osxMotionFX的移植和调试过程

littleshrimp 发表于 2017-3-15 23:52

<div class='showpostmsg'><div class="WordSection1"> 下载osxMotionFXhttp://www.st.com/content/st_com/en/products/embedded-software/mems-and-sensors-software/open-mems/osxmotionfx.html 找到en.osxMotionFX_Software.zip解压并安装  安装完成后在C:\Program Files (x86)\STMicroelectronics\OpenSoftwareX\Workspace\Middlewares\ST\下会有一个STM32_OSX_MotionFX_Library的文件夹将STM32_OSX_MotionFX_Library文件夹全部复制到STSW-STLKT01 v1.2.0\Middlewares\ST下 复制\STSW-STLKT01 v1.2.0\Projects\SensorTile\Applications下的BLE_SampleApp项目起名BLE_ osxMotionCP复制C:\Program Files (x86)\STMicroelectronics\OpenSoftwareX\Workspace\Projects\Multi\Applications\DataLogFusion\Src\MotionFX_Manager.c和C:\Program Files (x86)\STMicroelectronics\OpenSoftwareX\Workspace\Projects\Multi\Applications\DataLogFusion\Inc\MotionFX_Manager.h到STSW-STLKT01 v1.2.0\Projects\SensorTile\Applications\BLE_ osxMotionCP\Src和STSW-STLKT01 v1.2.0\Projects\SensorTile\Applications\BLE_ osxMotionCP\Inc打开BLE_ osxMotionCP项目将LSM303AGR和LSM6DSM的驱动加入项目将STSW-STLKT01 v1.2.0\Middlewares\ST\STM32_OSX_MotionFX_Library\Lib\osxMotionFX107_CM4_Keil_ot.lib引入项目  添加STM32_OSX_MotionFX_Library的引用到IAR工程 $PROJ_DIR$\..\..\..\..\..\Middlewares\ST\STM32_OSX_MotionFX_Library$PROJ_DIR$\..\..\..\..\..\Middlewares\ST\STM32_OSX_MotionFX_Library\Inc  添加头文件到TargetFeatures.h<table class="MsoTableGrid" style="border: currentcolor;" border="1" cellspacing="0" cellpadding="0"><tbody><tr><td width="568" valign="top" style="padding: 0cm 5.4pt; border-width: 1pt; border-color: windowtext; border-image-source: none; width: 426.1pt;"><p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    #include "SensorTile_accelero.h"<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    #include "SensorTile_gyro.h"<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    #include "SensorTile_magneto.h"</td></tr></tbody></table> 添加LSM303AGR和LSM6DSM的初始化程序到TargetPlatform.c<table class="MsoTableGrid" style="border: currentcolor;" border="1" cellspacing="0" cellpadding="0"><tbody><tr><td width="568" valign="top" style="padding: 0cm 5.4pt; border-width: 1pt; border-color: windowtext; border-image-source: none; width: 426.1pt;"><p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">static void *LSM6DSM_X_0_handle = NULL;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">static void *LSM6DSM_G_0_handle = NULL;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">static void *LSM303AGR_X_0_handle = NULL;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">static void *LSM303AGR_M_0_handle = NULL;</td></tr></tbody></table> <table class="MsoTableGrid" style="border: currentcolor;" border="1" cellspacing="0" cellpadding="0"><tbody><tr><td width="699" valign="top" style="padding: 0cm 5.4pt; border-width: 1pt; border-color: windowtext; border-image-source: none; width: 524.1pt;"><p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  if (BSP_ACCELERO_Init(LSM6DSM_X_0, &LSM6DSM_X_0_handle ) != COMPONENT_OK)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    while(1);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  if (BSP_GYRO_Init(LSM6DSM_G_0, &LSM6DSM_G_0_handle ) != COMPONENT_OK)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    while(1);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  if (BSP_ACCELERO_Init(LSM303AGR_X_0, &LSM303AGR_X_0_handle ) != COMPONENT_OK)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    while(1);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  if (BSP_MAGNETO_Init(LSM303AGR_M_0, &LSM303AGR_M_0_handle ) != COMPONENT_OK)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    while(1);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_ACCELERO_Sensor_Enable(LSM6DSM_X_0_handle );<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_GYRO_Sensor_Enable(LSM6DSM_G_0_handle );<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_ACCELERO_Sensor_Enable(LSM303AGR_X_0_handle );<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_MAGNETO_Sensor_Enable(LSM303AGR_M_0_handle ); </td></tr></tbody></table> 修改STSW-STLKT01 v1.2.0\Middlewares\ST\STM32_OSX_MotionFX_Library\osx_license.h去掉#error "NOTE: this is a dummy license file. Use the osx.LicenseWizard to request a valid license"用新申请的license替换原有代码<table class="MsoTableGrid" style="border: currentcolor;" border="1" cellspacing="0" cellpadding="0"><tbody><tr><td width="568" valign="top" style="padding: 0cm 5.4pt; border-width: 1pt; border-color: windowtext; border-image-source: none; width: 426.1pt;"><p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">/* Below line has to be removed once the license has been edited with validcodes */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#ifndef_OSX_MOTION_FX_LICENSE_<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#define_OSX_MOTION_FX_LICENSE_<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">uint32_tosx_mfx_license[3][4] =<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{ 0x4179FF8B, 0x9F7582CF, 0x09EAE338, 0x857D6684 },<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{ 0x630E2677, 0x166FDE0F, 0x4ED8FD4F, 0x3A5AB519 },<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{ 0x236DB5C3, 0x760B4854, 0x7F60744B, 0x23CA44D5 }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">};<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif /* _OSX_MOTION_FX_LICENSE_ */</td></tr></tbody></table> 在TargetPlatform.c中添加传感器测试代码测试传感器是否可以使用<table class="MsoTableGrid" style="border: currentcolor;" border="1" cellspacing="0" cellpadding="0"><tbody><tr><td width="568" valign="top" style="padding: 0cm 5.4pt; border-width: 1pt; border-color: windowtext; border-image-source: none; width: 426.1pt;"><p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">voidsensorTest(void)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{   <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  uint8_t id;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> SensorAxes_t acceleration;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  uint8_t status;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_ACCELERO_Get_Instance(LSM6DSM_X_0_handle, &id );<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_ACCELERO_IsInitialized(LSM6DSM_X_0_handle, &status );<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  if ( status == 1 )<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    if (BSP_ACCELERO_Get_Axes(LSM6DSM_X_0_handle, &acceleration ) ==COMPONENT_ERROR )<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     acceleration.AXIS_X = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     acceleration.AXIS_Y = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     acceleration.AXIS_Z = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   __NOP();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">}</td></tr></tbody></table> 在main函数的InitTargetPlatform(TARGET_SENSORTILE);代码下添加sensorTest函数 <table class="MsoTableGrid" style="border: currentcolor;" border="1" cellspacing="0" cellpadding="0"><tbody><tr><td width="568" valign="top" style="padding: 0cm 5.4pt; border-width: 1pt; border-color: windowtext; border-image-source: none; width: 426.1pt;"><p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  InitTargetPlatform(TARGET_SENSORTILE);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  while(1)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   sensorTest();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }</td></tr></tbody></table> 将断点打到sensorTest函数的__NOP();处运行程序 ，查看acceleration变量的三个轴数据是否正确 成功后注释掉sensorTest函数在在TargetPlatform.c中添加传感器测试代码测试传感器是否可以使用  在MotionFX_Manager.c文件中引用#include "sensor.h"添加下边代码到TargetPlatform.c<table class="MsoTableGrid" style="border: currentcolor;" border="1" cellspacing="0" cellpadding="0"><tbody><tr><td width="568" valign="top" style="padding: 0cm 5.4pt; border-width: 1pt; border-color: windowtext; border-image-source: none; width: 426.1pt;"><p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">SensorAxes_tACC_Value;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">SensorAxes_tGYR_Value;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">SensorAxes_tMAG_Value;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">void*GYRO_handle;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">osxMFX_calibFactormagOffset;</td></tr></tbody></table> 去年stm32l4xx_hal_conf.h中/* #define HAL_RTC_MODULE_ENABLED */的注释 在TargetPlatform.c中添加#include "MotionFX_Manager.h" 添加ENABLE_USB_DEBUG宏定义使能USB功能添加MotionFX测试代码到TargetPlatform.c<table class="MsoTableGrid" style="border: currentcolor;" border="1" cellspacing="0" cellpadding="0"><tbody><tr><td width="850" valign="top" style="padding: 0cm 5.4pt; border-width: 1pt; border-color: windowtext; border-image-source: none; width: 637.5pt;"><p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">uint32_tcounter = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">/**<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@brief  Reset the Magnetometer calibration values in memory<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@param  None<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@retval 1 in case of success, 0 otherwise<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">static unsigned charResetCalibrationInMemory(void)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#ifdefOSXMOTIONFX_STORE_CALIB_FLASH<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  /* Reset Calibration Values in FLASH */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  unsigned charSuccess = 1;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  /* Erase First Flash sector */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> FLASH_EraseInitTypeDef EraseInitStruct;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  uint32_t SectorError = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32F4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> EraseInitStruct.TypeErase =TYPEERASE_SECTORS;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> EraseInitStruct.VoltageRange =VOLTAGE_RANGE_3;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> EraseInitStruct.Sector =OSXMOTIONFX_FLASH_SECTOR;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> EraseInitStruct.NbSectors = 