Updated STM32F4xx/I2C-LSM303DLHC

git-svn-id: https://svn.code.sf.net/p/chibios/svn2/trunk@11630 110e8d01-0319-4d1e-a829-52ad28d1bb01

3 files changed, 74 insertions, 270 deletions

diff --git a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/Makefile b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/Makefile
index 37305ed89..363d8023c 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/Makefile
+++ b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/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 +100,24 @@ 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/lsm303dlhc.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) \

-	   $(LSM303DLHCSRC) \

-       $(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 +143,7 @@ TCPPSRC =
 ASMSRC =

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

 

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

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

-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LSM303DLHCINC) \

-         $(STREAMSINC) $(SHELLINC)

+INCDIR = $(ALLINC) $(TESTINC)

 

 #

 # Project, sources and paths

diff --git a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
index d61ba9449..baaef81ad 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
@@ -18,23 +18,23 @@
 #include "hal.h"

 

 #include "usbcfg.h"

-#include "string.h"

-#include "shell.h"

 #include "chprintf.h"

-

 #include "lsm303dlhc.h"

 

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

+

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

-/* LSM303DLHC related.                                                           */

+/* 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 int32_t accraw[LSM303DLHC_ACC_NUMBER_OF_AXES];

+static int32_t compraw[LSM303DLHC_COMP_NUMBER_OF_AXES];

+

+static float acccooked[LSM303DLHC_ACC_NUMBER_OF_AXES];

+static float compcooked[LSM303DLHC_COMP_NUMBER_OF_AXES];

 

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

 static uint32_t i;

@@ -45,7 +45,9 @@ static const I2CConfig i2ccfg = {
   FAST_DUTY_CYCLE_2,

 };

 

-static const LSM303DLHCAccConfig lsm303dlhcacccfg = {

+static const LSM303DLHCConfig lsm303dlhccfg = {

+  &I2CD1,

+  &i2ccfg,

   NULL,

   NULL,

   LSM303DLHC_ACC_FS_4G,

@@ -56,226 +58,20 @@ static const LSM303DLHCAccConfig lsm303dlhcacccfg = {
   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__)

+  NULL,

+  NULL,

+  LSM303DLHC_COMP_FS_1P3GA,

+  LSM303DLHC_COMP_ODR_30HZ,

+#if LSM303DLHC_COMP_USE_ADVANCED

   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.                                                                */

+/* Generic code.                                                             */

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

 

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

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -288,9 +84,7 @@ static THD_FUNCTION(Thread1, arg) {
     systime_t time;

 

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

-    palClearLine(LINE_LED5);

-    chThdSleepMilliseconds(time);

-    palSetLine(LINE_LED5);

+    palToggleLine(LINE_LED5);

     chThdSleepMilliseconds(time);

   }

 }

@@ -342,19 +136,34 @@ int main(void) {
   lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg);

 

   /*

-   * Shell manager initialization.

+   * Normal main() thread activity, printing MEMS data on the serial driver 1.

    */

-  shellInit();

+  while (true) {

+    lsm303dlhcAccelerometerReadRaw(&LSM303DLHCD1, accraw);

+    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], accraw[i]);

+    }

+

+    lsm303dlhcCompassReadRaw(&LSM303DLHCD1, compraw);

+    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], compraw[i]);

+    }

+

+    lsm303dlhcAccelerometerReadCooked(&LSM303DLHCD1, acccooked);

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

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

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

+    lsm303dlhcCompassReadCooked(&LSM303DLHCD1, compcooked);

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

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

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

     }

-    chThdSleepMilliseconds(1000);

+    chThdSleepMilliseconds(100);

+    cls(chp);

   }

   lsm303dlhcStop(&LSM303DLHCD1);

-  return 0;

 }

diff --git a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/mcuconf.h b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/mcuconf.h
index 5665f3a99..02f1bca9d 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM303DLHC/mcuconf.h
+++ b/testex/STM32/STM32F4xx/I2C-LSM303DLHC/mcuconf.h
@@ -65,9 +65,27 @@
 #define STM32_BKPRAM_ENABLE                 FALSE

 

 /*

+ * IRQ system settings.

+ */

+#define STM32_IRQ_EXTI0_PRIORITY            6

+#define STM32_IRQ_EXTI1_PRIORITY            6

+#define STM32_IRQ_EXTI2_PRIORITY            6

+#define STM32_IRQ_EXTI3_PRIORITY            6

+#define STM32_IRQ_EXTI4_PRIORITY            6

+#define STM32_IRQ_EXTI5_9_PRIORITY          6

+#define STM32_IRQ_EXTI10_15_PRIORITY        6

+#define STM32_IRQ_EXTI16_PRIORITY           6

+#define STM32_IRQ_EXTI17_PRIORITY           15

+#define STM32_IRQ_EXTI18_PRIORITY           6

+#define STM32_IRQ_EXTI19_PRIORITY           6

+#define STM32_IRQ_EXTI20_PRIORITY           6

+#define STM32_IRQ_EXTI21_PRIORITY           15

+#define STM32_IRQ_EXTI22_PRIORITY           15

+

+/*

  * ADC driver system settings.

  */

-#define STM32_ADC_ADCPRE                    ADC_CCR_ADCPRE_DIV4   

+#define STM32_ADC_ADCPRE                    ADC_CCR_ADCPRE_DIV4

 #define STM32_ADC_USE_ADC1                  FALSE

 #define STM32_ADC_ADC1_DMA_STREAM           STM32_DMA_STREAM_ID(2, 4)

 #define STM32_ADC_ADC1_DMA_PRIORITY         2

@@ -75,22 +93,6 @@
 #define STM32_ADC_ADC1_DMA_IRQ_PRIORITY     6

 

 /*

- * EXT driver system settings.

- */

-#define STM32_EXT_EXTI0_IRQ_PRIORITY        6

-#define STM32_EXT_EXTI1_IRQ_PRIORITY        6

-#define STM32_EXT_EXTI2_IRQ_PRIORITY        6

-#define STM32_EXT_EXTI3_IRQ_PRIORITY        6

-#define STM32_EXT_EXTI4_IRQ_PRIORITY        6

-#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6

-#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6

-#define STM32_EXT_EXTI16_IRQ_PRIORITY       6

-#define STM32_EXT_EXTI17_IRQ_PRIORITY       6

-#define STM32_EXT_EXTI18_IRQ_PRIORITY       6

-#define STM32_EXT_EXTI21_IRQ_PRIORITY       6

-#define STM32_EXT_EXTI22_IRQ_PRIORITY       6

-

-/*

  * GPT driver system settings.

  */

 #define STM32_GPT_USE_TIM1                  FALSE

@@ -190,7 +192,7 @@
 /*

  * SPI driver system settings.

  */

-#define STM32_SPI_USE_SPI1                  TRUE

+#define STM32_SPI_USE_SPI1                  FALSE

 #define STM32_SPI_USE_SPI2                  FALSE

 #define STM32_SPI_USE_SPI3                  FALSE

 #define STM32_SPI_SPI1_RX_DMA_STREAM        STM32_DMA_STREAM_ID(2, 0)