git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@4539 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 213 insertions, 0 deletions

diff --git a/demos/ARMCM4-STM32F407-DISCOVERY-MEMS/main.c b/demos/ARMCM4-STM32F407-DISCOVERY-MEMS/main.c
new file mode 100644
index 000000000..0d62f1a14
--- /dev/null
+++ b/demos/ARMCM4-STM32F407-DISCOVERY-MEMS/main.c
@@ -0,0 +1,213 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

+                 2011,2012 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS/RT is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+#include "ch.h"

+#include "hal.h"

+#include "test.h"

+#include "lis302dl.h"

+

+/*

+ * PWM configuration structure.

+ * Cyclic callback enabled, channels 1 and 4 enabled without callbacks,

+ * the active state is a logic one.

+ */

+static PWMConfig pwmcfg = {

+  100000,                                   /* 100kHz PWM clock frequency.  */

+  128,                                      /* PWM period is 128 cycles.    */

+  NULL,

+  {

+   {PWM_OUTPUT_ACTIVE_HIGH, NULL},

+   {PWM_OUTPUT_ACTIVE_HIGH, NULL},

+   {PWM_OUTPUT_ACTIVE_HIGH, NULL},

+   {PWM_OUTPUT_ACTIVE_HIGH, NULL}

+  },

+  /* HW dependent part.*/

+  0

+};

+

+/*

+ * SPI1 configuration structure.

+ * Speed 5.25MHz, CPHA=1, CPOL=1, 8bits frames, MSb transmitted first.

+ * The slave select line is the pin GPIOE_CS_SPI on the port GPIOE.

+ */

+static const SPIConfig spi1cfg = {

+  NULL,

+  /* HW dependent part.*/

+  GPIOE,

+  GPIOE_CS_SPI,

+  SPI_CR1_BR_0 | SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA

+};

+

+/*

+ * SPI2 configuration structure.

+ * Speed 21MHz, CPHA=0, CPOL=0, 8bits frames, MSb transmitted first.

+ * The slave select line is the pin 12 on the port GPIOA.

+ */

+static const SPIConfig spi2cfg = {

+  NULL,

+  /* HW dependent part.*/

+  GPIOB,

+  12,

+  0

+};

+

+/* Last accelerometer data.*/

+static int8_t xbuf[4], ybuf[4];

+

+/*

+ * This is a periodic thread that does absolutely nothing except flashing

+ * a LED.

+ */

+static WORKING_AREA(waThread1, 128);

+static msg_t Thread1(void *arg) {

+  systime_t time;

+

+  (void)arg;

+  chRegSetThreadName("reader");

+

+  /* LIS302DL initialization.*/

+  lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG1, 0x43);

+  lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG2, 0x00);

+  lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00);

+

+  /* Reader thread loop.*/

+  time = chTimeNow();

+  while (TRUE) {

+    int32_t x, y;

+    unsigned i;

+

+    /* Reading MEMS accelerometer X and Y registers.*/

+    xbuf[0] = (int8_t)lis302dlReadRegister(&SPID1, LIS302DL_OUTX);

+    ybuf[0] = (int8_t)lis302dlReadRegister(&SPID1, LIS302DL_OUTY);

+

+    /* Keeping an history of the latest four accelerometer readings.*/

+    for (i = 3; i > 0; i--) {

+      xbuf[i] = xbuf[i - 1];

+      ybuf[i] = ybuf[i - 1];

+    }

+

+    /* Transmitting accelerometer the data over SPI2.*/

+    spiSelect(&SPID2);

+    spiSend(&SPID2, 4, xbuf);

+    spiSend(&SPID2, 4, ybuf);

+    spiUnselect(&SPID2);

+

+    /* Calculating average of the latest four accelerometer readings.*/

+    x = ((int32_t)xbuf[0] + (int32_t)xbuf[1] +

+         (int32_t)xbuf[2] + (int32_t)xbuf[3]) / 4;

+    y = ((int32_t)ybuf[0] + (int32_t)ybuf[1] +

+         (int32_t)ybuf[2] + (int32_t)ybuf[3]) / 4;

+

+    /* Reprogramming the four PWM channels using the accelerometer data.*/

+    if (y < 0) {

+      pwmEnableChannel(&PWMD4, 0, (pwmcnt_t)-y);

+      pwmEnableChannel(&PWMD4, 2, (pwmcnt_t)0);

+    }

+    else {

+      pwmEnableChannel(&PWMD4, 2, (pwmcnt_t)y);

+      pwmEnableChannel(&PWMD4, 0, (pwmcnt_t)0);

+    }

+    if (x < 0) {

+      pwmEnableChannel(&PWMD4, 1, (pwmcnt_t)-x);

+      pwmEnableChannel(&PWMD4, 3, (pwmcnt_t)0);

+    }

+    else {

+      pwmEnableChannel(&PWMD4, 3, (pwmcnt_t)x);

+      pwmEnableChannel(&PWMD4, 1, (pwmcnt_t)0);

+    }

+

+    /* Waiting until the next 250 milliseconds time interval.*/

+    chThdSleepUntil(time += MS2ST(100));

+  }

+}

+

+/*

+ * 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 2 using the driver default configuration.

+   * PA2(TX) and PA3(RX) are routed to USART2.

+   */

+  sdStart(&SD2, NULL);

+  palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));

+  palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));

+

+  /*

+   * Initializes the SPI driver 1 in order to access the MEMS. The signals

+   * are already initialized in the board file.

+   */

+  spiStart(&SPID1, &spi1cfg);

+

+  /*

+   * Initializes the SPI driver 2. The SPI2 signals are routed as follow:

+   * PB12 - NSS.

+   * PB13 - SCK.

+   * PB14 - MISO.

+   * PB15 - MOSI.

+   */

+  spiStart(&SPID2, &spi2cfg);

+  palSetPad(GPIOB, 12);

+  palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL |

+                           PAL_STM32_OSPEED_HIGHEST);           /* NSS.     */

+  palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5) |

+                           PAL_STM32_OSPEED_HIGHEST);           /* SCK.     */

+  palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(5));              /* MISO.    */

+  palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5) |

+                           PAL_STM32_OSPEED_HIGHEST);           /* MOSI.    */

+

+  /*

+   * Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs.

+   */

+  pwmStart(&PWMD4, &pwmcfg);

+  palSetPadMode(GPIOD, GPIOD_LED4, PAL_MODE_ALTERNATE(2));  /* Green.   */

+  palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_ALTERNATE(2));  /* Orange.  */

+  palSetPadMode(GPIOD, GPIOD_LED5, PAL_MODE_ALTERNATE(2));  /* Red.     */

+  palSetPadMode(GPIOD, GPIOD_LED6, PAL_MODE_ALTERNATE(2));  /* Blue.    */

+

+  /*

+   * Creates the example thread.

+   */

+  chThdCreateStatic(waThread1, sizeof(waThread1),

+                    NORMALPRIO + 10, Thread1, NULL);

+

+  /*

+   * Normal main() thread activity, in this demo it does nothing except

+   * sleeping in a loop and check the button state, when the button is

+   * pressed the test procedure is launched with output on the serial

+   * driver 2.

+   */

+  while (TRUE) {

+    if (palReadPad(GPIOA, GPIOA_BUTTON))

+      TestThread(&SD2);

+    chThdSleepMilliseconds(500);

+  }

+}