1;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32L4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> EraseInitStruct.TypeErase   =FLASH_TYPEERASE_PAGES;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> EraseInitStruct.Banks       = GetBank(OSXMOTIONFX_FLASH_ADD);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> EraseInitStruct.Page        = GetPage(OSXMOTIONFX_FLASH_ADD);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> EraseInitStruct.NbPages     = 1;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  /* Unlock the Flash to enable the flash control register access*************/<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> HAL_FLASH_Unlock();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  if (HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError) !=HAL_OK)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    /*<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     Error occurred while sector erase.<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     User can add here some code to deal with this error.<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     SectorError will contain the faulty sector and then to know the code error onthis sector,<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     user can call function 'HAL_FLASH_GetError()'<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    /*<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     FLASH_ErrorTypeDef errorcode = HAL_FLASH_GetError();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   Error_Handler();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   Success = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  /* Lock the Flash to disable the flash control register access(recommended<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> to protect the FLASH memory against possible unwanted operation) *********/<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> HAL_FLASH_Lock();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  return Success;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">}<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#else /* OSXMOTIONFX_STORE_CALIB_FLASH */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  /* Reset Calibration Values in RAM */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  unsigned charSuccess = 1;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  int32_t Counter;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  for(Counter = 0;Counter < 8;Counter++)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   CalibrationStructureRAM[Counter] = 0xFFFFFFFF;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  return Success;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">}<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif /* OSXMOTIONFX_STORE_CALIB_FLASH */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">/**<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@brief  Save the Magnetometer calibration values to memory<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@param  None<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@retval 1 in case of success, 0 otherwise<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">static unsigned charSaveCalibrationToMemory(void)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  unsigned charSuccess = 1;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  /* Reset Before The data in Memory */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> Success = ResetCalibrationInMemory();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  if(Success)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#ifdefOSXMOTIONFX_STORE_CALIB_FLASH<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    /* Store in Flash Memory */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    uint32_t Address =OSXMOTIONFX_FLASH_ADD;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32F4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    uint32_t WritemagOffset[8];<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32L4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    uint64_t WritemagOffset64[8];<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    int32_t WriteIndex;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32F4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   WritemagOffset[0] =OSXMOTIONFX_CHECK_CALIBRATION;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   WritemagOffset[1] = (uint32_t)magOffset.magOffX;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   WritemagOffset[2] = (uint32_t)magOffset.magOffY;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   WritemagOffset[3] = (uint32_t)magOffset.magOffZ;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&WritemagOffset[4], &(magOffset.magGainX), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&WritemagOffset[5], &(magOffset.magGainY), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&WritemagOffset[6], &(magOffset.magGainZ), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&WritemagOffset[7], &(magOffset.expMagVect), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32L4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   