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This commit is contained in:
Andreas Mieke 2018-04-03 17:18:28 +02:00
parent d109bae8d7
commit 9a18bd88f0
22 changed files with 286 additions and 122 deletions
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26
Mieke/SW/MT/bma.c
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@ -2,34 +2,38 @@
void init_bma(void)
{
// Init GPIOB and I2C1 clocks
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
// Create gpio struct and fill it with default values
GPIO_InitTypeDef gpio;
GPIO_StructInit(&gpio);
// SCL
// Change default values for SCL port, init port
gpio.GPIO_Mode = GPIO_Mode_AF_PP;
gpio.GPIO_Pin = GPIO_Pin_6;
GPIO_Init(GPIOB, &gpio);
// SDA
// Change default values for SDA port, init port
gpio.GPIO_Mode = GPIO_Mode_AF_OD;
gpio.GPIO_Pin = GPIO_Pin_7;
GPIO_Init(GPIOB, &gpio);
// Create i2c struct, fill it with default values, change clock to 400 kHz and init I2C
I2C_InitTypeDef i2c;
I2C_StructInit(&i2c);
i2c.I2C_ClockSpeed = 400000;
I2C_Init(I2C1, &i2c);
// Enable I2C1 interface
I2C_Cmd(I2C1, ENABLE);
}
void run_bma(float acc_f[3])
{
int16_t acc[3];
// Select first register address to read
// Send first register address to read
I2C_GenerateSTART(I2C1, ENABLE);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
I2C_Send7bitAddress(I2C1, BMA_ADDR, I2C_Direction_Transmitter);
@ -38,39 +42,42 @@ void run_bma(float acc_f[3])
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
I2C_GenerateSTOP(I2C1, ENABLE);
// Start Rx transmission
I2C_GenerateSTART(I2C1, ENABLE);
I2C_AcknowledgeConfig(I2C1, ENABLE);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
I2C_Send7bitAddress(I2C1, BMA_ADDR, I2C_Direction_Receiver);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
// X LSB
// Read X LSB
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
acc[0] = (I2C_ReceiveData(I2C1) & 0xC0) >> 6;
// X MSB
// Read X MSB
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
acc[0] = (I2C_ReceiveData(I2C1) & 0xFF) << 2 | (acc[0] & 0x0003);
if(acc[0] & 0x0200) acc[0] |= 0xFC00;
// Y LSB
// Read Y LSB
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
acc[1] = (I2C_ReceiveData(I2C1) & 0xC0) >> 6;
// Y MSB
// Read Y MSB
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
acc[1] = (I2C_ReceiveData(I2C1) & 0xFF) << 2 | (acc[1] & 0x0003);
if(acc[1] & 0x0200) acc[1] |= 0xFC00;
// Z LSB
// Read Z LSB
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
acc[2] = (I2C_ReceiveData(I2C1) & 0xC0) >> 6;
// Z MSB
// Read Z MSB
I2C_AcknowledgeConfig(I2C1, DISABLE);
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));
acc[2] = (I2C_ReceiveData(I2C1) & 0xFF) << 2 | (acc[2] & 0x0003);
if(acc[2] & 0x0200) acc[2] |= 0xFC00;
// Stop condition
I2C_GenerateSTOP(I2C1, ENABLE);
// Calculate float values, with a maximum amplitude of 2.0g, as described in the datasheet
acc_f[0] = 2.0f * ((float)acc[0]/512);
acc_f[1] = 2.0f * ((float)acc[1]/512);
acc_f[2] = 2.0f * ((float)acc[2]/512);
@ -78,6 +85,7 @@ void run_bma(float acc_f[3])
void deinit_bma(void)
{
// Disable I2C1 and de-init it
I2C_Cmd(I2C1, DISABLE);
I2C_DeInit(I2C1);
}