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-rw-r--r--testhal/STM32/STM32F3xx/SPI-L3GD20/main.c2
-rw-r--r--testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt4
-rw-r--r--testhal/STM32/STM32F4xx/SPI-L3GD20/Makefile9
-rw-r--r--testhal/STM32/STM32F4xx/SPI-L3GD20/main.c249
-rw-r--r--testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt4
-rw-r--r--testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile7
-rw-r--r--testhal/STM32/STM32L4xx/SPI-L3GD20/main.c240
-rw-r--r--testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt4
8 files changed, 408 insertions, 111 deletions
diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
index b37a16d5a..beb2b6927 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -186,7 +186,7 @@ static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
#endif
chprintf(chp, "Please don't move the device while Green LEDs are on!\r\n");
chprintf(chp, "Press a key to start...\r\n");
- while (chnGetTimeout((BaseChannel *)chp, TIME_IMMEDIATE) == Q_TIMEOUT)
+ while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT)
;
palSetLine(LINE_LED6_GREEN);
palSetLine(LINE_LED7_GREEN);
diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt b/testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt
index 39d8d97f6..f84f6001a 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt
@@ -8,8 +8,8 @@ The demo runs on an STM32F3 Discovery board.
** The Demo **
-The demo flashes the board LED using a thread, read data from L3GD20 printing
-it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).
+The demo uses the ChibiOS Shell in order to test L3GD20 APIs.
+Shell is used on the SDU1 BaseSequentialStream.
** Build Procedure **
diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/Makefile b/testhal/STM32/STM32F4xx/SPI-L3GD20/Makefile
index b37fcca12..db92c1e2c 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/Makefile
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/Makefile
@@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
include $(CHIBIOS)/os/ex/ST/l3gd20.mk
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F401xC.ld
@@ -113,8 +114,9 @@ CSRC = $(STARTUPSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
- $(L3GD20SRC) \
+ $(L3GD20SRC) \
$(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) $(L3GD20INC) \
- $(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 \
+ -DL3GD20_USE_ADVANCED=0
# Define ASM defines here
UADEFS =
diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
index e6e732898..af0cdcae9 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -18,42 +18,206 @@
#include "hal.h"
#include "usbcfg.h"
-
+#include "string.h"
+#include "shell.h"
#include "chprintf.h"
-#include "l3gd20.h"
-/* Enable use of special ANSI escape sequences */
-#define CHPRINTF_USE_ANSI_CODE TRUE
+#include "l3gd20.h"
-static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
+/*===========================================================================*/
+/* L3GD20 related. */
+/*===========================================================================*/
/* 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 float temperature;
-static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char unit[4] = "dps";
static uint32_t i;
static const SPIConfig spicfg = {
NULL,
GPIOE, /* port of L3GD20 CS */
GPIOE_L3GD20_CS, /* pin of L3GD20 CS */
- SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register*/ /* CR2 register */
+ SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register*/
+ 0 /* CR2 register */
};
static L3GD20Config l3gd20cfg = {
&SPID1, /* Pointer to SPI Driver */
&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_FC_30, /* Output data rate */
- L3GD20_AE_XYZ, /* Enabled axes */
- L3GD20_BDU_BLOCKED, /* Block data update */
- L3GD20_END_LITTLE /* Endianness */
+ L3GD20_ODR_760HZ, /* Output data rate */
+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
+ L3GD20_BDU_CONTINUOUS,
+ L3GD20_END_LITTLE,
+ L3GD20_BW3,
+ L3GD20_HPM_REFERENCE,
+ L3GD20_HPCF_8,
+ L3GD20_LP2M_ON,
+#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_get(BaseSequentialStream *chp, int argc, char *argv[]) {
+ (void)argv;
+ if (argc != 1) {
+ chprintf(chp, "Usage: get [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
+ gyroscopeReadRaw(&L3GD20D1, rawdata);
+ chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
+ for(i = 0; i < L3GD20_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
+ 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);
+ }
+ }
+ else {
+ chprintf(chp, "Usage: get [raw|cooked]\r\n");
+ return;
+ }
+ }
+ chprintf(chp, "Stopped\r\n");
+}
+
+static void cmd_set(BaseSequentialStream *chp, int argc, char *argv[]) {
+ (void)argv;
+ if (argc < 1) {
+ chprintf(chp, "Usage: set [fs|unit] [value]\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;
+ }
+ }
+ 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 {
+ chprintf(chp, "Usage: set [fs|unit] [value]\r\n");
+ }
+}
+
+static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
+ (void)argv;
+ if (argc != 1) {
+ chprintf(chp, "Usage: bias [sample|reset]\r\n");
+ return;
+ }
+ if(!strcmp (argv[0], "sample")) {
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ chprintf(chp, "Please don't move the device while Green LED is on!\r\n");
+ chprintf(chp, "Press a key to start...\r\n");
+ while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT) {
+ ;
+ }
+ palSetLine(LINE_LED4);
+ chThdSleepMilliseconds(1000);
+ gyroscopeSampleBias(&L3GD20D1);
+ palClearLine(LINE_LED4);
+
+ chprintf(chp, "Procedure completed!\r\n");
+ }
+ else if(!strcmp (argv[0], "reset")) {
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ gyroscopeResetBias(&L3GD20D1);
+ chprintf(chp, "Bias correction removed!\r\n");
+ }
+ else {
+ chprintf(chp, "Usage: bias [sample|reset]\r\n");
+ return;
+ }
+}
+
+static const ShellCommand commands[] = {
+ {"get", cmd_get},
+ {"set", cmd_set},
+ {"bias", cmd_bias},
+ {NULL, NULL}
+};
+
+static const ShellConfig shell_cfg1 = {
+ (BaseSequentialStream *)&SDU1,
+ commands
};
+/*===========================================================================*/
+/* Main code. */
+/*===========================================================================*/
+
/*
* LED blinker thread, times are in milliseconds.
