Removed measurement unit management from L3GD20 driver.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9699 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 51 insertions, 160 deletions

diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
index e76b62441..fb21b0af8 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -35,7 +35,6 @@ static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
 static float cookeddata[L3GD20_NUMBER_OF_AXES];

 

 static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

-static char unit[4] = "dps";

 static uint32_t i;

 

 static const SPIConfig spicfg = {

@@ -51,7 +50,6 @@ static L3GD20Config l3gd20cfg = {
   &spicfg,                                   /* Pointer to SPI Configuration.*/

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

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

-  L3GD20_UNIT_DPS,                           /* Measurement unit DPS.*/

   L3GD20_FS_250DPS,                          /* Full scale value.*/

   L3GD20_ODR_760HZ,                          /* Output data rate.*/

 #if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)

@@ -104,7 +102,7 @@ static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
       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 %s\r\n", axisID[i], cookeddata[i], unit);

+        chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]);

       }

     }

     else {

@@ -115,62 +113,30 @@ static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
   chprintf(chp, "Stopped\r\n");

 }

 

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

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

   (void)argv;

-  if (argc < 1) {

-    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");

+  if (argc != 1) {

+    chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");

     return;

   }

-  if (!strcmp (argv[0], "fs")) {

 #if CHPRINTF_USE_ANSI_CODE

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

 #endif

-    if (argc != 2) {

-      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

-      return;

-    }

-    if(!strcmp (argv[1], "250")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");

-    }

-    else if(!strcmp (argv[1], "500")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");

-    }

-    else if(!strcmp (argv[1], "2000")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");

-    }

-    else {

-      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

-      return;

-    }

+  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], "unit")) {

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-    if (argc != 2) {

-      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

-      return;

-    }

-    if(!strcmp (argv[1], "dps")) {

-      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_DPS);

-      strcpy(unit, "dps");

-      chprintf(chp, "L3GD20 Gyroscope unit set to degrees per second...\r\n");

-    }

-    else if(!strcmp (argv[1], "rps")) {

-      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_RPS);

-      strcpy(unit, "rps");

-      chprintf(chp, "L3GD20 Gyroscope unit set to radians per second...\r\n");

-    }

-    else {

-      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

-      return;

-    }

+  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: set [fs|unit] [value]\r\n");

+    chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");

+    return;

   }

 }

 

@@ -211,7 +177,7 @@ static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
 

 static const ShellCommand commands[] = {

   {"read", cmd_read},

-  {"set", cmd_set},

+  {"fullscale", cmd_fullscale},

   {"bias", cmd_bias},

   {NULL, NULL}

 };

diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
index f43ffcbe8..ae30c6c98 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -35,7 +35,6 @@ static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
 static float cookeddata[L3GD20_NUMBER_OF_AXES];

 

 static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

-static char unit[4] = "dps";

 static uint32_t i;

 

 static const SPIConfig spicfg = {

@@ -51,7 +50,6 @@ static L3GD20Config l3gd20cfg = {
   &spicfg,                                   /* Pointer to SPI Configuration.*/

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

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

-  L3GD20_UNIT_DPS,                           /* Measurement unit DPS.*/

   L3GD20_FS_250DPS,                          /* Full scale value.*/

   L3GD20_ODR_760HZ,                          /* Output data rate.*/

 #if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)

@@ -68,13 +66,6 @@ static L3GD20Config l3gd20cfg = {
 /* 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)

@@ -104,7 +95,7 @@ static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
       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 %s\r\n", axisID[i], cookeddata[i], unit);

+        chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]);

       }

     }

     else {

@@ -115,62 +106,30 @@ static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
   chprintf(chp, "Stopped\r\n");

 }

 

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

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

   (void)argv;

-  if (argc < 1) {

-    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");

+  if (argc != 1) {

+    chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");

     return;

