From 5bc849172523cfdd32db4ff2ad32b63f0c6e2bd3 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Fri, 30 Sep 2016 11:43:39 +0000 Subject: Moving all EX demos under testex. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9827 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c | 337 ++++++++++++++++++++++++++++++ 1 file changed, 337 insertions(+) create mode 100644 testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c (limited to 'testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c') diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c b/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c new file mode 100644 index 000000000..ef3510782 --- /dev/null +++ b/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c @@ -0,0 +1,337 @@ +/* + 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 gyroliance 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 "string.h" +#include "shell.h" +#include "chprintf.h" + +#include "lsm6ds0.h" + +/*===========================================================================*/ +/* LSM6DS0 related. */ +/*===========================================================================*/ +/* LSM6DS0 Driver: This object represent an LSM6DS0 instance */ +static LSM6DS0Driver LSM6DS0D1; + +static int32_t rawdata[LSM6DS0_ACC_NUMBER_OF_AXES + + LSM6DS0_GYRO_NUMBER_OF_AXES]; +static float cookeddata[LSM6DS0_ACC_NUMBER_OF_AXES + + LSM6DS0_GYRO_NUMBER_OF_AXES]; + +static char axisID[LSM6DS0_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'}; +static uint32_t i; + +static const I2CConfig i2ccfg = { + OPMODE_I2C, + 400000, + FAST_DUTY_CYCLE_2, +}; + +static const LSM6DS0AccConfig lsm6ds0acccfg = { + NULL, /* Use default sensitivity.*/ + NULL, /* Use default bias.*/ + LSM6DS0_ACC_FS_2G, /* Full scale value 2g.*/ + LSM6DS0_ACC_ODR_50Hz, /* Output data rate 100 Hz.*/ +#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__) + LSM6DS0_ACC_DEC_X4, +#endif +}; + +static const LSM6DS0GyroConfig lsm6ds0gyrocfg = { + NULL, /* Use default sensitivity.*/ + NULL, /* Use default bias.*/ + LSM6DS0_GYRO_FS_245DPS, /* Full scale value 245DPS.*/ + LSM6DS0_GYRO_ODR_119HZ_FC_31, /* Output data rate 119 Hz.*/ +#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__) + LSM6DS0_GYRO_LP_DISABLED, + LSM6DS0_GYRO_OUT_SEL_0, + LSM6DS0_GYRO_HP_DISABLED, + LSM6DS0_GYRO_HPCF_0 +#endif +}; + +static const LSM6DS0Config lsm6ds0cfg = { + &I2CD1, + &i2ccfg, + &lsm6ds0acccfg, + &lsm6ds0gyrocfg, + LSM6DS0_SAD_VCC, +#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__) + LSM6DS0_BDU_BLOCKED, + LSM6DS0_END_LITTLE +#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 != 2) { + chprintf(chp, "Usage: read [acc|gyro|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(&LSM6DS0D1, rawdata); + chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n"); + for(i = 0; i < LSM6DS0_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(&LSM6DS0D1, cookeddata); + chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n"); + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]); + } + } + else { + chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n"); + return; + } + } + else if (!strcmp (argv[0], "gyro")) { + if (!strcmp (argv[1], "raw")) { +#if CHPRINTF_USE_ANSI_CODE + chprintf(chp, "\033[2J\033[1;1H"); +#endif + gyroscopeReadRaw(&LSM6DS0D1, rawdata); + chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n"); + for(i = 0; i < LSM6DS0_GYRO_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 + gyroscopeReadCooked(&LSM6DS0D1, cookeddata); + chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n"); + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]); + } + } + else { + chprintf(chp, "Usage: read [acc|gyro|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(&LSM6DS0D1, rawdata); + chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n"); + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]); + } + chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n"); + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %d\r\n", axisID[i], + rawdata[i + LSM6DS0_ACC_NUMBER_OF_AXES]); + } + } + else if (!strcmp (argv[1], "cooked")) { +#if CHPRINTF_USE_ANSI_CODE + chprintf(chp, "\033[2J\033[1;1H"); +#endif + sensorReadCooked(&LSM6DS0D1, cookeddata); + chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n"); + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]); + } + chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n"); + for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], + cookeddata[i + LSM6DS0_ACC_NUMBER_OF_AXES]); + } + } + else { + chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n"); + return; + } + } + else { + chprintf(chp, "Usage: read [acc|gyro|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|gyro] [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(&LSM6DS0D1, LSM6DS0_ACC_FS_2G); + chprintf(chp, "LSM6DS0 Accelerometer full scale set to 2G...\r\n"); + } + else if(!strcmp (argv[1], "4G")) { + accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_4G); + chprintf(chp, "LSM6DS0 Accelerometer full scale set to 4G...\r\n"); + } + else if(!strcmp (argv[1], "8G")) { + accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_8G); + chprintf(chp, "LSM6DS0 Accelerometer full scale set to 8G...\r\n"); + } + else if(!strcmp (argv[1], "16G")) { + accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_16G); + chprintf(chp, "LSM6DS0 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], "gyro")) { +#if CHPRINTF_USE_ANSI_CODE + chprintf(chp, "\033[2J\033[1;1H"); +#endif + if(!strcmp (argv[1], "245")) { + gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_245DPS); + chprintf(chp, "LSM6DS0 Gyroscope full scale set to 245 DPS...\r\n"); + } + else if(!strcmp (argv[1], "500")) { + gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_500DPS); + chprintf(chp, "LSM6DS0 Gyroscope full scale set to 500 DPS...\r\n"); + } + else if(!strcmp (argv[1], "2000")) { + gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_2000DPS); + chprintf(chp, "LSM6DS0 Gyroscope full scale set to 2000 DPS...\r\n"); + } + else { + chprintf(chp, "Usage: fullscale gyro [245|500|2000]\r\n"); + return; + } + } + else { + chprintf(chp, "Usage: fullscale [acc|gyro] [value]\r\n"); + return; + } +} + +static const ShellCommand commands[] = { + {"read", cmd_read}, + {"fullscale", cmd_fullscale}, + {NULL, NULL} +}; + +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(500); + palSetLine(LINE_LED_GREEN); + chThdSleepMilliseconds(500); + } +} + +/* + * 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_D15, PAL_MODE_ALTERNATE(4) | + PAL_STM32_OSPEED_HIGHEST); + palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) | + PAL_STM32_OSPEED_HIGHEST); + + /* + * Activates the serial driver 2 using the driver default configuration. + */ + sdStart(&SD2, NULL); + + /* + * Creates the blinker thread. + */ + chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL); + + /* + * LSM6DS0 Object Initialization + */ + lsm6ds0ObjectInit(&LSM6DS0D1); + + /* + * Activates the LSM6DS0 driver. + */ + lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg); + + /* + * 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. */ + chThdSleepMilliseconds(1000); + } + lsm6ds0Stop(&LSM6DS0D1); + return 0; +} -- cgit v1.2.3