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| author | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-03-06 14:49:03 +0000 |
|---|---|---|
| committer | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-03-06 14:49:03 +0000 |
| commit | f5dc8303ad3452e9cff5bf569bb003dced7350e2 (patch) | |
| tree | 0b065e4828c88cb95efd66dd5754dd2e252fddbc /testhal/STM32/STM32L4xx/SPI-L3GD20/main.c | |
| parent | 3d535a83adf8335313449d9e6d0321338b34d720 (diff) | |
| download | ChibiOS-f5dc8303ad3452e9cff5bf569bb003dced7350e2.tar.gz ChibiOS-f5dc8303ad3452e9cff5bf569bb003dced7350e2.tar.bz2 ChibiOS-f5dc8303ad3452e9cff5bf569bb003dced7350e2.zip | |
Added one more demo for STM32L4, minor fixes on STM32L4xx/IRQ_STORM
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9039 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'testhal/STM32/STM32L4xx/SPI-L3GD20/main.c')
| -rw-r--r-- | testhal/STM32/STM32L4xx/SPI-L3GD20/main.c | 151 |
1 files changed, 151 insertions, 0 deletions
diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c new file mode 100644 index 000000000..6ceb84297 --- /dev/null +++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c @@ -0,0 +1,151 @@ +/*
+ 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 "l3gd20.h"
+
+/* Enable use of special ANSI escape sequences */
+#define CHPRINTF_USE_ANSI_CODE TRUE
+
+static BaseSequentialStream * chp = (BaseSequentialStream*) &SD2;
+
+/* 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 char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const SPIConfig spicfg = {
+ NULL,
+ GPIOD, /* port of L3GD20 CS */
+ GPIOD_GYRO_CS, /* pin of L3GD20 CS */
+ SPI_CR1_BR | SPI_CR1_CPOL | SPI_CR1_CPHA, /* CR1 register */
+ 0 /* CR2 register */
+};
+
+static L3GD20Config l3gd20cfg = {
+ &SPID2, /* Pointer to SPI Driver */
+ &spicfg, /* Pointer to SPI Configuration */
+ L3GD20_FS_250DPS, /* Full scale value */
+ L3GD20_ODR_760HZ_FC_100, /* Output data rate */
+ L3GD20_AE_XYZ, /* Enabled axes */
+ L3GD20_END_LITTLE, /* Endianness */
+ L3GD20_BDU_BLOCKED /* Block data update */
+};
+
+/*
+ * LED blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+ (void)arg;
+ chRegSetThreadName("blinker");
+ while (true) {
+ palToggleLine(LINE_LED_GREEN);
+ chThdSleepMilliseconds(250);
+ }
+}
+
+/*
+ * 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();
+
+ /*
+ * Activates the serial driver 2 using the driver default configuration.
+ */
+ sdStart(&SD2, NULL);
+
+ /*
+ * Creates the blinker thread.
+ */
+ chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
+
+ /*
+ * L3GD20 Object Initialization
+ */
+ l3gd20ObjectInit(&L3GD20D1);
+
+ /*
+ * Activates the L3GD20 driver.
+ */
+ l3gd20Start(&L3GD20D1, &l3gd20cfg);
+
+ while(!palReadLine(LINE_JOY_CENTER)){
+ palToggleLine(LINE_LED_RED);
+ gyroscopeReadRaw(&L3GD20D1, rawdata);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
+
+ gyroscopeReadCooked(&L3GD20D1, cookeddata);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
+
+ chprintf(chp, "Press JOY to continue...\r\n");
+ chThdSleepMilliseconds(150);
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ }
+
+ palClearLine(LINE_LED_RED);
+ chprintf(chp, "Calibrating Gyroscope...\r\n");
+ chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
+ chThdSleepMilliseconds(3000);
+
+ palSetLine(LINE_LED_RED);
+ chThdSleepMilliseconds(1000);
+
+ gyroscopeCalibrate(&L3GD20D1);
+ palClearLine(LINE_LED_RED);
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+
+ while (TRUE) {
+ palToggleLine(LINE_LED_RED);
+ gyroscopeReadRaw(&L3GD20D1, rawdata);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
+
+ gyroscopeReadCooked(&L3GD20D1, cookeddata);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
+
+ chThdSleepMilliseconds(150);
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ }
+ l3gd20Stop(&L3GD20D1);
+}
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