使用 ICM-45686 和 STM32F446ZE 实现高保真运动追踪

/*!
 * @file main.c
 * @brief 6DOF IMU 27 Click example
 *
 * # Description
 * This example demonstrates the use of 6DOF IMU 27 Click board by reading and displaying 
 * the accelerometer and gyroscope data (X, Y, and Z axis) as well as a temperature measurement
 * in degrees Celsius.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * Initializes the driver and performs the Click default configuration.
 *
 * ## Application Task
 * Waits for a data ready indication and then reads the accelerometer, gyroscope, and temperature
 * measurements. The results are displayed on the USB UART every 80ms as per the accel and gyro
 * output data rate which is set to 12.5 Hz.
 *
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "c6dofimu27.h"

static c6dofimu27_t c6dofimu27;
static log_t logger;

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu27_cfg_t c6dofimu27_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    c6dofimu27_cfg_setup( &c6dofimu27_cfg );
    C6DOFIMU27_MAP_MIKROBUS( c6dofimu27_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu27_init( &c6dofimu27, &c6dofimu27_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( C6DOFIMU27_ERROR == c6dofimu27_default_cfg ( &c6dofimu27 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

void application_task ( void )
{
    static c6dofimu27_data_t meas_data;
    if ( !c6dofimu27_get_int1_pin ( &c6dofimu27 ) )
    {
        if ( C6DOFIMU27_OK == c6dofimu27_read_data ( &c6dofimu27, &meas_data ) )
        {
            log_printf ( &logger, " Accel X: %.2f g\r\n", meas_data.accel.x );
            log_printf ( &logger, " Accel Y: %.2f g\r\n", meas_data.accel.y );
            log_printf ( &logger, " Accel Z: %.2f g\r\n", meas_data.accel.z );
            log_printf ( &logger, " Gyro X: %.1f dps\r\n", meas_data.gyro.x );
            log_printf ( &logger, " Gyro Y: %.1f dps\r\n", meas_data.gyro.y );
            log_printf ( &logger, " Gyro Z: %.1f dps\r\n", meas_data.gyro.z );
            log_printf ( &logger, " Temperature: %.2f C\r\n\n", meas_data.temperature );
        }
    }
}

int main ( void ) 
{
    /* Do not remove this line or clock might not be set correctly. */
    #ifdef PREINIT_SUPPORTED
    preinit();
    #endif
    
    application_init( );
    
    for ( ; ; ) 
    {
        application_task( );
    }

    return 0;
}

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