303DLHC_HPFCF_16;//配置值0x10
LSM303DLHCFilter_InitStructure.HighPassFilter_AOI1=LSM303DLHC_HPF_AOI1_DISABLE;//配置值0x00
LSM303DLHCFilter_InitStructure.HighPassFilter_AOI2=LSM303DLHC_HPF_AOI2_DISABLE;//配置值0x00
/*ConfiguretheaccelerometerLPFmainparameters*/
LSM303DLHC_AccFilterConfig（&LSM303DLHCFilter_InitStructure）;
4.I2C通信读、写LSM303DLHC芯片寄存器封装函数
I2C读取寄存器封装函数
uint16_tLSM303DLHC_Read（uint8_tDeviceAddr,uint8_tRegAddr,uint8_t*pBuffer,uint16_tNumByteToRead）
{
/*TestonBUSYFlag*/
LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
while（I2C_GetFlagStatus（LSM303DLHC_I2C,I2C_ISR_BUSY）!
=RESET）
{
if（（LSM303DLHC_Timeout--）==0）returnLSM303DLHC_TIMEOUT_UserCallback（）;
}
/*Configureslaveaddress,nbytes,reload,endmodeandstartorstopgeneration*/
I2C_TransferHandling（LSM303DLHC_I2C,DeviceAddr,1,I2C_SoftEnd_Mode,I2C_Generate_Start_Write）;
/*WaituntilTXISflagisset*/
LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
while（I2C_GetFlagStatus（LSM303DLHC_I2C,I2C_ISR_TXIS）==RESET）
{
if（（LSM303DLHC_Timeout--）==0）returnLSM303DLHC_TIMEOUT_UserCallback（）;
}
if（NumByteToRead>1）
RegAddr|=0x80;
/*SendRegisteraddress*/
I2C_SendData（LSM303DLHC_I2C,（uint8_t）RegAddr）;
/*WaituntilTCflagisset*/
LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
while（I2C_GetFlagStatus（LSM303DLHC_I2C,I2C_ISR_TC）==RESET）
{
if（（LSM303DLHC_Timeout--）==0）returnLSM303DLHC_TIMEOUT_UserCallback（）;
}
/*Configureslaveaddress,nbytes,reload,endmodeandstartorstopgeneration*/
I2C_TransferHandling（LSM303DLHC_I2C,DeviceAddr,NumByteToRead,I2C_AutoEnd_Mode,I2C_Generate_Start_Read）;
/*Waituntilalldataarereceived*/
while（NumByteToRead）
{
/*WaituntilRXNEflagisset*/
LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
while（I2C_GetFlagStatus（LSM303DLHC_I2C,I2C_ISR_RXNE）==RESET）
{
if（（LSM303DLHC_Timeout--）==0）returnLSM303DLHC_TIMEOUT_UserCallback（）;
}
/*ReaddatafromRXDR*/
*pBuffer=I2C_ReceiveData（LSM303DLHC_I2C）;
/*Pointtothenextlocationwherethebytereadwillbesaved*/
pBuffer++;
/*Decrementthereadbytescounter*/
NumByteToRead--;
}
/*WaituntilSTOPFflagisset*/
LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
while（I2C_GetFlagStatus（LSM303DLHC_I2C,I2C_ISR_STOPF）==RESET）
{
if（（LSM303DLHC_Timeout--）==0）returnLSM303DLHC_TIMEOUT_UserCallback（）;
}
/*ClearSTOPFflag*/
I2C_ClearFlag（LSM303DLHC_I2C,I2C_ICR_STOPCF）;
/*IfalloperationsOK*/
returnLSM303DLHC_OK;
}
I2C写寄存器封装函数
uint16_tLSM303DLHC_Write（uint8_tDeviceAddr,uint8_tRegAddr,uint8_t*pBuffer）
{
/*TestonBUSYFlag*/
LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
while（I2C_GetFlagStatus（LSM303DLHC_I2C,I2C_ISR_BUSY）!
=RESET）
{
if（（LSM303DLHC_Timeout--）==0）returnLSM303DLHC_TIMEOUT_UserCallback（）;
}
/*Configureslaveaddress,nbytes,reload,endmodeandstartorstopgeneration*/
I2C_TransferHandling（LSM303DLHC_I2C,DeviceAddr,1,I2C_Reload_Mode,I2C_Generate_Start_Write）;
/*WaituntilTXISflagisset*/
LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
while（I2C_GetFlagStatus（LSM303DLHC_I2C,I2C_ISR_TXIS）==RESET）
{
if（（LSM303DLHC_Timeout--）==0）returnLSM303DLHC_TIMEOUT_UserCallback（）;
}
/*SendRegisteraddress*/
I2C_SendData（LSM303DLHC_I2C,（uint8_t）RegAddr）;
/*WaituntilTCRflagisset*/
LSM303DLHC_Timeout=LSM303DLHC_LONG_TIMEOUT;
while（I2C_GetFlagStatus（LSM303DLHC_I2C,I2C_ISR_TCR）==RESET）
{
if（（LSM303DLHC_Timeout--）==0）returnLSM303DLHC_TIMEOUT_UserCallback（）;
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