diff options
Diffstat (limited to 'testhal/STM32/STM32F4xx/I2C-LSM303DLHC/main.c')
| -rw-r--r-- | testhal/STM32/STM32F4xx/I2C-LSM303DLHC/main.c | 360 |
1 files changed, 0 insertions, 360 deletions
diff --git a/testhal/STM32/STM32F4xx/I2C-LSM303DLHC/main.c b/testhal/STM32/STM32F4xx/I2C-LSM303DLHC/main.c deleted file mode 100644 index b7fa1a455..000000000 --- a/testhal/STM32/STM32F4xx/I2C-LSM303DLHC/main.c +++ /dev/null @@ -1,360 +0,0 @@ -/*
- ChibiOS - Copyright (C) 2006..2016 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 "usbcfg.h"
-#include "string.h"
-#include "shell.h"
-#include "chprintf.h"
-
-#include "lsm303dlhc.h"
-
-/*===========================================================================*/
-/* LSM303DLHC related. */
-/*===========================================================================*/
-
-/* LSM303DLHC Driver: This object represent an LSM303DLHC instance */
-static LSM303DLHCDriver LSM303DLHCD1;
-
-static int32_t rawdata[LSM303DLHC_ACC_NUMBER_OF_AXES +
- LSM303DLHC_COMP_NUMBER_OF_AXES];
-static float cookeddata[LSM303DLHC_ACC_NUMBER_OF_AXES +
- LSM303DLHC_COMP_NUMBER_OF_AXES];
-
-static char axisID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
-static uint32_t i;
-
-static const I2CConfig i2ccfg = {
- OPMODE_I2C,
- 400000,
- FAST_DUTY_CYCLE_2,
-};
-
-static const LSM303DLHCAccConfig lsm303dlhcacccfg = {
- NULL, /* Use default sensitivity.*/
- NULL, /* Use default bias.*/
- LSM303DLHC_ACC_FS_4G, /* Full scale value 2g.*/
- LSM303DLHC_ACC_ODR_100Hz, /* Output data rate 100 Hz.*/
-#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)
- LSM303DLHC_ACC_LP_DISABLED,
- LSM303DLHC_ACC_HR_DISABLED,
- LSM303DLHC_ACC_BDU_BLOCK,
- LSM303DLHC_ACC_END_LITTLE,
-#endif
-};
-
-static const LSM303DLHCCompConfig lsm303dlhccompcfg = {
- NULL, /* Use default sensitivity.*/
- NULL, /* Use default bias.*/
- LSM303DLHC_COMP_FS_1P3GA, /* Full scale value 1.3 Gauss.*/
- LSM303DLHC_COMP_ODR_30HZ, /* Output data rate 30 Hz.*/
-#if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__)
- LSM303DLHC_COMP_MD_BLOCK
-#endif
-};
-
-static const LSM303DLHCConfig lsm303dlhccfg = {
- &I2CD1,
- &i2ccfg,
- &lsm303dlhcacccfg,
- &lsm303dlhccompcfg
-};
-
-/*===========================================================================*/
-/* Command line related. */
-/*===========================================================================*/
-
-/* Enable use of special ANSI escape sequences */
-#define CHPRINTF_USE_ANSI_CODE TRUE
-#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
-
-static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
- (void)argv;
- if (argc != 2) {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
-
- while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
- if (!strcmp (argv[0], "acc")) {
- if (!strcmp (argv[1], "raw")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- accelerometerReadRaw(&LSM303DLHCD1, rawdata);
- chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
- }
- }
- else if (!strcmp (argv[1], "cooked")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- accelerometerReadCooked(&LSM303DLHCD1, cookeddata);
- chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
- }
- else if (!strcmp (argv[0], "comp")) {
- if (!strcmp (argv[1], "raw")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- compassReadRaw(&LSM303DLHCD1, rawdata);
- chprintf(chp, "LSM303DLHC Compass raw data...\r\n");
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
- }
- }
- else if (!strcmp (argv[1], "cooked")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- compassReadCooked(&LSM303DLHCD1, cookeddata);
- chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i], cookeddata[i]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
- }
- else if (!strcmp (argv[0], "both")) {
- if (!strcmp (argv[1], "raw")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- sensorReadRaw(&LSM303DLHCD1, rawdata);
- chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
- }
- chprintf(chp, "LSM303DLHC Compass raw data...\r\n");
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i],
- rawdata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);
- }
- }
- else if (!strcmp (argv[1], "cooked")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- sensorReadCooked(&LSM303DLHCD1, cookeddata);
- chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
- }
- chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i],
- cookeddata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
- }
- chprintf(chp, "Stopped\r\n");
-}
-
