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| author | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-04-29 22:57:04 +0000 |
|---|---|---|
| committer | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-04-29 22:57:04 +0000 |
| commit | 8a15207235a9e59c1d1f0a64810ab9861de15b06 (patch) | |
| tree | 813f18e310d6b5c278900d6661ed5f18f9714e14 /testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c | |
| parent | 37ff02bca728921ab490a6409c4097e580f9567b (diff) | |
| download | ChibiOS-8a15207235a9e59c1d1f0a64810ab9861de15b06.tar.gz ChibiOS-8a15207235a9e59c1d1f0a64810ab9861de15b06.tar.bz2 ChibiOS-8a15207235a9e59c1d1f0a64810ab9861de15b06.zip | |
ChibiOS/HAL: improved hal_compass.h,
ChibiOS/EX: ultimated lis3mdl support
Added STM32L4xx/I2C-LIS3MLD demo
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9382 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c')
| -rw-r--r-- | testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c | 106 |
1 files changed, 106 insertions, 0 deletions
diff --git a/testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c b/testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c new file mode 100644 index 000000000..f2cabe576 --- /dev/null +++ b/testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c @@ -0,0 +1,106 @@ +/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+
+#include "chprintf.h"
+#include "lis3mdl.h"
+
+/* Enable use of special ANSI escape sequences */
+#define CHPRINTF_USE_ANSI_CODE TRUE
+
+static BaseSequentialStream * chp = (BaseSequentialStream*) &SD2;
+
+/* LIS3MDL Driver: This object represent an LIS3MDL instance */
+static LIS3MDLDriver LIS3MDLD1;
+
+static int32_t rawdata[LIS3MDL_NUMBER_OF_AXES];
+static float cookeddata[LIS3MDL_NUMBER_OF_AXES];
+
+static char axesID[LIS3MDL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const I2CConfig i2ccfg = {
+ STM32_TIMINGR_PRESC(15U) |
+ STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |
+ STM32_TIMINGR_SCLH(15U) | STM32_TIMINGR_SCLL(21U),
+ 0,
+ 0
+};
+
+static const LIS3MDLConfig lis3mdlcfg = {
+ &I2CD1,
+ &i2ccfg,
+ LIS3MDL_SAD_VCC,
+ LIS3MDL_FS_4GA,
+ LIS3MDL_ODR_40HZ,
+ LIS3MDL_LP_DISABLED,
+ LIS3MDL_MD_CONTINUOUS,
+ LIS3MDL_OMXY_ULTRA,
+ LIS3MDL_OMZ_ULTRA,
+ LIS3MDL_TEMP_ENABLED,
+ LIS3MDL_BDU_BLOCKED,
+ LIS3MDL_END_LITTLE
+};
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+ /*
+ * System initializations.
+ * - HAL initialization, this also initializes the configured device drivers
+ * and performs the board-specific initializations.
+ * - Kernel initialization, the main() function becomes a thread and the
+ * RTOS is active.
+ */
+ halInit();
+ chSysInit();
+
+ palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
+ palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
+
+ /*
+ * Activates the serial driver 2 using the driver default configuration.
+ */
+ sdStart(&SD2, NULL);
+
+ /*
+ * LIS3MDL Object Initialization
+ */
+ lis3mdlObjectInit(&LIS3MDLD1);
+
+ lis3mdlStart(&LIS3MDLD1, &lis3mdlcfg);
+
+ while (TRUE) {
+ palToggleLine(LINE_LED_GREEN);
+ compassReadRaw(&LIS3MDLD1, rawdata);
+ compassReadCooked(&LIS3MDLD1, cookeddata);
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ chprintf(chp, "COMPASS DATA\r\n");
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);
+ chprintf(chp, "\r\n");
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+ chprintf(chp, "COOKED-%c:%.3f Gauss\t", axesID[i], cookeddata[i]);
+ chprintf(chp, "\r\n");
+ chThdSleepMilliseconds(100);
+ }
+}
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