   }

-  if (!strcmp (argv[0], "fs")) {

 #if CHPRINTF_USE_ANSI_CODE

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

 #endif

-    if (argc != 2) {

-      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

-      return;

-    }

-    if(!strcmp (argv[1], "250")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");

-    }

-    else if(!strcmp (argv[1], "500")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");

-    }

-    else if(!strcmp (argv[1], "2000")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");

-    }

-    else {

-      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

-      return;

-    }

+  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], "unit")) {

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-    if (argc != 2) {

-      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

-      return;

-    }

-    if(!strcmp (argv[1], "dps")) {

-      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_DPS);

-      strcpy(unit, "dps");

-      chprintf(chp, "L3GD20 Gyroscope unit set to degrees per second...\r\n");

-    }

-    else if(!strcmp (argv[1], "rps")) {

-      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_RPS);

-      strcpy(unit, "rps");

-      chprintf(chp, "L3GD20 Gyroscope unit set to radians per second...\r\n");

-    }

-    else {

-      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

-      return;

-    }

+  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: set [fs|unit] [value]\r\n");

+    chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");

+    return;

   }

 }

 

@@ -212,7 +171,7 @@ static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
 

 static const ShellCommand commands[] = {

   {"read", cmd_read},

-  {"set", cmd_set},

+  {"fullscale", cmd_fullscale},

   {"bias", cmd_bias},

   {NULL, NULL}

 };

diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
index 7a54839e0..644a155f6 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
@@ -34,7 +34,6 @@ static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
 static float cookeddata[L3GD20_NUMBER_OF_AXES];

 

 static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

-static char unit[4] = "dps";

 static uint32_t i;

 

 static const SPIConfig spicfg = {

@@ -50,7 +49,6 @@ static L3GD20Config l3gd20cfg = {
   &spicfg,                                   /* Pointer to SPI Configuration.*/

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

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

-  L3GD20_UNIT_DPS,                           /* Measurement unit DPS.*/

   L3GD20_FS_250DPS,                          /* Full scale value.*/

   L3GD20_ODR_760HZ,                          /* Output data rate.*/

 #if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)

@@ -103,7 +101,7 @@ static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
       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 %s\r\n", axisID[i], cookeddata[i], unit);

+        chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]);

       }

     }

     else {

@@ -114,62 +112,30 @@ static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
   chprintf(chp, "Stopped\r\n");

 }

 

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

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

   (void)argv;

-  if (argc < 1) {

-    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");

+  if (argc != 1) {

+    chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");

     return;

   }

-  if (!strcmp (argv[0], "fs")) {

 #if CHPRINTF_USE_ANSI_CODE

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

 #endif

-    if (argc != 2) {

-      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

-      return;

-    }

-    if(!strcmp (argv[1], "250")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");

-    }

-    else if(!strcmp (argv[1], "500")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");

-    }

-    else if(!strcmp (argv[1], "2000")) {

-      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);

-      chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");

-    }

-    else {

-      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

-      return;

-    }

+  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], "unit")) {

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-    if (argc != 2) {

-      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

-      return;

-    }

-    if(!strcmp (argv[1], "dps")) {

-      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_DPS);

-      strcpy(unit, "dps");

-      chprintf(chp, "L3GD20 Gyroscope unit set to degrees per second...\r\n");

-    }

-    else if(!strcmp (argv[1], "rps")) {

-      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_RPS);

-      strcpy(unit, "rps");

-      chprintf(chp, "L3GD20 Gyroscope unit set to radians per second...\r\n");

-    }

-    else {

-      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

-      return;

-    }

+  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: set [fs|unit] [value]\r\n");

+    chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");

+    return;

   }

 }

 

@@ -208,7 +174,7 @@ static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
 

 static const ShellCommand commands[] = {

   {"read", cmd_read},

-  {"set", cmd_set},

+  {"fullscale", cmd_fullscale},

   {"bias", cmd_bias},

   {NULL, NULL}

 };