Updated LIS3DSH driver and demos

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11690 110e8d01-0319-4d1e-a829-52ad28d1bb01

4 files changed, 50 insertions, 128 deletions

diff --git a/testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile b/testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
index 08f63d3e0..e572a07e4 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
+++ b/testex/STM32/STM32F4xx/SPI-LIS3DSH/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).

@@ -97,10 +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/lis3dsh.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

@@ -119,9 +122,15 @@ CSRC = $(STARTUPSRC) \
        $(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) $(LIS3DSHINC) \

-         $(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 \

         -DLIS3DSH_USE_ADVANCED=0 -DLIS3DSH_SHARED_SPI=0

 

 # Define ASM defines here

diff --git a/testex/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (OpenOCD, Flash and Run).launch b/testex/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (OpenOCD, Flash and Run).launch
index df0961499..bfde2a1c3 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (OpenOCD, Flash and Run).launch
+++ b/testex/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (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;null-lis3dshStart-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&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;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;null-lis3dshStart-(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/SPI-LIS3DSH/main.c b/testex/STM32/STM32F4xx/SPI-LIS3DSH/main.c
index d746d1302..0c909ba4a 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS3DSH/main.c
+++ b/testex/STM32/STM32F4xx/SPI-LIS3DSH/main.c
@@ -18,12 +18,11 @@
 #include "hal.h"

 

 #include "usbcfg.h"

-#include "string.h"

-#include "shell.h"

 #include "chprintf.h"

-

 #include "lis3dsh.h"

 

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

+

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

 /* LIS3DSH related.                                                          */

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

@@ -31,10 +30,11 @@
 /* LIS3DSH Driver: This object represent an LIS3DSH instance */

 static LIS3DSHDriver LIS3DSHD1;

 

-static int32_t rawdata[LIS3DSH_NUMBER_OF_AXES];

-static float cookeddata[LIS3DSH_NUMBER_OF_AXES];

+static int32_t accraw[LIS3DSH_ACC_NUMBER_OF_AXES];

+

+static float acccooked[LIS3DSH_ACC_NUMBER_OF_AXES];

 

-static char axisID[LIS3DSH_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static char axisID[LIS3DSH_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

 static uint32_t i;

 

 static const SPIConfig spicfg = {

@@ -51,108 +51,19 @@ static LIS3DSHConfig lis3dshcfg = {
   &spicfg,

   NULL,

   NULL,

-  LIS3DSH_FS_2G,

-  LIS3DSH_ODR_100HZ,

+  LIS3DSH_ACC_FS_2G,

+  LIS3DSH_ACC_ODR_100HZ,

 #if LIS3DSH_USE_ADVANCED

-  LIS3DSH_BW_400HZ,

-  LIS3DSH_BDU_CONTINUOUS,

-#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(&LIS3DSHD1, rawdata);

-      chprintf(chp, "LIS3DSH Accelerometer raw data...\r\n");

-      for(i = 0; i < LIS3DSH_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(&LIS3DSHD1, cookeddata);

-      chprintf(chp, "LIS3DSH Accelerometer cooked data...\r\n");

-      for(i = 0; i < LIS3DSH_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|4G|6G|8G|16G]\r\n");

-    return;

-  }

-#if CHPRINTF_USE_ANSI_CODE

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

+  LIS3DSH_ACC_BW_400HZ,

+  LIS3DSH_ACC_BDU_CONTINUOUS,

 #endif

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

-    accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_2G);

-    chprintf(chp, "LIS3DSH Accelerometer full scale set to 2G...\r\n");

-  }

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

-    accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_4G);

-    chprintf(chp, "LIS3DSH Accelerometer full scale set to 4G...\r\n");

-  }

-  else if(!strcmp (argv[0], "6G")) {

-    accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_6G);

-    chprintf(chp, "LIS3DSH Accelerometer full scale set to 6G...\r\n");

-  }

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

-    accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_8G);

-    chprintf(chp, "LIS3DSH Accelerometer full scale set to 8G...\r\n");

-  }

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

-    accelerometerSetFullScale(&LIS3DSHD1, LIS3DSH_FS_16G);

-    chprintf(chp, "LIS3DSH Accelerometer full scale set to 16G...\r\n");

-  }

-  else {

-    chprintf(chp, "Usage: fullscale [2G|4G|6G|8G|16G]\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.

  */

@@ -165,9 +76,7 @@ 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);

   }

 }

@@ -210,18 +119,21 @@ int main(void) {
   /* Activates the LIS3DSH driver.*/

   lis3dshStart(&LIS3DSHD1, &lis3dshcfg);

 

-  /* Shell manager initialization.*/

-  shellInit();

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

+  while (true) {

+    lis3dshAccelerometerReadRaw(&LIS3DSHD1, accraw);

+    chprintf(chp, "LIS3DSH Accelerometer raw data...\r\n");

+    for(i = 0; i < LIS3DSH_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.             */

+    lis3dshAccelerometerReadCooked(&LIS3DSHD1, acccooked);

+    chprintf(chp, "LIS3DSH Accelerometer cooked data...\r\n");

+    for(i = 0; i < LIS3DSH_ACC_NUMBER_OF_AXES; i++) {

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

     }

-    chThdSleepMilliseconds(1000);

+    chThdSleepMilliseconds(100);

+    cls(chp);

   }

   lis3dshStop(&LIS3DSHD1);

-  return 0;

 }

diff --git a/testex/STM32/STM32F4xx/SPI-LIS3DSH/readme.txt b/testex/STM32/STM32F4xx/SPI-LIS3DSH/readme.txt
index 226822f2d..83a53c182 100644
--- a/testex/STM32/STM32F4xx/SPI-LIS3DSH/readme.txt
+++ b/testex/STM32/STM32F4xx/SPI-LIS3DSH/readme.txt
@@ -1,15 +1,19 @@
 *****************************************************************************

-** ChibiOS/HAL - USB-CDC driver demo for STM32.                            **

+** ChibiOS/HAL + ChibiOS/EX - SPI + LIS3DSH demo for STM32F4xx.            **

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

 

 ** TARGET **

 

-The demo runs on both Olimex STM32-E407 or STM32F4-Discovery boards, just

-change the board reference in the Makefile.

+The demo runs on an STM32F407 Discovery board REV C or later.

 

 ** The Demo **

 

-The application demonstrates the use of the STM32 USB (OTG) driver.

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

+to acquire data from LIS3DSH using ChibiOS/EX.

+

+** Board Setup **

+

+None required.

 

 ** Build Procedure **

 

@@ -24,4 +28,4 @@ ST Microelectronics and are licensed under a different license.
 Also note that not all the files present in the ST library are distributed

 with ChibiOS/RT, you can find the whole library on the ST web site:

 

-                             http://www.st.com

+                             http://www.st.com
\ No newline at end of file