voilier-team-1/implementation/accelerometer.c

59 lines
No EOL
1.4 KiB
C

#include "stm32f10x.h"
#include "accelerometer.h"
#include "MySPI.h"
#include "gpio.h"
void Init_accelerometre()
{
//char testReg;
MySPI_Init(SPI1);
MySPI_Clear_NSS(); //CS LOW
MySPI_Send(0x2D);//Registre Auto_sleep + Write + measure a 1
MySPI_Send(0x08);// désactive
MySPI_Set_NSS();//CS HIGH
/*
MySPI_Clear_NSS(); //CS LOW
MySPI_Send(0xAD);// regisstre 0x2D en lecture
testReg = MySPI_Read(); // lecture de la valeur du registre
MySPI_Set_NSS();//CS HIGH
*/
MySPI_Clear_NSS(); //CS LOW
MySPI_Send(0X2C);//Registre power consuption + Write
MySPI_Send(0X1A);//Paramétrage hors low consumption + 100Hz output data rate
MySPI_Set_NSS();//CS HIGH
MySPI_Clear_NSS(); //CS LOW
MySPI_Send(0x31);//registre Data format + write
MySPI_Send(0x17);//
MySPI_Set_NSS();//CS HIGH
}
void Lecture_accelerometre(float *GX, float* GY, float* GZ)
{
int dataX ;
int dataY ;
int dataZ ;
MySPI_Clear_NSS(); //CS LOW
MySPI_Send(0xF2);//lecture 1er registre accéléromètre + lecture multibytes
dataX = MySPI_Read()<<8; // données sur 13 bits passage 8 bit en PF
dataX |= MySPI_Read(); //lecture SPI
dataX &= 0xE; //masquage au dessus du bit 13
*GX = dataX*0.004;//valeur du registre x pas accelerometre
dataY = MySPI_Read()<<8;
dataY |= MySPI_Read();
dataY &= 0xE;
*GY = dataY*0.004;
dataZ = MySPI_Read()<<8;
dataZ |= MySPI_Read();
dataZ &= 0xE;
*GZ = dataZ*0.004;
MySPI_Set_NSS();//CS HIGH
}