diff options
Diffstat (limited to 'testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c')
| -rw-r--r-- | testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c | 196 |
1 files changed, 152 insertions, 44 deletions
diff --git a/testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c b/testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c index f2cabe576..4b21c6e36 100644 --- a/testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c +++ b/testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c @@ -13,50 +13,160 @@ See the License for the specific language governing permissions and
limitations under the License.
*/
-
#include "ch.h"
#include "hal.h"
+#include "string.h"
+#include "shell.h"
#include "chprintf.h"
-#include "lis3mdl.h"
-/* Enable use of special ANSI escape sequences */
-#define CHPRINTF_USE_ANSI_CODE TRUE
+#include "lis3mdl.h"
-static BaseSequentialStream * chp = (BaseSequentialStream*) &SD2;
+/*===========================================================================*/
+/* LIS3MDL related. */
+/*===========================================================================*/
-/* LIS3MDL Driver: This object represent an LIS3MDL instance */
+/* 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 char axisID[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
+ STM32_TIMINGR_PRESC(15U) |
+ STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |
+ STM32_TIMINGR_SCLH(15U) | STM32_TIMINGR_SCLL(21U),
+ 0,
+ 0
+};
+
+static LIS3MDLConfig LIS3MDLcfg = {
+ &I2CD1, /* Pointer to I2C Driver.*/
+ &i2ccfg, /* Pointer to I2C Configuration.*/
+ {0, 0, 0}, /* Use default sensitivity.*/
+ {0, 0, 0}, /* Use default bias.*/
+ LIS3MDL_SAD_VCC, /* Slave address.*/
+ LIS3MDL_FS_4GA, /* Full scale value.*/
+ LIS3MDL_ODR_40HZ, /* Output data rate.*/
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ LIS3MDL_LP_T,
+ LIS3MDL_MD_T,
+ LIS3MDL_OMXY_T,
+ LIS3MDL_OMZ_T,
+ LIS3MDL_BDU_T,
+ LIS3MDL_END_T
+#endif
+};
+
+/*===========================================================================*/
+/* 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 != 1) {
+ chprintf(chp, "Usage: read [raw|cooked]\r\n");
+ return;
+ }
+
+ while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
+ if (!strcmp (argv[0], "raw")) {
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ compassReadRaw(&LIS3MDLD1, rawdata);
+ chprintf(chp, "LIS3MDL compass raw data...\r\n");
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
+ }
+ }
+ else if (!strcmp (argv[0], "cooked")) {
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ compassReadCooked(&LIS3MDLD1, cookeddata);
+ chprintf(chp, "LIS3MDL compass cooked data...\r\n");
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f Gauss\r\n", axisID[i], cookeddata[i]);
+ }
+ }
+ else {
+ chprintf(chp, "Usage: read [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 [4|8|12|16]\r\n");
+ return;
+ }
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ if(!strcmp (argv[0], "4")) {
+ compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_4GA);
+ chprintf(chp, "LIS3MDL compass full scale set to 4 Gauss...\r\n");
+ }
+ else if(!strcmp (argv[0], "8")) {
+ compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_8GA);
+ chprintf(chp, "LIS3MDL compass full scale set to 8 Gauss...\r\n");
+ }
+ else if(!strcmp (argv[0], "12")) {
+ compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_12GA);
+ chprintf(chp, "LIS3MDL compass full scale set to 12 Gauss...\r\n");
+ }
+ else if(!strcmp (argv[0], "16")) {
+ compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_16GA);
+ chprintf(chp, "LIS3MDL compass full scale set to 16 Gauss...\r\n");
+ }
+ else {
+ chprintf(chp, "Usage: fullscale [4|8|12|16]\r\n");
+ return;
+ }
+}
+
+static const ShellCommand commands[] = {
+ {"read", cmd_read},
+ {"fullscale", cmd_fullscale},
+ {NULL, NULL}
};
-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
+static const ShellConfig shell_cfg1 = {
+ (BaseSequentialStream *)&SD2,
+ 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) {
+ palClearLine(LINE_LED_GREEN);
+ chThdSleepMilliseconds(250);
+ palSetLine(LINE_LED_GREEN);
+ chThdSleepMilliseconds(250);
+ }
+}
+
/*
* Application entry point.
*/
@@ -80,27 +190,25 @@ int main(void) { */
sdStart(&SD2, NULL);
- /*
- * LIS3MDL Object Initialization
- */
+
+ /* Creates the blinker thread.*/
+ chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
+
+ /* LIS3MDL Object Initialization.*/
lis3mdlObjectInit(&LIS3MDLD1);
- lis3mdlStart(&LIS3MDLD1, &lis3mdlcfg);
+ /* Activates the LIS3MDL driver.*/
+ 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);
+ /* Shell manager initialization.*/
+ shellInit();
+
+ while(TRUE) {
+ thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
+ "shell", NORMALPRIO + 1,
+ shellThread, (void *)&shell_cfg1);
+ chThdWait(shelltp); /* Waiting termination. */
}
+ lis3mdlStop(&LIS3MDLD1);
+ return 0;
}
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