Moving all EX demos under testex.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9827 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 265 insertions, 0 deletions

diff --git a/testex/STM32/STM32F3xx/SPI-L3GD20/main.c b/testex/STM32/STM32F3xx/SPI-L3GD20/main.c
new file mode 100644
index 000000000..2df0437b1
--- /dev/null
+++ b/testex/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -0,0 +1,265 @@
+/*

+    ChibiOS - Copyright (C) 2006..2016 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 "usbcfg.h"

+#include "string.h"

+#include "shell.h"

+#include "chprintf.h"

+

+#include "l3gd20.h"

+

+/*===========================================================================*/

+/* L3GD20 related.                                                           */

+/*===========================================================================*/

+

+/* L3GD20 Driver: This object represent an L3GD20 instance.*/

+static L3GD20Driver L3GD20D1;

+

+static int32_t rawdata[L3GD20_NUMBER_OF_AXES];

+static float cookeddata[L3GD20_NUMBER_OF_AXES];

+

+static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static uint32_t i;

+

+static const SPIConfig spicfg = {

+  NULL,

+  GPIOE,                                     /* port of L3GD20 CS.*/

+  GPIOE_L3GD20_CS,                           /* pin of L3GD20 CS.*/

+  SPI_CR1_BR | SPI_CR1_CPOL | SPI_CR1_CPHA,  /* CR1 register.*/

+  0                                          /* CR2 register.*/

+};

+

+static L3GD20Config l3gd20cfg = {

+  &SPID1,                                    /* Pointer to SPI Driver.*/

+  &spicfg,                                   /* Pointer to SPI Configuration.*/

+  NULL,                                      /* Use default sensitivity.*/

+  NULL,                                      /* Use default bias.*/

+  L3GD20_FS_250DPS,                          /* Full scale value.*/

+  L3GD20_ODR_760HZ,                          /* Output data rate.*/

+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)

+  L3GD20_BDU_CONTINUOUS,

+  L3GD20_END_LITTLE,

+  L3GD20_BW3,

+  L3GD20_HPM_REFERENCE,

+  L3GD20_HPCF_8,

+  L3GD20_LP2M_ON,

+#endif

+};

+

+/*===========================================================================*/

+/* Command line related.                                                     */

+/*===========================================================================*/

+

+/*

+ * DP resistor control is not possible on the STM32F3-Discovery, using stubs

+ * for the connection macros.

+ */

+#define usb_lld_connect_bus(usbp)

+#define usb_lld_disconnect_bus(usbp)

+

+/* 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

+      gyroscopeReadRaw(&L3GD20D1, rawdata);

+      chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");

+      for(i = 0; i < L3GD20_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

+      gyroscopeReadCooked(&L3GD20D1, cookeddata);

+      chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");

+      for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {

+        chprintf(chp, "%c-axis: %.4f DPS\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 [250|500|2000]\r\n");

+    return;

+  }

+#if CHPRINTF_USE_ANSI_CODE

+    chprintf(chp, "\033[2J\033[1;1H");

+#endif

+  if(!strcmp (argv[0], "250")) {

+    gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);

+    chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");

+  }

+  else if(!strcmp (argv[0], "500")) {

+    gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);

+    chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");

+  }

+  else if(!strcmp (argv[0], "2000")) {

+    gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);

+    chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");

+  }

+  else {

+    chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");

+    return;

+  }

+}

+

+static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {

+  (void)argv;

+  if (argc != 1) {

+    chprintf(chp, "Usage: bias [sample|reset]\r\n");

+    return;

+  }

+  if(!strcmp (argv[0], "sample")) {

+#if CHPRINTF_USE_ANSI_CODE

+    chprintf(chp, "\033[2J\033[1;1H");

+#endif

+    chprintf(chp, "Please don't move the device while Green LEDs are on!\r\n");

+    chprintf(chp, "Press a key to start...\r\n");

+    while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT)

+      ;

+    palSetLine(LINE_LED6_GREEN);

+    palSetLine(LINE_LED7_GREEN);

+    chThdSleepMilliseconds(1000);

+    gyroscopeSampleBias(&L3GD20D1);

+    palClearLine(LINE_LED6_GREEN);

+    palClearLine(LINE_LED7_GREEN);

+    chprintf(chp, "Procedure completed!\r\n");

+  }

+  else if(!strcmp (argv[0], "reset")) {

+#if CHPRINTF_USE_ANSI_CODE

+    chprintf(chp, "\033[2J\033[1;1H");

+#endif

+    gyroscopeResetBias(&L3GD20D1);

+    chprintf(chp, "Bias correction removed!\r\n");

+  }

+  else {

+    chprintf(chp, "Usage: bias [sample|reset]\r\n");

+    return;

+  }

+}

+

+static const ShellCommand commands[] = {

+  {"read", cmd_read},

+  {"fullscale", cmd_fullscale},

+  {"bias", cmd_bias},

+  {NULL, NULL}

+};

+

+static const ShellConfig shell_cfg1 = {

+  (BaseSequentialStream *)&SDU1,

+  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) {

+    systime_t time;

+

+    time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;

+    palClearLine(LINE_LED3_RED);

+    chThdSleepMilliseconds(time);

+    palSetLine(LINE_LED3_RED);

+    chThdSleepMilliseconds(time);

+  }

+}

+

+/*

+ * 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();

+

+  /* Initializes a serial-over-USB CDC driver.*/

+  sduObjectInit(&SDU1);

+  sduStart(&SDU1, &serusbcfg);

+

+  /*

+   * Activates the USB driver and then the USB bus pull-up on D+.

+   * Note, a delay is inserted in order to not have to disconnect the cable

+   * after a reset.

+   */

+  usbDisconnectBus(serusbcfg.usbp);

+  chThdSleepMilliseconds(1500);

+  usbStart(serusbcfg.usbp, &usbcfg);

+  usbConnectBus(serusbcfg.usbp);

+

+  /* Creates the blinker thread.*/

+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);

+

+  /* L3GD20 Object Initialization.*/

+  l3gd20ObjectInit(&L3GD20D1);

+

+  /* Activates the L3GD20 driver.*/

+  l3gd20Start(&L3GD20D1, &l3gd20cfg);

+

+  /* Shell manager initialization.*/

+  shellInit();

+

+  while(TRUE) {

+    if (SDU1.config->usbp->state == USB_ACTIVE) {

+      thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,

+                                              "shell", NORMALPRIO + 1,

+                                              shellThread, (void *)&shell_cfg1);

+      chThdWait(shelltp);               /* Waiting termination.             */

+    }

+    chThdSleepMilliseconds(1000);

+  }

+  l3gd20Stop(&L3GD20D1);

+  return 0;

+}