*/
@@ -63,8 +227,13 @@ 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_LED5);
+ chThdSleepMilliseconds(time);
+ palSetLine(LINE_LED5);
+ chThdSleepMilliseconds(time);
}
}
@@ -98,6 +267,7 @@ int main(void) {
chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
+
/*
* Creates the blinker thread.
*/
@@ -113,45 +283,20 @@ int main(void) {
*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
- while(!palReadLine(LINE_BUTTON)) {
- chprintf(chp, "Press BTN to calibrate gyroscope...\r\n");
- chThdSleepMilliseconds(150);
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- }
-
- palClearLine(LINE_LED3);
- chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
- chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
- chThdSleepMilliseconds(3000);
-
- palSetLine(LINE_LED5);
- chThdSleepMilliseconds(1000);
-
- gyroscopeSampleBias(&L3GD20D1);
- palClearLine(LINE_LED5);
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
-
- while (TRUE) {
- palToggleLine(LINE_LED3);
- 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:%.3f\r\n", axesID[i], cookeddata[i]);
-
- gyroscopeGetTemp(&L3GD20D1, &temperature);
- chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
+ /*
+ * Shell manager initialization.
+ */
+ shellInit();
- chThdSleepMilliseconds(150);
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
+ 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);
}
l3gd20Stop(&L3GD20D1);
+ return 0;
}
diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt b/testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt
index d58aa3b23..2dd9006e4 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt
@@ -8,8 +8,8 @@ The demo runs on an STM32F401C Discovery board.
** The Demo **
-The demo flashes the board LED using a thread, read data from L3GD20 printing
-it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).
+The demo uses the ChibiOS Shell in order to test L3GD20 APIs.
+Shell is used on the SDU1 BaseSequentialStream.
** Build Procedure **
diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile b/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile
index 2ce900855..4f6779d7b 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile
@@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
include $(CHIBIOS)/os/ex/ST/l3gd20.mk
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32L476xG.ld
@@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
$(BOARDSRC) \
$(L3GD20SRC) \
$(STREAMSSRC) \
+ $(SHELLSRC) \
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) $(L3GD20INC) \
- $(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 \
+ -DL3GD20_USE_ADVANCED=0
# Define ASM defines here
UADEFS =
diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
index 288a15c81..403f78916 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
@@ -17,22 +17,24 @@
#include "ch.h"
#include "hal.h"
+#include "string.h"
+#include "shell.h"
#include "chprintf.h"
-#include "l3gd20.h"
-/* Enable use of special ANSI escape sequences */
-#define CHPRINTF_USE_ANSI_CODE TRUE
+#include "l3gd20.h"
-static BaseSequentialStream * chp = (BaseSequentialStream*) &SD2;
+/*===========================================================================*/
+/* L3GD20 related. */
+/*===========================================================================*/
/* 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 float temperature;
-static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char unit[4] = "dps";
static uint32_t i;
static const SPIConfig spicfg = {
@@ -46,13 +48,180 @@ static const SPIConfig spicfg = {
static L3GD20Config l3gd20cfg = {
&SPID2, /* Pointer to SPI Driver */
&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_FC_30, /* Output data rate */
- L3GD20_AE_XYZ, /* Enabled axes */
- L3GD20_BDU_BLOCKED, /* Block data update */
- L3GD20_END_LITTLE /* Endianness */
+ L3GD20_ODR_760HZ, /* Output data rate */
+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
+ L3GD20_BDU_CONTINUOUS,
+ L3GD20_END_LITTLE,
+ L3GD20_BW3,
+ L3GD20_HPM_REFERENCE,
+ L3GD20_HPCF_8,
+ L3GD20_LP2M_ON,
+#endif
+};
+
+/*===========================================================================*/
+/* Command line related. */
+/*===========================================================================*/
+
+/*
+ * DP resistor control is not possible on the STM32F3-Discovery, using stubs
+ * for the connection macros.