-static void cmd_fullscale(BaseSequentialStream *chp, int argc, char *argv[]) {
- (void)argv;
- if (argc < 1) {
- chprintf(chp, "Usage: fullscale [acc|comp] [value]\r\n");
- return;
- }
- if (!strcmp (argv[0], "acc")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- if(!strcmp (argv[1], "2G")) {
- accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_2G);
- chprintf(chp, "LSM303DLHC Accelerometer full scale set to 2G...\r\n");
- }
- else if(!strcmp (argv[1], "4G")) {
- accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_4G);
- chprintf(chp, "LSM303DLHC Accelerometer full scale set to 4G...\r\n");
- }
- else if(!strcmp (argv[1], "8G")) {
- accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_8G);
- chprintf(chp, "LSM303DLHC Accelerometer full scale set to 8G...\r\n");
- }
- else if(!strcmp (argv[1], "16G")) {
- accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_16G);
- chprintf(chp, "LSM303DLHC Accelerometer full scale set to 16G...\r\n");
- }
- else {
- chprintf(chp, "Usage: fullscale acc [2G|4G|8G|16G]\r\n");
- return;
- }
- }
- else if (!strcmp (argv[0], "comp")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- if(!strcmp (argv[1], "1.3")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P3GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 1.3 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "1.9")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P9GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 1.9 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "2.5")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_2P5GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 2.5 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "4.0")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P0GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 4.0 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "4.7")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P7GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 4.7 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "5.6")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_5P6GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 5.6 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "8.1")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_8P1GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 8.1 Gauss...\r\n");
- }
- else {
- chprintf(chp, "Usage: fullscale comp [1.3|1.9|2.5|4.0|4.7|5.6|8.1]\r\n");
- return;
- }
- }
- else {
- chprintf(chp, "Usage: fullscale [acc|comp] [value]\r\n");
- return;
- }
-}
-
-static const ShellCommand commands[] = {
- {"read", cmd_read},
- {"fullscale", cmd_fullscale},
- {NULL, NULL}
-};
-
-static const ShellConfig shell_cfg1 = {
- (BaseSequentialStream *)&SDU1,
- commands
-};
-
-/*===========================================================================*/
-/* Main code. */
-/*===========================================================================*/
-
-/*
- * LED blinker thread, times are in milliseconds.
- */
-static THD_WORKING_AREA(waThread1, 128);
-static THD_FUNCTION(Thread1, arg) {
-
- (void)arg;
- chRegSetThreadName("blinker");
- while (true) {
- systime_t time;
-
- time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
- palClearLine(LINE_LED5);
- chThdSleepMilliseconds(time);
- palSetLine(LINE_LED5);
- chThdSleepMilliseconds(time);
- }
-}
-
-/*
- * 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();
-
- /*
- * Initializes a serial-over-USB CDC driver.
- */
- sduObjectInit(&SDU1);
- sduStart(&SDU1, &serusbcfg);
-
- /*
- * Activates the USB driver and then the USB bus pull-up on D+.
- * Note, a delay is inserted in order to not have to disconnect the cable
- * after a reset.
- */
- usbDisconnectBus(serusbcfg.usbp);
- chThdSleepMilliseconds(1500);
- usbStart(serusbcfg.usbp, &usbcfg);
- usbConnectBus(serusbcfg.usbp);
-
- /*
- * Creates the blinker thread.
- */
- chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
-
- /*
- * LSM303DLHC Object Initialization
- */
- lsm303dlhcObjectInit(&LSM303DLHCD1);
-
- /*
- * Activates the LSM303DLHC driver.
- */
- lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg);
-
- /*
- * Shell manager initialization.
- */
- shellInit();
-
- while(TRUE) {
- if (SDU1.config->usbp->state == USB_ACTIVE) {
- thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
- "shell", NORMALPRIO + 1,
- shellThread, (void *)&shell_cfg1);
- chThdWait(shelltp); /* Waiting termination. */
- }
- chThdSleepMilliseconds(1000);
- }
- lsm303dlhcStop(&LSM303DLHCD1);
- return 0;
-}
|