Updated STM32/STM32F4xx/SPI-L3GD20

git-svn-id: https://svn.code.sf.net/p/chibios/svn2/trunk@11645 110e8d01-0319-4d1e-a829-52ad28d1bb01

4 files changed, 45 insertions, 158 deletions

diff --git a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/Makefile b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/Makefile
index 363d8023c..dcebca5db 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/Makefile
+++ b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/Makefile
@@ -193,7 +193,7 @@ CPPWARN = -Wall -Wextra -Wundef
 #

 

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

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

+UDEFS = -DCHPRINTF_USE_FLOAT=1 \

         -DLSM303DLHC_ACC_USE_ADVANCED=0 -DLSM303DLHC_COMP_USE_ADVANCED=0 \

         -DLSM303DLHC_SHARED_I2C=0

 # Define ASM defines here

diff --git a/testex/STM32/STM32F4xx/SPI-L3GD20/Makefile b/testex/STM32/STM32F4xx/SPI-L3GD20/Makefile
index 655a35ddb..9b50b7efa 100644
--- a/testex/STM32/STM32F4xx/SPI-L3GD20/Makefile
+++ b/testex/STM32/STM32F4xx/SPI-L3GD20/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/l3gd20.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)/STM32F401xC.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) \

-       $(L3GD20SRC) \

-       $(STREAMSSRC) \

-       $(SHELLSRC) \

+CSRC = $(ALLCSRC) \

+       $(TESTSRC) \

        usbcfg.c 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) $(L3GD20INC) \

-         $(STREAMSINC) $(SHELLINC)

+# List ASM source files here

+ASMSRC = $(ALLASMSRC)

+ASMXSRC = $(ALLXASMSRC)

+

+INCDIR = $(ALLINC) $(TESTINC)

 

 #

 # Project, sources and paths

@@ -200,7 +196,7 @@ CPPWARN = -Wall -Wextra -Wundef
 #

 

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

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

+UDEFS = -DCHPRINTF_USE_FLOAT=1 \

         -DL3GD20_USE_ADVANCED=0 -DL3GD20_SHARED_SPI=0

 

 # Define ASM defines here

diff --git a/testex/STM32/STM32F4xx/SPI-L3GD20/main.c b/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
index 2e41585f6..b95b356dc 100644
--- a/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
+++ b/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -18,12 +18,11 @@
 #include "hal.h"

 

 #include "usbcfg.h"

-#include "string.h"

-#include "shell.h"

 #include "chprintf.h"

-

 #include "l3gd20.h"

 

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

+

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

 /* L3GD20 related.                                                           */

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

@@ -31,10 +30,10 @@
 /* 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 int32_t gyroraw[L3GD20_GYRO_NUMBER_OF_AXES];

+static float gyrocooked[L3GD20_GYRO_NUMBER_OF_AXES];

 

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

+static char axisID[L3GD20_GYRO_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

 static uint32_t i;

 

 static const SPIConfig spicfg = {

@@ -64,128 +63,10 @@ static L3GD20Config l3gd20cfg = {
 };

 

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

-/* 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

-      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 LED is on!\r\n");

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

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

-      ;

-    palSetLine(LINE_LED4);

-

-    chThdSleepMilliseconds(1000);

-    gyroscopeSampleBias(&L3GD20D1);

-    palClearLine(LINE_LED4);

-

-

-    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.                                                                */

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

 

+static BaseSequentialStream* chp = (BaseSequentialStream*)&SDU1;

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -237,24 +118,35 @@ int main(void) {
   /* Creates the blinker thread.*/

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

 

-  /* L3GD20 Object Initialization.*/

+  /*

+   * L3GD20 Object Initialization

+   */

   l3gd20ObjectInit(&L3GD20D1);

 

-  /* Activates the L3GD20 driver.*/

+  /*

+   * Activates the L3GD20 driver.

+   */

   l3gd20Start(&L3GD20D1, &l3gd20cfg);

 

-  /* Shell manager initialization.*/

-  shellInit();

+  /*

+   * Normal main() thread activity, printing MEMS data on the serial over usb

+   * driver 1.

+   */

+  while (true) {

+    l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);

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

+    for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {

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

+    }

 

-  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.             */

+    l3gd20GyroscopeReadCooked(&L3GD20D1, gyrocooked);

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

+    for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {

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

     }

-    chThdSleepMilliseconds(1000);

+

+    chThdSleepMilliseconds(100);

+    cls(chp);

   }

   l3gd20Stop(&L3GD20D1);

-  return 0;

 }

diff --git a/testex/STM32/STM32F4xx/SPI-L3GD20/readme.txt b/testex/STM32/STM32F4xx/SPI-L3GD20/readme.txt
index 2dd9006e4..3dc487ee6 100644
--- a/testex/STM32/STM32F4xx/SPI-L3GD20/readme.txt
+++ b/testex/STM32/STM32F4xx/SPI-L3GD20/readme.txt
@@ -8,8 +8,7 @@ The demo runs on an STM32F401C Discovery board.
 

 ** The Demo **

 

-The demo uses the ChibiOS Shell in order to test L3GD20 APIs.

-Shell is used on the SDU1 BaseSequentialStream.

+The demo prints L3GD20 data on the SDU1 BaseSequentialStream.

 

 ** Build Procedure **