Improved LSM303DLHC driver and related demos: improved bias and sensitivity handling.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9823 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 20 insertions, 15 deletions

diff --git a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
index 24ffabef4..55935b568 100644
--- a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
+++ b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
@@ -24,8 +24,9 @@
 

 #include "lsm303dlhc.h"

 

+

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

-/* LSM303DLHC related.                                                           */

+/* LSM303DLHC related.                                                       */

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

 

 /* LSM303DLHC Driver: This object represent an LSM303DLHC instance */

@@ -48,8 +49,8 @@ static const I2CConfig i2ccfg = {
 };

 

 static const LSM303DLHCAccConfig lsm303dlhcacccfg = {

-  {0, 0, 0},                        /* Use default sensitivity.*/

-  {0, 0, 0},                        /* Use default bias.*/

+  NULL,                             /* Use default sensitivity.*/

+  NULL,                             /* Use default bias.*/

   LSM303DLHC_ACC_FS_4G,             /* Full scale value 2g.*/

   LSM303DLHC_ACC_ODR_100Hz,         /* Output data rate 100 Hz.*/

 #if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)

@@ -61,6 +62,8 @@ static const LSM303DLHCAccConfig lsm303dlhcacccfg = {
 };

 

 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__)

@@ -88,7 +91,7 @@ static const LSM303DLHCConfig lsm303dlhccfg = {
 

 /* Enable use of special ANSI escape sequences */

 #define CHPRINTF_USE_ANSI_CODE      TRUE

-#define SHELL_WA_SIZE               THD_WORKING_AREA_SIZE(2048)

+#define SHELL_WA_SIZE   THD_WORKING_AREA_SIZE(2048)

 

 static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {

   (void)argv;

@@ -280,11 +283,11 @@ static const ShellConfig shell_cfg1 = {
 };

 

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

-/* Main code.                                                                */

+/* Generic code.                                                             */

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

 

 /*

- * 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) {

@@ -334,11 +337,16 @@ int main(void) {
   usbConnectBus(serusbcfg.usbp);

 

   /*

-   * Creates the blinker thread.

+   * Shell manager initialization.

    */

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

+  shellInit();

 

   /*

+   * Creates the blinker thread.

+   */

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

+  

+  /*

    * LSM303DLHC Object Initialization

    */

   lsm303dlhcObjectInit(&LSM303DLHCD1);

@@ -347,13 +355,11 @@ int main(void) {
    * Activates the LSM303DLHC driver.

    */

   lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg);

-

+  

   /*

-   * Shell manager initialization.

-   */

-  shellInit();

-

-  while(TRUE) {

+   * Normal main() thread activity, spawning shells.

+   */   

+  while (true) {

     if (SDU1.config->usbp->state == USB_ACTIVE) {

       thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,

                                               "shell", NORMALPRIO + 1,

@@ -363,5 +369,4 @@ int main(void) {
     chThdSleepMilliseconds(1000);

   }

   lsm303dlhcStop(&LSM303DLHCD1);

-  return 0;

 }