diff options
Diffstat (limited to 'testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c')
| -rw-r--r-- | testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c | 214 |
1 files changed, 214 insertions, 0 deletions
diff --git a/testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c b/testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c new file mode 100644 index 000000000..a4a86a226 --- /dev/null +++ b/testex/STM32/STM32F4xx/I2C-LIS3MLD/main.c @@ -0,0 +1,214 @@ +/*
+ 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 "string.h"
+#include "shell.h"
+#include "chprintf.h"
+
+#include "lis3mdl.h"
+
+/*===========================================================================*/
+/* LIS3MDL related. */
+/*===========================================================================*/
+
+/* LIS3MDL Driver: This object represent an LIS3MDL instance.*/
+static LIS3MDLDriver LIS3MDLD1;
+
+static int32_t rawdata[LIS3MDL_NUMBER_OF_AXES];
+static float cookeddata[LIS3MDL_NUMBER_OF_AXES];
+
+static char axisID[LIS3MDL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const I2CConfig i2ccfg = {
+ OPMODE_I2C,
+ 400000,
+ FAST_DUTY_CYCLE_2,
+};
+
+static LIS3MDLConfig LIS3MDLcfg = {
+ &I2CD1, /* Pointer to I2C Driver.*/
+ &i2ccfg, /* Pointer to I2C Configuration.*/
+ NULL, /* Use default sensitivity.*/
+ NULL, /* Use default bias.*/
+ LIS3MDL_SAD_VCC, /* Slave address.*/
+ LIS3MDL_FS_4GA, /* Full scale value.*/
+ LIS3MDL_ODR_40HZ, /* Output data rate.*/
+#if LIS3MDL_USE_ADVANCED || defined(__DOXYGEN__)
+ LIS3MDL_LP_ENABLED,
+ LIS3MDL_MD_CONTINUOUS,
+ LIS3MDL_OMXY_LOW_POWER,
+ LIS3MDL_OMZ_LOW_POWER,
+ LIS3MDL_BDU_CONTINUOUS,
+ LIS3MDL_END_LITTLE
+#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
+ compassReadRaw(&LIS3MDLD1, rawdata);
+ chprintf(chp, "LIS3MDL compass raw data...\r\n");
+ for(i = 0; i < LIS3MDL_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
+ compassReadCooked(&LIS3MDLD1, cookeddata);
+ chprintf(chp, "LIS3MDL compass cooked data...\r\n");
+ for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f Gauss\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 [4|8|12|16]\r\n");
+ return;
+ }
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ if(!strcmp (argv[0], "4")) {
+ compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_4GA);
+ chprintf(chp, "LIS3MDL compass full scale set to 4 Gauss...\r\n");
+ }
+ else if(!strcmp (argv[0], "8")) {
+ compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_8GA);
+ chprintf(chp, "LIS3MDL compass full scale set to 8 Gauss...\r\n");
+ }
+ else if(!strcmp (argv[0], "12")) {
+ compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_12GA);
+ chprintf(chp, "LIS3MDL compass full scale set to 12 Gauss...\r\n");
+ }
+ else if(!strcmp (argv[0], "16")) {
+ compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_16GA);
+ chprintf(chp, "LIS3MDL compass full scale set to 16 Gauss...\r\n");
+ }
+ else {
+ chprintf(chp, "Usage: fullscale [4|8|12|16]\r\n");
+ return;
+ }
+}
+
+static const ShellCommand commands[] = {
+ {"read", cmd_read},
+ {"fullscale", cmd_fullscale},
+ {NULL, NULL}
+};
+
+static const ShellConfig shell_cfg1 = {
+ (BaseSequentialStream *)&SD2,
+ commands
+};
+
+/*===========================================================================*/
+/* Main code. */
+/*===========================================================================*/
+
+/*
+ * LED blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+ (void)arg;
+ chRegSetThreadName("blinker");
+ while (true) {
+ palClearLine(LINE_LED_GREEN);
+ chThdSleepMilliseconds(250);
+ palSetLine(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();
+
+ palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
+ PAL_STM32_OSPEED_HIGHEST);
+ palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ /*
+ * 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);
+
+ /* LIS3MDL Object Initialization.*/
+ lis3mdlObjectInit(&LIS3MDLD1);
+
+ /* Activates the LIS3MDL driver.*/
+ lis3mdlStart(&LIS3MDLD1, &LIS3MDLcfg);
+
+ /* Shell manager initialization.*/
+ shellInit();
+
+ while(TRUE) {
+ thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
+ "shell", NORMALPRIO + 1,
+ shellThread, (void *)&shell_cfg1);
+ chThdWait(shelltp); /* Waiting termination. */
+ }
+ lis3mdlStop(&LIS3MDLD1);
+ return 0;
+}
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