WritemagOffset64[0] = (uint64_t)OSXMOTIONFX_CHECK_CALIBRATION;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   WritemagOffset64[1] = (uint64_t)magOffset.magOffX;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   WritemagOffset64[2] = (uint64_t)magOffset.magOffY;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   WritemagOffset64[3] = (uint64_t)magOffset.magOffZ;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&WritemagOffset64[4], &(magOffset.magGainX), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&WritemagOffset64[5], &(magOffset.magGainY), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&WritemagOffset64[6], &(magOffset.magGainZ), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&WritemagOffset64[7], &(magOffset.expMagVect), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    /* Unlock the Flash to enable the flash control register access*************/<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   HAL_FLASH_Unlock();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32F4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    for(WriteIndex = 0;WriteIndex < 8;WriteIndex++)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32L4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    for(WriteIndex = 0;WriteIndex < 8;WriteIndex++)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32F4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      if (HAL_FLASH_Program(TYPEPROGRAM_WORD,Address, WritemagOffset[WriteIndex]) ==HAL_OK)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">       Address = Address + 4;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#if(defined (USE_STM32L4XX_NUCLEO))<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD,Address, WritemagOffset64[WriteIndex]) ==HAL_OK)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">       Address = Address + 8;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      else<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        /* Error occurred while writing data in Flash memory.<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">          User can add here some code to deal with this error */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        /*<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">          FLASH_ErrorTypeDef errorcode = HAL_FLASH_GetError();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">       */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">       Error_Handler();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    /* Lock the Flash to disable the flash control register access(recommended<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    to protect the FLASH memory against possible unwanted operation) *********/<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   HAL_FLASH_Lock();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#else /* OSXMOTIONFX_STORE_CALIB_FLASH */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    /* Store in RAM */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   CalibrationStructureRAM[0] =OSXMOTIONFX_CHECK_CALIBRATION;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   CalibrationStructureRAM[1] = (uint32_t)magOffset.magOffX;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   CalibrationStructureRAM[2] = (uint32_t)magOffset.magOffY;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   CalibrationStructureRAM[3] = (uint32_t)magOffset.magOffZ;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&CalibrationStructureRAM[4], &(magOffset.magGainX), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&CalibrationStructureRAM[5], &(magOffset.magGainY), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&CalibrationStructureRAM[6], &(magOffset.magGainZ), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   memcpy(&CalibrationStructureRAM[7], &(magOffset.expMagVect), sizeof(float));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">#endif /* OSXMOTIONFX_STORE_CALIB_FLASH */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  return Success;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">}<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">/**<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@brief  Handles the Sensor Fusion<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@param  Msg Sensor Fusion part of the stream<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> *@retval None<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">static voidSF_Handler(void)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  static int32_tcalibIndex =0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  uint8_t i;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  uint8_t status_acc = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  uint8_t status_gyr = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  uint8_t status_mag = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_ACCELERO_IsInitialized(LSM6DSM_X_0_handle, &status_acc);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_GYRO_IsInitialized(LSM6DSM_G_0_handle, &status_gyr);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> BSP_MAGNETO_IsInitialized(LSM303AGR_M_0_handle, &status_mag);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  if(status_acc &&status_gyr && status_mag)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     BSP_ACCELERO_Get_Axes(LSM6DSM_X_0_handle, &ACC_Value);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     BSP_GYRO_Get_Axes(LSM6DSM_G_0_handle, &GYR_Value);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     BSP_MAGNETO_Get_Axes(LSM303AGR_M_0_handle, &MAG_Value);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     MotionFX_manager_run();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">    <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      /* Check if is calibrated */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      if(isCal != 0x01)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        /* Run Compass Calibration @ 25Hz */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">       calibIndex++;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        if (calibIndex == 4)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         SensorAxes_t ACC_Loc, MAG_Loc;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         calibIndex = 0;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         ACC_Loc.AXIS_X =ACC_Value.AXIS_X;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         ACC_Loc.AXIS_Y =ACC_Value.AXIS_Y;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         ACC_Loc.AXIS_Z =ACC_Value.AXIS_Z;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         MAG_Loc.AXIS_X =MAG_Value.AXIS_X;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         MAG_Loc.AXIS_Y =MAG_Value.AXIS_Y;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         MAG_Loc.AXIS_Z =MAG_Value.AXIS_Z;<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         osx_MotionFX_compass_saveAcc(ACC_Loc.AXIS_X,ACC_Loc.AXIS_Y, ACC_Loc.AXIS_Z); /*Accelerometer data ENU systems coordinate  */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         osx_MotionFX_compass_saveMag(MAG_Loc.AXIS_X,MAG_Loc.AXIS_Y, MAG_Loc.AXIS_Z); /*Magnetometer data ENU systems coordinate */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         osx_MotionFX_compass_run();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        /* Check if is calibrated */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">       isCal = osx_MotionFX_compass_isCalibrated();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        if(isCal == 0x01)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">          /* Get new magnetometer offset */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         osx_MotionFX_getCalibrationData(&magOffset);<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">          <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">          /* Save the calibration in Memory */<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">         SaveCalibrationToMemory();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">          <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">        }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">     osxMFX_output *MotionFX_Engine_Out =MotionFX_manager_getDataOUT();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      if(counter++ % 100 == 0)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">       STLBLE_PRINTF("%d\t%d\t%d\r\n",(int)(MotionFX_Engine_Out->rotation_9X[0] * 1000),(int)(MotionFX_Engine_Out->rotation_9X[1] * 1000),(int)(MotionFX_Engine_Out->rotation_9X[2] * 1000));<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">      }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">}<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">voidfxText(void)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">{  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> MotionFX_manager_init();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> MotionFX_manager_start_9X();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  <p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;"> osx_MotionFX_compass_forceReCalibration();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  while(1)<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  {<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">   SF_Handler();<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">  }<p align="left" class="MsoNormal" style="background-image: initial; background-position: initial; background-size: initial; background-repeat: initial; background-attachment: initial; background-origin: initial; background-clip: initial;">}</td></tr></tbody></table> 运行代码可以看到串口输出数据，活动板子可以看到数据变化，但是数据是不准的        </div></div><script> var loginstr = '<div class="locked">查看本帖全部内容，请<a href="javascript:;" style="color:#e60000" class="loginf">登录</a>或者<a href="https://bbs.eeworld.com.cn/member.php?mod=register_eeworld.php&action=wechat" style="color:#e60000" target="_blank">注册</a></div>';

