使用 ISM330DLC 和 STM32F410RB 提升您的项目的精确运动感应能力

/*!
 * \file 
 * \brief c6DofImu8 Click example
 * 
 * # Description
 * This app gets three-axis gyroscope value, three-axis accelerometer value and temperature.
 *
 * The demo application is composed of two sections :
 * 
 * ## Application Init 
 * Initializes device and performs a device software reset and configuration.
 * 
 * ## Application Task  
 * Waits until any new data is entered to the data registers and then reads the accelerometer,
 * gyroscope and temperature data which will be converted and calculated to the properly units each second.
 * 
 * \author MikroE Team
 *
 */
// ------------------------------------------------------------------- INCLUDES

#include "board.h"
#include "log.h"
#include "c6dofimu8.h"

// ------------------------------------------------------------------ VARIABLES

static c6dofimu8_t c6dofimu8;
static log_t logger;

// ------------------------------------------------------- ADDITIONAL FUNCTIONS

void log_axis ( t_c6dofimu8_axis *log_data )
{
    log_printf( &logger, "* X-axis : %.3f \r\n", log_data->x );

    log_printf( &logger, "* Y-axis : %.3f \r\n", log_data->y );

    log_printf( &logger, "* Z-axis : %.3f \r\n", log_data->z );
}

// ------------------------------------------------------ APPLICATION FUNCTIONS

void application_init ( void )
{
    log_cfg_t log_cfg;
    c6dofimu8_cfg_t cfg;

    /** 
     * 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.

    c6dofimu8_cfg_setup( &cfg );
    C6DOFIMU8_MAP_MIKROBUS( cfg, MIKROBUS_1 );
    c6dofimu8_init( &c6dofimu8, &cfg );

    Delay_ms( 500 );
    
    c6dofimu8_default_cfg( &c6dofimu8 );

    log_printf( &logger, "** 6DOF IMU 8 is initialized **\r\n" );
    Delay_ms( 300 );
}

void application_task ( void )
{
    uint8_t data_ready;
    int8_t temperature;
    t_c6dofimu8_axis  accel_data;
    t_c6dofimu8_axis  gyro_data;

    data_ready = c6dofimu8_get_drdy_status( &c6dofimu8, C6DOFIMU8_TEMP_DRDY_MASK | 
                                                                               C6DOFIMU8_G_DRDY_MASK | 
                                                                               C6DOFIMU8_XL_DRDY_MASK );
    while ( data_ready == C6DOFIMU8_EVENT_NOT_DETECTED )
    {
        data_ready = c6dofimu8_get_drdy_status( &c6dofimu8, C6DOFIMU8_TEMP_DRDY_MASK | 
                                                                                   C6DOFIMU8_G_DRDY_MASK | 
                                                                                   C6DOFIMU8_XL_DRDY_MASK );
    }

    c6dofimu8_get_data( &c6dofimu8, &accel_data, &gyro_data, &temperature );

    log_printf( &logger, "** Accelerometer values : \r\n" );
    log_axis( &accel_data );

    log_printf( &logger, "** Gyroscope values : \r\n" );
    log_axis( &gyro_data );

    log_printf( &logger, "** Temperature value : %d degC \r\n", ( int16_t )temperature );
    log_printf( &logger, "-------------------------------------------------\r\n" );

    Delay_ms( 1000 );
}

void main ( void )
{
    application_init( );

    for ( ; ; )
    {
        application_task( );
    }
}

// ------------------------------------------------------------------------ END