From db61d719ed076c0d00d187b2b5fdd32b00411aa7 Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@live.com>
Date: Sat, 30 Apr 2016 15:36:55 +0000
Subject: Fixed wrong comment in RT-STM32F207ZG-NUCLEO144/main.c Added bunch of
 demos related to STM32F2xx

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9391 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 testhal/STM32/STM32F2xx/I2C-LSM6DS0/main.c | 131 +++++++++++++++++++++++++++++
 1 file changed, 131 insertions(+)
 create mode 100644 testhal/STM32/STM32F2xx/I2C-LSM6DS0/main.c

(limited to 'testhal/STM32/STM32F2xx/I2C-LSM6DS0/main.c')

diff --git a/testhal/STM32/STM32F2xx/I2C-LSM6DS0/main.c b/testhal/STM32/STM32F2xx/I2C-LSM6DS0/main.c
new file mode 100644
index 000000000..426ffe9bb
--- /dev/null
+++ b/testhal/STM32/STM32F2xx/I2C-LSM6DS0/main.c
@@ -0,0 +1,131 @@
+/*
+    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 "lsm6ds0.h"
+
+/* Enable use of special ANSI escape sequences */
+#define CHPRINTF_USE_ANSI_CODE         TRUE
+
+static BaseSequentialStream * chp = (BaseSequentialStream*) &SD3;
+
+/* 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 float temp;
+
+static char axesID[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 = {
+  LSM6DS0_ACC_FS_2G,
+  LSM6DS0_ACC_ODR_50Hz,
+  LSM6DS0_ACC_AE_XYZ,
+  LSM6DS0_ACC_OBW_AA,
+  LSM6DS0_ACC_HR_ENABLED,
+  LSM6DS0_ACC_FDS_DISABLED,
+  LSM6DS0_ACC_DCF_9,
+  LSM6DS0_ACC_AABW_AUTO,
+  LSM6DS0_ACC_DEC_DISABLED,
+  LSM6DS0_ACC_UNIT_SI
+};
+
+static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {
+  LSM6DS0_GYRO_FS_245DSP,
+  LSM6DS0_GYRO_ODR_119HZ_FC_31,
+  LSM6DS0_GYRO_AE_XYZ,
+  LSM6DS0_GYRO_LP_DISABLED,
+  LSM6DS0_GYRO_OUT_SEL_0,
+  LSM6DS0_GYRO_HP_DISABLED,
+  LSM6DS0_GYRO_HPCF_0
+};
+
+static const LSM6DS0Config lsm6ds0cfg = {
+  &I2CD1,
+  &i2ccfg,
+  &lsm6ds0acccfg,
+  &lsm6ds0gyrocfg,
+  LSM6DS0_SAD_VCC,
+  LSM6DS0_BDU_BLOCKED,
+  LSM6DS0_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();
+
+  /*
+   * Activates the serial driver 3 using the driver default configuration.
+   */
+  sdStart(&SD3, NULL);
+
+  /*
+   * LSM6DS0 Object Initialization
+   */
+  lsm6ds0ObjectInit(&LSM6DS0D1);
+
+  lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);
+
+  while (TRUE) {
+    palToggleLine(LINE_LED2);
+    sensorReadRaw(&LSM6DS0D1, rawdata);
+    sensorReadCooked(&LSM6DS0D1, cookeddata);
+    gyroscopeGetTemp(&LSM6DS0D1, &temp);
+    chprintf(chp, "ACCELEROMETER DATA\r\n");
+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+      chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);
+    chprintf(chp, "\r\n");
+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+      chprintf(chp, "COOKED-%c:%.3f m/s^2\t", axesID[i], cookeddata[i]);
+
+    chprintf(chp, "\r\nGYROSCOPE DATA\r\n");
+    for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+      chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i + 3]);
+    chprintf(chp, "\r\n");
+    for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+      chprintf(chp, "COOKED-%c:%.3f dps\t", axesID[i], cookeddata[i + 3]);
+    chprintf(chp, "\r\n");
+    chprintf(chp, "TEMPERATURE DATA\r\n");
+    chprintf(chp, "LSM6DS0:%.3f C°\t", temp);
+  chprintf(chp, "\r\n");
+    chThdSleepMilliseconds(100);
+#if CHPRINTF_USE_ANSI_CODE
+    chprintf(chp, "\033[2J\033[1;1H");
+#endif
+  }
+}
-- 
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