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fyaocn 发表于 2017-3-16 09:53

。。

w562601331 发表于 2017-3-17 18:57

数据不准是因为没有校准还是什么问题呢？

littleshrimp 发表于 2017-3-17 19:48

这个是我当时对rotation_9X变量的理解不够

hezhengjia 发表于 2017-4-25 08:17

你好。请问你移植之后。是怎么进行传感器的校准的？

strong161 发表于 2017-4-26 12:49

iar为啥要用keil的lib？

sogaside 发表于 2017-4-26 15:41

楼主要是只要算法来处理数据的话要怎么来弄啊？

littleshrimp 发表于 2017-4-28 19:09

strong161 发表于 2017-4-26 12:49
iar为啥要用keil的lib？

好眼力，贴子写错了，应该是“osxMotionFX107_CM4_IAR_ot.a”
:pleased:

littleshrimp 发表于 2017-4-28 19:09

sogaside 发表于 2017-4-26 15:41
楼主要是只要算法来处理数据的话要怎么来弄啊？

只要算法来处理？没明白你的意思:puzzle:

strong161 发表于 2017-4-28 19:20

littleshrimp 发表于 2017-4-28 19:09
好眼力，贴子写错了，应该是“osxMotionFX107_CM4_IAR_ot.a”

:lol 主查细看了一下因为跟你的贴学习使用库，才发现不对的！

littleshrimp 发表于 2017-4-28 20:35

strong161 发表于 2017-4-28 19:20
主查细看了一下因为跟你的贴学习使用库，才发现不对的！

:congratulate:

sogaside 发表于 2017-4-29 10:39

littleshrimp 发表于 2017-4-28 19:09
只要算法来处理？没明白你的意思

就是我把传感器数据传出去，在别的板子上处理数据，需要用到这个算法

littleshrimp 发表于 2017-4-29 10:42

sogaside 发表于 2017-4-29 10:39
就是我把传感器数据传出去，在别的板子上处理数据，需要用到这个算法

你的意思是想在别的板子上用这个算法吗？

sogaside 发表于 2017-4-29 21:34

littleshrimp 发表于 2017-4-29 10:42
你的意思是想在别的板子上用这个算法吗？

恩在nucleo-f401re这个板子上用

littleshrimp 发表于 2017-4-30 08:49

没试过应该能移植
http://www.st.com/en/embedded-software/open-mems.html?icmp=sc1998_pron_pr_nov2014&sc=openmems-pr&querycriteria=productId=SC1998

alberthink 发表于 2017-4-30 09:15

那你就采用nucleo套件（f401+iks01）连接电脑或者（f401+iks01+idb05）连到bluems申请许可证就好了。

a217zxg 发表于 2019-1-17 10:54

1、如果没有九轴，只有6轴的放，这个rotation变量有什么意义呢？
2、能够用LSM6DS3来测量角度吗？

littleshrimp 发表于 2019-1-17 14:49

a217zxg 发表于 2019-1-17 10:54
1、如果没有九轴，只有6轴的放，这个rotation变量有什么意义呢？
2、能够用LSM6DS3来测量角度吗？

6轴时用rotation_6X

你要测量什么角度？

a217zxg 发表于 2019-1-18 08:20

littleshrimp 发表于 2019-1-17 14:49
6轴时用rotation_6X

你要测量什么角度？

我想测一个机构的合位位置，在两个位置分别的角度。

下面的数据是我通过motionGC库出来的静止时角速度的值？再通过motionFx库后，rotation的值一直在跳变。这个合理吗？

the af_gro val: x=-1433, y= -968, z= 2491
the af_gro val: x=-1434, y= -968, z= 2490
the af_gro val: x=-1435, y= -969, z= 2490
the af_gro val: x=-1434, y= -969, z= 2490
the af_gro val: x=-1438, y= -974, z= 2484
the af_gro val: x=-1436, y= -970, z= 2489
the af_gro val: x=-1433, y= -969, z= 2487
the af_gro val: x=-1435, y= -976, z= 2486
the af_gro val: x=-1437, y= -979, z= 2487
the af_gro val: x=-1436, y= -978, z= 2487
the af_gro val: x=-1433, y= -974, z= 2489
the af_gro val: x=-1434, y= -974, z= 2489
the af_gro val: x=-1437, y= -977, z= 2489
the af_gro val: x=-1437, y= -981, z= 2489
the af_gro val: x=-1430, y= -974, z= 2487
the af_gro val: x=-1431, y= -966, z= 2487
the af_gro val: x=-1428, y= -968, z= 2488
the af_gro val: x=-1426, y= -964, z= 2487
the af_gro val: x=-1428, y= -965, z= 2487

zhuyebb 发表于 2019-1-18 08:32

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电子工程世界-论坛's Archiver

osxMotionFX的移植和调试过程