Updated LIS3MDL driver

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11705 110e8d01-0319-4d1e-a829-52ad28d1bb01

4 files changed, 54 insertions, 141 deletions

diff --git a/testex/STM32/STM32F4xx/I2C-LIS3MLD/Makefile b/testex/STM32/STM32F4xx/I2C-LIS3MLD/Makefile
index 227b708bd..16c7f7c57 100644
--- a/testex/STM32/STM32F4xx/I2C-LIS3MLD/Makefile
+++ b/testex/STM32/STM32F4xx/I2C-LIS3MLD/Makefile
@@ -87,6 +87,9 @@ PROJECT = ch
 

 # Imported source files and paths

 CHIBIOS = ../../../..

+

+# Licensing files.

+include $(CHIBIOS)/os/license/license.mk

 # Startup files.

 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk

 # HAL-OSAL files (optional).

@@ -97,31 +100,23 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 # RTOS files (optional).

 include $(CHIBIOS)/os/rt/rt.mk

 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk

-# Other files (optional).

+# EX files (optional).

 include $(CHIBIOS)/os/ex/ST/lis3mdl.mk

+# Other files (optional).

 include $(CHIBIOS)/os/hal/lib/streams/streams.mk

-include $(CHIBIOS)/os/various/shell/shell.mk

 

 # Define linker script file here

 LDSCRIPT= $(STARTUPLD)/STM32F401xE.ld

 

 # C sources that can be compiled in ARM or THUMB mode depending on the global

 # setting.

-CSRC = $(STARTUPSRC) \

-       $(KERNSRC) \

-       $(PORTSRC) \

-       $(OSALSRC) \

-       $(HALSRC) \

-       $(PLATFORMSRC) \

-       $(BOARDSRC) \

-       $(LIS3MDLSRC) \

-       $(STREAMSSRC) \

-       $(SHELLSRC) \

+CSRC = $(ALLCSRC) \

+       $(TESTSRC) \

        main.c

 

 # C++ sources that can be compiled in ARM or THUMB mode depending on the global

 # setting.

-CPPSRC =

+CPPSRC = $(ALLCPPSRC)

 

 # C sources to be compiled in ARM mode regardless of the global setting.

 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

@@ -147,10 +142,11 @@ TCPPSRC =
 ASMSRC =

 ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)

 

-INCDIR = $(CHIBIOS)/os/license \

-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \

-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS3MDLINC) \

-         $(STREAMSINC) $(SHELLINC)

+# List ASM source files here

+ASMSRC = $(ALLASMSRC)

+ASMXSRC = $(ALLXASMSRC)

+

+INCDIR = $(ALLINC) $(TESTINC)

 

 #

 # Project, sources and paths

@@ -200,8 +196,8 @@ CPPWARN = -Wall -Wextra -Wundef
 #

 

 # List all user C define here, like -D_DEBUG=1

-UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \

-        -DLIS3MDL_USE_ADVANCED=0 -DLIS3MDL_SHARED_I2C=0

+UDEFS = -DCHPRINTF_USE_FLOAT=1 \

+        -LIS3MDL_COMP_USE_ADVANCED=0 -DLIS3MDL_SHARED_I2C=0

         

 # Define ASM defines here

 UADEFS =

diff --git a/testex/STM32/STM32F4xx/I2C-LIS3MLD/debug/STM32F4xx-I2C-LIS3MDL (OpenOCD, Flash and Run).launch b/testex/STM32/STM32F4xx/I2C-LIS3MLD/debug/STM32F4xx-I2C-LIS3MDL (OpenOCD, Flash and Run).launch
index b82cd6efd..44580bcc6 100644
--- a/testex/STM32/STM32F4xx/I2C-LIS3MLD/debug/STM32F4xx-I2C-LIS3MDL (OpenOCD, Flash and Run).launch
+++ b/testex/STM32/STM32F4xx/I2C-LIS3MLD/debug/STM32F4xx-I2C-LIS3MDL (OpenOCD, Flash and Run).launch
@@ -33,7 +33,7 @@
 <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>

