使用ASM330LHHXG1和STM32G431RB提供精确的加速度、角速度和方位测量

/*!
 * @file main.c
 * @brief Smart DOF 5 Click example
 *
 * # Description
 * This example demonstrates the use of Smart DOF 5 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 at 12.5 Hz output data rate.
 *
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "smartdof5.h"

static smartdof5_t smartdof5;
static log_t logger;

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    smartdof5_cfg_t smartdof5_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.
    smartdof5_cfg_setup( &smartdof5_cfg );
    SMARTDOF5_MAP_MIKROBUS( smartdof5_cfg, MIKROBUS_1 );
    err_t init_flag = smartdof5_init( &smartdof5, &smartdof5_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( SMARTDOF5_ERROR == smartdof5_default_cfg ( &smartdof5 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

void application_task ( void )
{
    smartdof5_data_t meas_data;
    if ( smartdof5_get_int_pin ( &smartdof5 ) ) 
    {
        if ( SMARTDOF5_OK == smartdof5_get_data ( &smartdof5, &meas_data ) )
        {
            log_printf( &logger, " Accel X: %.3f g\r\n", meas_data.accel.x );
            log_printf( &logger, " Accel Y: %.3f g\r\n", meas_data.accel.y );
            log_printf( &logger, " Accel Z: %.3f 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 degC\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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