+ */
+#define usb_lld_connect_bus(usbp)
+#define usb_lld_disconnect_bus(usbp)
+
+/* 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_get(BaseSequentialStream *chp, int argc, char *argv[]) {
+ (void)argv;
+ if (argc != 1) {
+ chprintf(chp, "Usage: get [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
+ gyroscopeReadRaw(&L3GD20D1, rawdata);
+ chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
+ for(i = 0; i < L3GD20_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
+ 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);
+ }
+ }
+ else {
+ chprintf(chp, "Usage: get [raw|cooked]\r\n");
+ return;
+ }
+ }
+ chprintf(chp, "Stopped\r\n");
+}
+
+static void cmd_set(BaseSequentialStream *chp, int argc, char *argv[]) {
+ (void)argv;
+ if (argc < 1) {
+ chprintf(chp, "Usage: set [fs|unit] [value]\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;
+ }
+ }
+ 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 {
+ chprintf(chp, "Usage: set [fs|unit] [value]\r\n");
+ }
+}
+
+static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
+ (void)argv;
+ if (argc != 1) {
+ chprintf(chp, "Usage: bias [sample|reset]\r\n");
+ return;
+ }
+ if(!strcmp (argv[0], "sample")) {
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ chprintf(chp, "Please don't move the device while Green LED is on!\r\n");
+ chprintf(chp, "Press a key to start...\r\n");
+ while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT)
+ ;
+ palSetLine(LINE_LED_GREEN);
+ chThdSleepMilliseconds(1000);
+ gyroscopeSampleBias(&L3GD20D1);
+ palClearLine(LINE_LED_GREEN);
+ chprintf(chp, "Procedure completed!\r\n");
+ }
+ else if(!strcmp (argv[0], "reset")) {
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ gyroscopeResetBias(&L3GD20D1);
+ chprintf(chp, "Bias correction removed!\r\n");
+ }
+ else {
+ chprintf(chp, "Usage: bias [sample|reset]\r\n");
+ return;
+ }
+}
+
+static const ShellCommand commands[] = {
+ {"get", cmd_get},
+ {"set", cmd_set},
+ {"bias", cmd_bias},
+ {NULL, NULL}
+};
+
+static const ShellConfig shell_cfg1 = {
+ (BaseSequentialStream *)&SD2,
+ commands
};
+/*===========================================================================*/
+/* Main code. */
+/*===========================================================================*/
+
/*
* LED blinker thread, times are in milliseconds.
*/
@@ -62,8 +231,10 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
- palToggleLine(LINE_LED_GREEN);
- chThdSleepMilliseconds(250);
+ palClearLine(LINE_LED_RED);
+ chThdSleepMilliseconds(500);
+ palSetLine(LINE_LED_RED);
+ chThdSleepMilliseconds(500);
}
}
@@ -102,42 +273,17 @@ int main(void) {
*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
- while(!palReadLine(LINE_JOY_CENTER)){
- chprintf(chp, "Press JOY to calibrate gyroscope...\r\n");
- chThdSleepMilliseconds(150);
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- }
-
- chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
- chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
- palSetLine(LINE_LED_RED);
- chThdSleepMilliseconds(1000);
-
- gyroscopeSampleBias(&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:%.3f\r\n", axesID[i], cookeddata[i]);
-
- gyroscopeGetTemp(&L3GD20D1, &temperature);
- chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
+ /*
+ * Shell manager initialization.
+ */
+ shellInit();
- chThdSleepMilliseconds(150);
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
+ while(TRUE) {
+ thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
+ "shell", NORMALPRIO + 1,
+ shellThread, (void *)&shell_cfg1);
+ chThdWait(shelltp); /* Waiting termination. */
}
l3gd20Stop(&L3GD20D1);
+ return 0;
}
diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt b/testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt
index 9d0aab6f2..1119b8764 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt
@@ -8,8 +8,8 @@ The demo runs on an STM32L4 Discovery board.
** The Demo **
-The demo flashes the board LED using a thread, read data from L3GD20 printing
-it on a BaseSequentialStream (USART2, mapped on USB virtual COM port).
+The demo uses the ChibiOS Shell in order to test L3GD20 APIs.
+Shell is used on the SDU1 BaseSequentialStream.
** Build Procedure **
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-01 18:40:37 +0000