 <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>

 <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>

-<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;SR2-i2c-null-main-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;null-read_raw-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;sr-i2c_lld_serve_error_interrupt-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;i2c-null-main-(format)&quot; val=&quot;0&quot;/&gt;&lt;/contentList&gt;"/>

+<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;i2c-null-main-(format)&quot; val=&quot;0&quot;/&gt;&lt;content id=&quot;sr-i2c_lld_serve_error_interrupt-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;null-read_raw-(format)&quot; val=&quot;1&quot;/&gt;&lt;content id=&quot;SR2-i2c-null-main-(format)&quot; val=&quot;2&quot;/&gt;&lt;/contentList&gt;"/>

 <stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>

 <stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>

 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>

diff --git a/testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c b/testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c
index 922003997..a80a8b0a5 100644
--- a/testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c
@@ -16,12 +16,11 @@
 #include "ch.h"

 #include "hal.h"

 

-#include "string.h"

-#include "shell.h"

 #include "chprintf.h"

-

 #include "lis3mdl.h"

 

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

+

 /*===========================================================================*/

 /* LIS3MDL related.                                                           */

 /*===========================================================================*/

@@ -29,10 +28,11 @@
 /* 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 int32_t compraw[LIS3MDL_COMP_NUMBER_OF_AXES];

+

+static float compcooked[LIS3MDL_COMP_NUMBER_OF_AXES];

 

-static char axisID[LIS3MDL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static char axisID[LIS3MDL_COMP_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

 static uint32_t i;

 

 static const I2CConfig i2ccfg = {

@@ -41,114 +41,29 @@ static const I2CConfig i2ccfg = {
   FAST_DUTY_CYCLE_2,

 };

 

-static LIS3MDLConfig LIS3MDLcfg = {

+static LIS3MDLConfig lis3mdlcfg = {

   &I2CD1,

   &i2ccfg,

+  LIS3MDL_SAD_VCC,

   NULL,

   NULL,

-  LIS3MDL_SAD_VCC,

-  LIS3MDL_FS_4GA,

-  LIS3MDL_ODR_40HZ,

-#if LIS3MDL_USE_ADVANCED

-  LIS3MDL_LP_ENABLED,

-  LIS3MDL_MD_CONTINUOUS,

-  LIS3MDL_OMXY_LOW_POWER,

-  LIS3MDL_OMZ_LOW_POWER,

+  LIS3MDL_COMP_FS_4GA,

+  LIS3MDL_COMP_ODR_40HZ,

+#if LIS3MDL_COMP_USE_ADVANCED

+  LIS3MDL_COMP_LP_ENABLED,

+  LIS3MDL_COMP_MD_CONTINUOUS,

+  LIS3MDL_COMP_OMXY_LP,

+  LIS3MDL_COMP_OMZ_LP,

   LIS3MDL_BDU_CONTINUOUS,

   LIS3MDL_END_LITTLE

 #endif

 };

 

 /*===========================================================================*/

-/* 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 != 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

-      compassReadRaw(&LIS3MDLD1, rawdata);

-      chprintf(chp, "LIS3MDL compass raw data...\r\n");

-      for(i = 0; i < LIS3MDL_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

-      compassReadCooked(&LIS3MDLD1, cookeddata);

-      chprintf(chp, "LIS3MDL compass cooked data...\r\n");

-      for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {

-        chprintf(chp, "%c-axis: %.3f Gauss\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 [4|8|12|16]\r\n");

-    return;

-  }

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-  if(!strcmp (argv[0], "4")) {

-    compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_4GA);

-    chprintf(chp, "LIS3MDL compass full scale set to 4 Gauss...\r\n");

-  }

-  else if(!strcmp (argv[0], "8")) {

-    compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_8GA);

-    chprintf(chp, "LIS3MDL compass full scale set to 8 Gauss...\r\n");

