From 8a15207235a9e59c1d1f0a64810ab9861de15b06 Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@live.com>
Date: Fri, 29 Apr 2016 22:57:04 +0000
Subject: 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
---
 testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c | 106 +++++++++++++++++++++++++++++
 1 file changed, 106 insertions(+)
 create mode 100644 testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c

(limited to 'testhal/STM32/STM32L4xx/I2C-LIS3MLD/main.c')

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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