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, 360 insertions, 0 deletions

diff --git a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
new file mode 100644
index 000000000..b7fa1a455
--- /dev/null
+++ b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
@@ -0,0 +1,360 @@
+/*

+    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 "lsm303dlhc.h"

+

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

+/* LSM303DLHC related.                                                           */

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

+

+/* LSM303DLHC Driver: This object represent an LSM303DLHC instance */

+static LSM303DLHCDriver LSM303DLHCD1;

+

+static int32_t rawdata[LSM303DLHC_ACC_NUMBER_OF_AXES +

+                       LSM303DLHC_COMP_NUMBER_OF_AXES];

+static float cookeddata[LSM303DLHC_ACC_NUMBER_OF_AXES +

+                        LSM303DLHC_COMP_NUMBER_OF_AXES];

+

+static char axisID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static uint32_t i;

+

+static const I2CConfig i2ccfg = {

+  OPMODE_I2C,

+  400000,

+  FAST_DUTY_CYCLE_2,

+};

+

+static const LSM303DLHCAccConfig lsm303dlhcacccfg = {

+  NULL,                             /* Use default sensitivity.*/

+  NULL,                             /* Use default bias.*/

+  LSM303DLHC_ACC_FS_4G,             /* Full scale value 2g.*/

+  LSM303DLHC_ACC_ODR_100Hz,         /* Output data rate 100 Hz.*/

+#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)

+  LSM303DLHC_ACC_LP_DISABLED,

+  LSM303DLHC_ACC_HR_DISABLED,

+  LSM303DLHC_ACC_BDU_BLOCK,

+  LSM303DLHC_ACC_END_LITTLE,

+#endif

+};

+

+static const LSM303DLHCCompConfig lsm303dlhccompcfg = {

+  NULL,                             /* Use default sensitivity.*/

+  NULL,                             /* Use default bias.*/

+  LSM303DLHC_COMP_FS_1P3GA,         /* Full scale value 1.3 Gauss.*/

+  LSM303DLHC_COMP_ODR_30HZ,         /* Output data rate 30 Hz.*/

+#if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__)

+  LSM303DLHC_COMP_MD_BLOCK

+#endif

+};

+

+static const LSM303DLHCConfig lsm303dlhccfg = {

+  &I2CD1,

+  &i2ccfg,

+  &lsm303dlhcacccfg,

+  &lsm303dlhccompcfg

+};

+

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

+/* 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|comp|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(&LSM303DLHCD1, rawdata);

+        chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");

+        for(i = 0; i < LSM303DLHC_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(&LSM303DLHCD1, cookeddata);

+        chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");

+        for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

+          chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);

+        }

+      }

+      else {

+        chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");

+        return;

+      }

+    }

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

+      if (!strcmp (argv[1], "raw")) {

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+        compassReadRaw(&LSM303DLHCD1, rawdata);

+        chprintf(chp, "LSM303DLHC Compass raw data...\r\n");

+        for(i = 0; i < LSM303DLHC_COMP_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

+        compassReadCooked(&LSM303DLHCD1, cookeddata);

+        chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");

+        for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+          chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i], cookeddata[i]);

+        }

+      }

+      else {

+        chprintf(chp, "Usage: read [acc|comp|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(&LSM303DLHCD1, rawdata);

+        chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");

+        for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

+          chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);

+        }

+        chprintf(chp, "LSM303DLHC Compass raw data...\r\n");

+        for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+          chprintf(chp, "%c-axis: %d\r\n", axisID[i],

+                   rawdata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);

+        }

+      }

+      else if (!strcmp (argv[1], "cooked")) {

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+        sensorReadCooked(&LSM303DLHCD1, cookeddata);

+        chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");

+        for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

+          chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);

+        }

+        chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");

+        for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

+          chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i],

+                   cookeddata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);

+        }

+      }

+      else {

+        chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");

+        return;

+      }

+    }

+    else {

+      chprintf(chp, "Usage: read [acc|comp|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|comp] [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(&LSM303DLHCD1, LSM303DLHC_ACC_FS_2G);

+      chprintf(chp, "LSM303DLHC Accelerometer full scale set to 2G...\r\n");

+    }

+    else if(!strcmp (argv[1], "4G")) {

+      accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_4G);

+      chprintf(chp, "LSM303DLHC Accelerometer full scale set to 4G...\r\n");

+    }

+    else if(!strcmp (argv[1], "8G")) {

+      accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_8G);

+      chprintf(chp, "LSM303DLHC Accelerometer full scale set to 8G...\r\n");

+    }

+    else if(!strcmp (argv[1], "16G")) {

+      accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_16G);

+      chprintf(chp, "LSM303DLHC 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], "comp")) {

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+      if(!strcmp (argv[1], "1.3")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P3GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 1.3 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "1.9")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P9GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 1.9 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "2.5")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_2P5GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 2.5 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "4.0")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P0GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 4.0 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "4.7")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P7GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 4.7 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "5.6")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_5P6GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 5.6 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "8.1")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_8P1GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 8.1 Gauss...\r\n");

+      }

+      else {

+        chprintf(chp, "Usage: fullscale comp [1.3|1.9|2.5|4.0|4.7|5.6|8.1]\r\n");

+        return;

+      }

+  }

+  else {

+    chprintf(chp, "Usage: fullscale [acc|comp] [value]\r\n");

+    return;

+  }

+}

+

+static const ShellCommand commands[] = {

+  {"read", cmd_read},

+  {"fullscale", cmd_fullscale},

+  {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_LED5);

+    chThdSleepMilliseconds(time);

+    palSetLine(LINE_LED5);

+    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);

+

+  /*

+   * LSM303DLHC Object Initialization

+   */

+  lsm303dlhcObjectInit(&LSM303DLHCD1);

+

+  /*

+   * Activates the LSM303DLHC driver.

+   */

+  lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg);

+

+  /*

+   * 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);

+  }

+  lsm303dlhcStop(&LSM303DLHCD1);

+  return 0;

+}