Updated LIS302DL driver

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11702 110e8d01-0319-4d1e-a829-52ad28d1bb01

3 files changed, 52 insertions, 119 deletions

diff --git a/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile b/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
index 6a70d7b0e..b7f62bcc9 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
+++ b/testex/STM32/STM32F4xx/SPI-LIS302DL/Makefile
@@ -71,7 +71,7 @@ endif
 

 # Enables the use of FPU (no, softfp, hard).

 ifeq ($(USE_FPU),)

-  USE_FPU = hard

+  USE_FPU = no

 endif

 

 #

@@ -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).

@@ -97,10 +100,10 @@ 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/lis302dl.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)/STM32F407xG.ld

@@ -114,14 +117,20 @@ CSRC = $(STARTUPSRC) \
        $(HALSRC) \

        $(PLATFORMSRC) \

        $(BOARDSRC) \

-	   $(LIS302DLSRC) \

+       $(LIS3DSHSRC) \

        $(STREAMSSRC) \

        $(SHELLSRC) \

        usbcfg.c main.c

 

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

+# setting.

+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 +156,7 @@ TCPPSRC =
 ASMSRC =

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

 

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

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

-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS302DLINC) \

-         $(STREAMSINC) $(SHELLINC)

+INCDIR = $(ALLINC) $(TESTINC)

 

 #

 # Project, sources and paths

@@ -200,7 +206,7 @@ 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 \

         -DLIS302DL_USE_ADVANCED=0 -DLIS302DL_SHARED_SPI=0

 

 # Define ASM defines here

diff --git a/testex/STM32/STM32F4xx/SPI-LIS302DL/main.c b/testex/STM32/STM32F4xx/SPI-LIS302DL/main.c
index aea1105f7..8b8cb1636 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS302DL/main.c
+++ b/testex/STM32/STM32F4xx/SPI-LIS302DL/main.c
@@ -18,23 +18,23 @@
 #include "hal.h"

 

 #include "usbcfg.h"

-#include "string.h"

-#include "shell.h"

 #include "chprintf.h"

-

 #include "lis302dl.h"

 

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

+

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

-/* LIS302DL related.                                                         */

+/* LIS302DL related.                                                          */

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

 

 /* LIS302DL Driver: This object represent an LIS302DL instance */

 static LIS302DLDriver LIS302DLD1;

 

-static int32_t rawdata[LIS302DL_NUMBER_OF_AXES];

-static float cookeddata[LIS302DL_NUMBER_OF_AXES];

+static int32_t accraw[LIS302DL_ACC_NUMBER_OF_AXES];

 

-static char axisID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static float acccooked[LIS302DL_ACC_NUMBER_OF_AXES];

+

+static char axisID[LIS302DL_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

 static uint32_t i;

 

 static const SPIConfig spicfg = {

@@ -46,100 +46,23 @@ static const SPIConfig spicfg = {
   0

 };

 

-static LIS302DLConfig l3gd20cfg = {

+static LIS302DLConfig lis302dlcfg = {

   &SPID1,

   &spicfg,

   NULL,

   NULL,

-  LIS302DL_FS_2G,

-  LIS302DL_ODR_100HZ,

-#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)

-  LIS302DL_HP_DISABLED,

-#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

-      accelerometerReadRaw(&LIS302DLD1, rawdata);

-      chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");

-      for(i = 0; i < LIS302DL_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

-      accelerometerReadCooked(&LIS302DLD1, cookeddata);

-      chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");

-      for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {

-        chprintf(chp, "%c-axis: %.4f mg\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 [2G|8G]\r\n");

-    return;

-  }

-#if CHPRINTF_USE_ANSI_CODE

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

+  LIS302DL_ACC_FS_2G,

+  LIS302DL_ACC_ODR_100HZ,

+#if LIS302DL_USE_ADVANCED

+  LIS302DL_ACC_HP_1,

 #endif

-  if(!strcmp (argv[0], "2G")) {

-    accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_2G);

-    chprintf(chp, "LIS302DL Accelerometer full scale set to 2G...\r\n");

-  }

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

-    accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_8G);

-    chprintf(chp, "LIS302DL Accelerometer full scale set to 8G...\r\n");

-  }

-  else {

-    chprintf(chp, "Usage: fullscale [2G|8G]\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.                                                                */

+/* Generic code.                                                             */

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

 

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

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -152,9 +75,7 @@ static THD_FUNCTION(Thread1, arg) {
     systime_t time;

 

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

-    palClearLine(LINE_LED6);

-    chThdSleepMilliseconds(time);

-    palSetLine(LINE_LED6);

+    palToggleLine(LINE_LED6);

     chThdSleepMilliseconds(time);

   }

 }

@@ -195,21 +116,23 @@ int main(void) {
   lis302dlObjectInit(&LIS302DLD1);

 

   /* Activates the LIS302DL driver.*/

-  lis302dlStart(&LIS302DLD1, &l3gd20cfg);

+  lis302dlStart(&LIS302DLD1, &lis302dlcfg);

 

-  /* Shell manager initialization.*/

-  shellInit();

+  /* Normal main() thread activity, printing MEMS data on the SDU1.*/

+  while (true) {

+    lis302dlAccelerometerReadRaw(&LIS302DLD1, accraw);

+    chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

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

+    lis302dlAccelerometerReadCooked(&LIS302DLD1, acccooked);

+    chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");

+    for(i = 0; i < LIS302DL_ACC_NUMBER_OF_AXES; i++) {

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

     }

-    chThdSleepMilliseconds(1000);

+    chThdSleepMilliseconds(100);

+    cls(chp);

   }

   lis302dlStop(&LIS302DLD1);

-  return 0;

 }

-

diff --git a/testex/STM32/STM32F4xx/SPI-LIS302DL/readme.txt b/testex/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
index 11e515e07..3a02b8d69 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
+++ b/testex/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
@@ -4,12 +4,16 @@
 

 ** TARGET **

 

-The demo runs on an STM32F407 Discovery board rev MB997B.

+The demo runs on an STM32F407 Discovery board REV B or previous.

 

 ** The Demo **

 

-The demo flashes the board LED using a thread, read data from LIS302DL printing

-it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).

+The application demonstrates the use of the STM32F4xx SPI driver in order

+to acquire data from LIS302L using ChibiOS/EX.

+

+** Board Setup **

+

+None required.

 

 ** Build Procedure **