-  }

-  else if(!strcmp (argv[0], "12")) {

-    compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_12GA);

-    chprintf(chp, "LIS3MDL compass full scale set to 12 Gauss...\r\n");

-  }

-  else if(!strcmp (argv[0], "16")) {

-    compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_16GA);

-    chprintf(chp, "LIS3MDL compass full scale set to 16 Gauss...\r\n");

-  }

-  else {

-    chprintf(chp, "Usage: fullscale [4|8|12|16]\r\n");

-    return;

-  }

-}

-

-static const ShellCommand commands[] = {

-  {"read", cmd_read},

-  {"fullscale", cmd_fullscale},

-  {NULL, NULL}

-};

-

-static const ShellConfig shell_cfg1 = {

-  (BaseSequentialStream *)&SD2,

-  commands

-};

-

-/*===========================================================================*/

-/* Main code.                                                                */

+/* Generic code.                                                             */

 /*===========================================================================*/

 

+static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -158,10 +73,8 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;

   chRegSetThreadName("blinker");

   while (true) {

-    palClearLine(LINE_LED_GREEN);

-    chThdSleepMilliseconds(250);

-    palSetLine(LINE_LED_GREEN);

-    chThdSleepMilliseconds(250);

+    palToggleLine(LINE_LED_GREEN);

+    chThdSleepMilliseconds(500);

   }

 }

 

@@ -180,35 +93,39 @@ int main(void) {
   halInit();

   chSysInit();

 

+  /* Configuring I2C SCK and I2C SDA related GPIOs .*/

   palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |

                  PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);

   palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |

                  PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);

 

-  /*

-   * Activates the serial driver 2 using the driver default configuration.

-   */

+  /* Activates the serial driver 1 using the driver default configuration.*/

   sdStart(&SD2, NULL);

 

-

   /* Creates the blinker thread.*/

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

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

 

   /* LIS3MDL Object Initialization.*/

   lis3mdlObjectInit(&LIS3MDLD1);

 

   /* Activates the LIS3MDL driver.*/

-  lis3mdlStart(&LIS3MDLD1, &LIS3MDLcfg);

+  lis3mdlStart(&LIS3MDLD1, &lis3mdlcfg);

 

-  /* Shell manager initialization.*/

-  shellInit();

+  /* Normal main() thread activity, printing MEMS data on the SD2. */

+  while (true) {

+    lis3mdlCompassReadRaw(&LIS3MDLD1, compraw);

+    chprintf(chp, "LIS3MDL Compass raw data...\r\n");

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

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

+    }

 

-  while(TRUE) {

-    thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,

-                                            "shell", NORMALPRIO + 1,

-                                            shellThread, (void *)&shell_cfg1);

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

+    lis3mdlCompassReadCooked(&LIS3MDLD1, compcooked);

+    chprintf(chp, "LIS3MDL Compass cooked data...\r\n");

+    for(i = 0; i < LIS3MDL_COMP_NUMBER_OF_AXES; i++) {

+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], compcooked[i]);

+    }

+    chThdSleepMilliseconds(100);

+    cls(chp);

   }

   lis3mdlStop(&LIS3MDLD1);

-  return 0;

 }

diff --git a/testex/STM32/STM32F4xx/I2C-LPS25H/readme.txt b/testex/STM32/STM32F4xx/I2C-LPS25H/readme.txt
index 0bbfd4932..a7342717a 100644
--- a/testex/STM32/STM32F4xx/I2C-LPS25H/readme.txt
+++ b/testex/STM32/STM32F4xx/I2C-LPS25H/readme.txt
@@ -1,5 +1,5 @@
 *****************************************************************************

-** ChibiOS/HAL + ChibiOS/EX - I2C + LPS25H demo for STM32L4xx.             **

+** ChibiOS/HAL + ChibiOS/EX - I2C + LPS25H demo for STM32F4xx.             **

 *****************************************************************************

 

 ** TARGET **