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Diffstat (limited to 'testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c')
-rw-r--r--testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c277
1 files changed, 35 insertions, 242 deletions
diff --git a/testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c b/testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
index 19aa840b1..b60e5b6a4 100644
--- a/testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
+++ b/testex/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
@@ -17,13 +17,11 @@
#include "ch.h"
#include "hal.h"
-#include "usbcfg.h"
-#include "string.h"
-#include "shell.h"
#include "chprintf.h"
#include "lsm303dlhc.h"
+#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
/*===========================================================================*/
/* LSM303DLHC related. */
@@ -32,10 +30,11 @@
/* LSM303DLHC Driver: This object represent an LSM303DLHC instance */
static LSM303DLHCDriver LSM303DLHCD1;
-static int32_t rawdata[LSM303DLHC_ACC_NUMBER_OF_AXES +
- LSM303DLHC_COMP_NUMBER_OF_AXES];
-static float cookeddata[LSM303DLHC_ACC_NUMBER_OF_AXES +
- LSM303DLHC_COMP_NUMBER_OF_AXES];
+static int32_t accraw[LSM303DLHC_ACC_NUMBER_OF_AXES];
+static int32_t compraw[LSM303DLHC_COMP_NUMBER_OF_AXES];
+
+static float acccooked[LSM303DLHC_ACC_NUMBER_OF_AXES];
+static float compcooked[LSM303DLHC_COMP_NUMBER_OF_AXES];
static char axisID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
@@ -79,213 +78,10 @@ static const LSM303DLHCConfig lsm303dlhccfg = {
};
/*===========================================================================*/
-/* 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_read(BaseSequentialStream *chp, int argc, char *argv[]) {
- (void)argv;
- if (argc != 2) {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
-
- while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
- if (!strcmp (argv[0], "acc")) {
- if (!strcmp (argv[1], "raw")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- accelerometerReadRaw(&LSM303DLHCD1, rawdata);
- chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
- }
- }
- else if (!strcmp (argv[1], "cooked")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- accelerometerReadCooked(&LSM303DLHCD1, cookeddata);
- chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
- }
- else if (!strcmp (argv[0], "comp")) {
- if (!strcmp (argv[1], "raw")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- compassReadRaw(&LSM303DLHCD1, rawdata);
- chprintf(chp, "LSM303DLHC Compass raw data...\r\n");
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
- }
- }
- else if (!strcmp (argv[1], "cooked")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- compassReadCooked(&LSM303DLHCD1, cookeddata);
- chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i], cookeddata[i]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
- }
- else if (!strcmp (argv[0], "both")) {
- if (!strcmp (argv[1], "raw")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- sensorReadRaw(&LSM303DLHCD1, rawdata);
- chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
- }
- chprintf(chp, "LSM303DLHC Compass raw data...\r\n");
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i],
- rawdata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);
- }
- }
- else if (!strcmp (argv[1], "cooked")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- sensorReadCooked(&LSM303DLHCD1, cookeddata);
- chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
- for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
- }
- chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
- for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i],
- cookeddata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
- return;
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|comp|both] [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 [acc|comp] [value]\r\n");
- return;
- }
- if (!strcmp (argv[0], "acc")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- if(!strcmp (argv[1], "2G")) {
- accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_2G);
- chprintf(chp, "LSM303DLHC Accelerometer full scale set to 2G...\r\n");
- }
- else if(!strcmp (argv[1], "4G")) {
- accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_4G);
- chprintf(chp, "LSM303DLHC Accelerometer full scale set to 4G...\r\n");
- }
- else if(!strcmp (argv[1], "8G")) {
- accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_8G);
- chprintf(chp, "LSM303DLHC Accelerometer full scale set to 8G...\r\n");
- }
- else if(!strcmp (argv[1], "16G")) {
- accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_16G);
- chprintf(chp, "LSM303DLHC Accelerometer full scale set to 16G...\r\n");
- }
- else {
- chprintf(chp, "Usage: fullscale acc [2G|4G|8G|16G]\r\n");
- return;
- }
- }
- else if (!strcmp (argv[0], "comp")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- if(!strcmp (argv[1], "1.3")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P3GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 1.3 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "1.9")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P9GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 1.9 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "2.5")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_2P5GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 2.5 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "4.0")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P0GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 4.0 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "4.7")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P7GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 4.7 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "5.6")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_5P6GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 5.6 Gauss...\r\n");
- }
- else if(!strcmp (argv[1], "8.1")) {
- compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_8P1GA);
- chprintf(chp, "LSM303DLHC Compass full scale set to 8.1 Gauss...\r\n");
- }
- else {
- chprintf(chp, "Usage: fullscale comp [1.3|1.9|2.5|4.0|4.7|5.6|8.1]\r\n");
- return;
- }
- }
- else {
- chprintf(chp, "Usage: fullscale [acc|comp] [value]\r\n");
- return;
- }
-}
-
-static const ShellCommand commands[] = {
- {"read", cmd_read},
- {"fullscale", cmd_fullscale},
- {NULL, NULL}
-};
-
-static const ShellConfig shell_cfg1 = {
- (BaseSequentialStream *)&SDU1,
- commands
-};
-
-/*===========================================================================*/
/* Generic code. */
/*===========================================================================*/
+static BaseSequentialStream* chp = (BaseSequentialStream*)&SD1;
/*
* Red LED blinker thread, times are in milliseconds.
*/
@@ -295,13 +91,8 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
- systime_t time;
-
- time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
- palClearLine(LINE_LED3_RED);
- chThdSleepMilliseconds(time);
- palSetLine(LINE_LED3_RED);
- chThdSleepMilliseconds(time);
+ palToggleLine(LINE_LED3_RED);
+ chThdSleepMilliseconds(250);
}
}
@@ -321,25 +112,9 @@ int main(void) {
chSysInit();
/*
- * Initializes a serial-over-USB CDC driver.
- */
- sduObjectInit(&SDU1);
- sduStart(&SDU1, &serusbcfg);
-
- /*
- * Activates the USB driver and then the USB bus pull-up on D+.
- * Note, a delay is inserted in order to not have to disconnect the cable
- * after a reset.
- */
- usbDisconnectBus(serusbcfg.usbp);
- chThdSleepMilliseconds(1500);
- usbStart(serusbcfg.usbp, &usbcfg);
- usbConnectBus(serusbcfg.usbp);
-
- /*
- * Shell manager initialization.
+ * Activates the serial driver 1 using the driver default configuration.
*/
- shellInit();
+ sdStart(&SD1, NULL);
/*
* Creates the blinker thread.
@@ -360,13 +135,31 @@ int main(void) {
* Normal main() thread activity, spawning shells.
*/
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. */
+ accelerometerReadRaw(&(LSM303DLHCD1.accelerometer_if), accraw);
+ chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);
+ }
+
+ compassReadRaw(&(LSM303DLHCD1.compass_if), compraw);
+ chprintf(chp, "LSM303DLHC Compass raw data...\r\n");
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %d\r\n", axisID[i], compraw[i]);
+ }
+
+ accelerometerReadCooked(&(LSM303DLHCD1.accelerometer_if), acccooked);
+ chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
+ for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
+ }
+
+ compassReadCooked(&(LSM303DLHCD1.compass_if), compcooked);
+ chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
+ for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], compcooked[i]);
}
- chThdSleepMilliseconds(1000);
+ chThdSleepMilliseconds(100);
+ cls(chp);
}
lsm303dlhcStop(&LSM303DLHCD1);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-01 16:41:41 +0000