Added support for LSM6DS0, improved hal_accelerometer and hal_gyroscope, added a new demo

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9349 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 136 insertions, 0 deletions

diff --git a/testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c b/testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c
new file mode 100644
index 000000000..b69688e13
--- /dev/null
+++ b/testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c
@@ -0,0 +1,136 @@
+/*

+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+#include "ch.h"

+#include "hal.h"

+

+#include "chprintf.h"

+#include "lsm6ds0.h"

+

+/* Enable use of special ANSI escape sequences */

+#define CHPRINTF_USE_ANSI_CODE         TRUE

+

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

+

+/* LSM6DS0 Driver: This object represent an LSM6DS0 instance */

+static LSM6DS0Driver LSM6DS0D1;

+

+static int32_t rawdata[LSM6DS0_ACC_NUMBER_OF_AXES + LSM6DS0_GYRO_NUMBER_OF_AXES];

+static float cookeddata[LSM6DS0_ACC_NUMBER_OF_AXES + LSM6DS0_GYRO_NUMBER_OF_AXES];

+static float temp;

+

+static char axesID[LSM6DS0_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static uint32_t i;

+

+static const I2CConfig i2ccfg = {

+   STM32_TIMINGR_PRESC(15U) |

+   STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |

+   STM32_TIMINGR_SCLH(15U)  | STM32_TIMINGR_SCLL(21U),

+   0,

+   0

+};

+

+static const LSM6DS0AccConfig lsm6ds0acccfg = {

+  LSM6DS0_ACC_FS_2G,

+  LSM6DS0_ACC_ODR_50Hz,

+  LSM6DS0_ACC_AE_XYZ,

+  LSM6DS0_ACC_OBW_AA,

+  LSM6DS0_ACC_HR_ENABLED,

+  LSM6DS0_ACC_FDS_DISABLED,

+  LSM6DS0_ACC_DCF_9,

+  LSM6DS0_ACC_AABW_AUTO,

+  LSM6DS0_ACC_DEC_DISABLED,

+  LSM6DS0_ACC_UNIT_SI

+};

+

+static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {

+  LSM6DS0_GYRO_FS_245DSP,

+  LSM6DS0_GYRO_ODR_119HZ_FC_31,

+  LSM6DS0_GYRO_AE_XYZ,

+  LSM6DS0_GYRO_LP_DISABLED,

+  LSM6DS0_GYRO_OUT_SEL_0,

+  LSM6DS0_GYRO_HP_DISABLED,

+  LSM6DS0_GYRO_HPCF_0

+};

+

+static const LSM6DS0Config lsm6ds0cfg = {

+  &I2CD1,

+  &i2ccfg,

+  &lsm6ds0acccfg,

+  &lsm6ds0gyrocfg,

+  LSM6DS0_SAD_VCC,

+  LSM6DS0_BDU_BLOCKED,

+  LSM6DS0_END_LITTLE

+};

+

+/*

+ * Application entry point.

+ */

+int main(void) {

+

+  /*

+   * System initializations.

+   * - HAL initialization, this also initializes the configured device drivers

+   *   and performs the board-specific initializations.

+   * - Kernel initialization, the main() function becomes a thread and the

+   *   RTOS is active.

+   */

+  halInit();

+  chSysInit();

+

+  palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);

+  palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);

+

+  /*

+   * Activates the serial driver 2 using the driver default configuration.

+   */

+  sdStart(&SD2, NULL);

+

+  /*

+   * L3GD20 Object Initialization

+   */

+  lsm6ds0ObjectInit(&LSM6DS0D1);

+

+  lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);

+

+  while (TRUE) {

+    palToggleLine(LINE_LED_GREEN);

+    sensorReadRaw(&LSM6DS0D1, rawdata);

+    sensorReadCooked(&LSM6DS0D1, cookeddata);

+    gyroscopeGetTemp(&LSM6DS0D1, &temp);

+    chprintf(chp, "ACCELEROMETER DATA\r\n");

+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);

+    chprintf(chp, "\r\n");

+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)

+      chprintf(chp, "COOKED-%c:%.3f g\t", axesID[i], cookeddata[i]);

+

+    chprintf(chp, "\r\nGYROSCOPE DATA\r\n");

+    for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)

+      chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i + 3]);

+    chprintf(chp, "\r\n");

+    for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)

+      chprintf(chp, "COOKED-%c:%.3f dps\t", axesID[i], cookeddata[i + 3]);

+    chprintf(chp, "\r\n");

+    chprintf(chp, "TEMPERATURE DATA\r\n");

+    chprintf(chp, "LSM6DS0:%.3f C°\t", temp);

+  chprintf(chp, "\r\n");

+    chThdSleepMilliseconds(100);

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+  }

+}