Updated STM32L4xx/SPI-L3GD20 demo. Cosmetic changes to L3GD20 demos

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11655 110e8d01-0319-4d1e-a829-52ad28d1bb01

5 files changed, 51 insertions, 195 deletions

diff --git a/testex/STM32/STM32F3xx/SPI-L3GD20/main.c b/testex/STM32/STM32F3xx/SPI-L3GD20/main.c
index c4c8e64dc..31379de73 100644
--- a/testex/STM32/STM32F3xx/SPI-L3GD20/main.c
+++ b/testex/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -95,29 +95,19 @@ int main(void) {
   halInit();

   chSysInit();

 

-  /*

-   * Activates the serial driver 1 using the driver default configuration.

-   */

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

   sdStart(&SD1, NULL);

 

-  /*

-   * Creates the blinker thread.

-   */

+  /* Creates the blinker thread.*/

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

 

-  /*

-   * L3GD20 Object Initialization

-   */

+  /* L3GD20 Object Initialization.*/

   l3gd20ObjectInit(&L3GD20D1);

 

-  /*

-   * Activates the L3GD20 driver.

-   */

+  /* Activates the L3GD20 driver.*/

   l3gd20Start(&L3GD20D1, &l3gd20cfg);

 

-  /*

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

-   */

+  /* Normal main() thread activity, printing MEMS data on the SD1.*/

   while (true) {

     l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);

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

diff --git a/testex/STM32/STM32F4xx/SPI-L3GD20/main.c b/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
index b95b356dc..08e0dadbb 100644
--- a/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
+++ b/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -63,7 +63,7 @@ static L3GD20Config l3gd20cfg = {
 };

 

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

-/* Main code.                                                                */

+/* Generic code.                                                                */

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

 

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

@@ -116,22 +116,15 @@ int main(void) {
   usbConnectBus(serusbcfg.usbp);

 

   /* Creates the blinker thread.*/

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

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

 

-  /*

-   * L3GD20 Object Initialization

-   */

+  /* L3GD20 Object Initialization.*/

   l3gd20ObjectInit(&L3GD20D1);

 

-  /*

-   * Activates the L3GD20 driver.

-   */

+  /* Activates the L3GD20 driver.*/

   l3gd20Start(&L3GD20D1, &l3gd20cfg);

 

-  /*

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

-   * driver 1.

-   */

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

   while (true) {

     l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);

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

diff --git a/testex/STM32/STM32L4xx/SPI-L3GD20/Makefile b/testex/STM32/STM32L4xx/SPI-L3GD20/Makefile
index aef87d496..14b33ffa5 100644
--- a/testex/STM32/STM32L4xx/SPI-L3GD20/Makefile
+++ b/testex/STM32/STM32L4xx/SPI-L3GD20/Makefile
@@ -5,7 +5,7 @@
 

 # Compiler options here.

 ifeq ($(USE_OPT),)

-  USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16

+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16

 endif

 

 # C specific options here (added to USE_OPT).

@@ -71,7 +71,7 @@ endif
 

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

 ifeq ($(USE_FPU),)

-  USE_FPU = no

+  USE_FPU = hard

 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_stm32l4xx.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)/STM32L476xG.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) \

        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

@@ -144,13 +139,10 @@ TCSRC =
 TCPPSRC =

 

 # List ASM source files here

-ASMSRC =

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

+ASMSRC = $(ALLASMSRC)

+ASMXSRC = $(ALLXASMSRC)

 

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

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

-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(L3GD20INC) \

-         $(STREAMSINC) $(SHELLINC)

+INCDIR = $(ALLINC) $(TESTINC)

 

 #

 # Project, sources and paths

@@ -200,7 +192,7 @@ 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/STM32L4xx/SPI-L3GD20/main.c b/testex/STM32/STM32L4xx/SPI-L3GD20/main.c
index 20f5028b9..7a16de45f 100644
--- a/testex/STM32/STM32L4xx/SPI-L3GD20/main.c
+++ b/testex/STM32/STM32L4xx/SPI-L3GD20/main.c
@@ -17,12 +17,11 @@
 #include "ch.h"

 #include "hal.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.                                                           */

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

@@ -30,10 +29,10 @@
 /* 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 = {

@@ -63,134 +62,12 @@ static L3GD20Config l3gd20cfg = {
 };

 

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

-/* Command line related.                                                     */

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

-

-/*

- * DP resistor control is not possible on the STM32F3-Discovery, using stubs

- * for the connection macros.

- */

-#define usb_lld_connect_bus(usbp)

-#define usb_lld_disconnect_bus(usbp)

-

-/* 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_LED_GREEN);

-    chThdSleepMilliseconds(1000);

-    gyroscopeSampleBias(&L3GD20D1);

-    palClearLine(LINE_LED_GREEN);

-    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 *)&SD2,

-  commands

-};

-

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

-/* Main code.                                                                */

+/* Generic code.                                                             */

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

 

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

 /*

- * LED blinker thread, times are in milliseconds.

+ * Red LED blinker thread, times are in milliseconds.

  */

 static THD_WORKING_AREA(waThread1, 128);

 static THD_FUNCTION(Thread1, arg) {

@@ -198,10 +75,8 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;

   chRegSetThreadName("blinker");

   while (true) {

-    palClearLine(LINE_LED_RED);

-    chThdSleepMilliseconds(500);

-    palSetLine(LINE_LED_RED);

-    chThdSleepMilliseconds(500);

+    palToggleLine(LINE_LED_RED);

+    chThdSleepMilliseconds(250);

   }

 }

 

@@ -232,15 +107,22 @@ int main(void) {
   /* Activates the L3GD20 driver.*/

   l3gd20Start(&L3GD20D1, &l3gd20cfg);

 

-  /* Shell manager initialization.*/

-  shellInit();

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

+  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) {

-    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(100);

+    cls(chp);

   }

   l3gd20Stop(&L3GD20D1);

-  return 0;

-}

+}
\ No newline at end of file
diff --git a/testex/STM32/STM32L4xx/SPI-L3GD20/readme.txt b/testex/STM32/STM32L4xx/SPI-L3GD20/readme.txt
index 1119b8764..34925a494 100644
--- a/testex/STM32/STM32L4xx/SPI-L3GD20/readme.txt
+++ b/testex/STM32/STM32L4xx/SPI-L3GD20/readme.txt
@@ -8,8 +8,7 @@ The demo runs on an STM32L4 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 SD2 BaseSequentialStream.

 

 ** Build Procedure **