UpdatedEX: LIS3DSH driver updated to v1.0.0

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9728 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 145 insertions, 52 deletions

diff --git a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/Makefile b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
index e7b2b0d72..28b3b4b69 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/Makefile
+++ b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/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).

@@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
 # Other files (optional).

 include $(CHIBIOS)/os/ex/ST/lis3dsh.mk

 include $(CHIBIOS)/os/hal/lib/streams/streams.mk

+include $(CHIBIOS)/os/various/shell/shell.mk

 

 # Define linker script file here

 LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld

@@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
        $(BOARDSRC) \

 	   $(LIS3DSHSRC) \

        $(STREAMSSRC) \

+       $(SHELLSRC) \

        usbcfg.c main.c

 

 # C++ sources that can be compiled in ARM or THUMB mode depending on the global

@@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
 INCDIR = $(CHIBIOS)/os/license \

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

          $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS3DSHINC) \

-         $(STREAMSINC) $(CHIBIOS)/os/various

+         $(STREAMSINC) $(SHELLINC)

 

 #

 # Project, sources and paths

@@ -198,7 +200,8 @@ CPPWARN = -Wall -Wextra -Wundef
 #

 

 # List all user C define here, like -D_DEBUG=1

-UDEFS = -DCHPRINTF_USE_FLOAT=1

+UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \

+        -DLIS3DSH_USE_ADVANCED=0

 

 # Define ASM defines here

 UADEFS =

diff --git a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
index e67eda9b8..018eb5d55 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
@@ -18,43 +18,140 @@
 #include "hal.h"

 

 #include "usbcfg.h"

-

+#include "string.h"

+#include "shell.h"

 #include "chprintf.h"

-#include "lis3dsh.h"

 

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

-#define CHPRINTF_USE_ANSI_CODE         TRUE

+#include "lis3dsh.h"

 

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

+/*===========================================================================*/

+/* LIS3DSH related.                                                          */

+/*===========================================================================*/

 

 /* 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 int8_t temperature;

 

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

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

 static uint32_t i;

 

 static const SPIConfig spicfg = {

   NULL,

-  GPIOE,                                     /* port of LIS3DSH CS */

-  GPIOE_CS_SPI,                              /* pin of LIS3DSH CS */

-  SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA,/*   CR1 register*/                                        /* CR2 register */

+  GPIOE,                                     /* port of LIS3DSH CS.*/

+  GPIOE_CS_SPI,                              /* pin of LIS3DSH CS.*/

+  SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register.*/

+  0                                          /* CR2 register.*/

 };

 

 static LIS3DSHConfig lis3dshcfg = {

-  &SPID1,                                    /* Pointer to SPI Driver */

-  &spicfg,                                   /* Pointer to SPI Configuration */

-  LIS3DSH_FS_2G,                             /* Full scale value */

-  LIS3DSH_ODR_100HZ,                         /* Output data rate */

-  LIS3DSH_BW_200HZ,                          /* AA filter BW 200 Hz */

-  LIS3DSH_AE_XYZ,                            /* Enabled axes */

-  LIS3DSH_BDU_BLOCKED,                       /* Block data update blocked */

-  LIS3DSH_ACC_UNIT_G                         /* Measurement unit for cooked */

+  &SPID1,                                    /* Pointer to SPI Driver.*/

+  &spicfg,                                   /* Pointer to SPI Configuration.*/

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

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

+  LIS3DSH_FS_2G,                             /* Full scale value.*/

+  LIS3DSH_ODR_100HZ,                         /* Output data rate.*/

+#if LIS3DSH_USE_ADVANCED || defined(__DOXYGEN__)

+  LIS3DSH_BW_400HZ,                          /* AA filter bandwidth.*/

+  LIS3DSH_BDU_CONTINUOUS,                    /* Block data update 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");

+#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.                                                                */

+/*===========================================================================*/

+

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -64,8 +161,13 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;

   chRegSetThreadName("blinker");

   while (true) {

-    palToggleLine(LINE_LED6);

-    chThdSleepMilliseconds(250);

+    systime_t time;

+

+    time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;

+    palClearLine(LINE_LED6);

+    chThdSleepMilliseconds(time);

+    palSetLine(LINE_LED6);

+    chThdSleepMilliseconds(time);

   }

 }

 

@@ -84,9 +186,7 @@ int main(void) {
   halInit();

   chSysInit();

 

-  /*

-   * Initializes a serial-over-USB CDC driver.

-   */

+  /* Initializes a serial-over-USB CDC driver.*/

   sduObjectInit(&SDU1);

   sduStart(&SDU1, &serusbcfg);

 

@@ -99,38 +199,28 @@ int main(void) {
   chThdSleepMilliseconds(1500);

   usbStart(serusbcfg.usbp, &usbcfg);

   usbConnectBus(serusbcfg.usbp);

-  /*

-   * Creates the blinker thread.

-   */

+

+  /* Creates the blinker thread.*/

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

 

-  /*

-   * LIS3DSH Object Initialization

-   */

+  /* LIS3DSH Object Initialization.*/

   lis3dshObjectInit(&LIS3DSHD1);

 

-  /*

-   * Activates the LIS3DSH driver.

-   */

+  /* Activates the LIS3DSH driver.*/

   lis3dshStart(&LIS3DSHD1, &lis3dshcfg);

 

-  while (TRUE) {

-    palToggleLine(LINE_LED3);

-    accelerometerReadRaw(&LIS3DSHD1, rawdata);

-    for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)

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

-

-    accelerometerReadCooked(&LIS3DSHD1, cookeddata);

-    for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)

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

-

-    accelerometerGetTemp(&LIS3DSHD1, &temperature);

-    chprintf(chp, "TEMP:%d \r\n", temperature);

-

-    chThdSleepMilliseconds(150);

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

+  /* Shell manager initialization.*/

+  shellInit();

+

+  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.             */

+    }

+    chThdSleepMilliseconds(1000);

   }

   lis3dshStop(&LIS3DSHD1);

+  return 0;

 }