diff options
Diffstat (limited to 'testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c')
| -rw-r--r-- | testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c | 156 |
1 files changed, 156 insertions, 0 deletions
diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c b/testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c new file mode 100644 index 000000000..9cb9000b1 --- /dev/null +++ b/testex/STM32/STM32F4xx/I2C-LSM6DSL/main.c @@ -0,0 +1,156 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in gyroliance 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 "chprintf.h"
+#include "lsm6dsl.h"
+
+#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
+
+/*===========================================================================*/
+/* LSM6DSL related. */
+/*===========================================================================*/
+
+/* LSM6DSL Driver: This object represent an LSM6DSL instance */
+static LSM6DSLDriver LSM6DSLD1;
+
+static int32_t accraw[LSM6DSL_ACC_NUMBER_OF_AXES];
+static int32_t gyroraw[LSM6DSL_GYRO_NUMBER_OF_AXES];
+
+static float acccooked[LSM6DSL_ACC_NUMBER_OF_AXES];
+static float gyrocooked[LSM6DSL_GYRO_NUMBER_OF_AXES];
+
+static char axisID[LSM6DSL_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const I2CConfig i2ccfg = {
+ OPMODE_I2C,
+ 400000,
+ FAST_DUTY_CYCLE_2,
+};
+
+static const LSM6DSLConfig lsm6dslcfg = {
+ &I2CD1,
+ &i2ccfg,
+ LSM6DSL_SAD_VCC,
+ NULL,
+ NULL,
+ LSM6DSL_ACC_FS_2G,
+ LSM6DSL_GYRO_ODR_52Hz,
+#if LSM6DSL_ACC_USE_ADVANCED
+ LSM6DSL_ACC_LP_ENABLED,
+#endif
+ NULL,
+ NULL,
+ LSM6DSL_GYRO_FS_250DPS,
+ LSM6DSL_GYRO_ODR_104Hz,
+#if LSM6DSL_GYRO_USE_ADVANCED
+ LSM6DSL_GYRO_LP_ENABLED,
+ LSM6DSL_GYRO_LPF_FTYPE1,
+#endif
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
+ LSM6DSL_BDU_BLOCKED,
+ LSM6DSL_END_LITTLE
+#endif
+};
+
+/*===========================================================================*/
+/* Generic code. */
+/*===========================================================================*/
+
+static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;
+/*
+ * LED blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+ (void)arg;
+ chRegSetThreadName("blinker");
+ while (true) {
+ palToggleLine(LINE_LED_GREEN);
+ chThdSleepMilliseconds(500);
+ }
+}
+
+
+/*
+ * 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();
+
+ /* Configuring I2C SCK and I2C SDA related GPIOs .*/
+ palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
+ PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
+ palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
+ PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
+
+ /* 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);
+
+ /* LSM6DSL Object Initialization.*/
+ lsm6dslObjectInit(&LSM6DSLD1);
+
+ /* Activates the LSM6DSL driver.*/
+ lsm6dslStart(&LSM6DSLD1, &lsm6dslcfg);
+
+ lsm6dslGyroscopeSampleBias(&LSM6DSLD1);
+
+ /* Normal main() thread activity, printing MEMS data on the SDU1.*/
+ while (true) {
+ lsm6dslAccelerometerReadRaw(&LSM6DSLD1, accraw);
+ chprintf(chp, "LSM6DSL Accelerometer raw data...\r\n");
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);
+ }
+
+ lsm6dslGyroscopeReadRaw(&LSM6DSLD1, gyroraw);
+ chprintf(chp, "LSM6DSL Gyroscope raw data...\r\n");
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);
+ }
+
+ lsm6dslAccelerometerReadCooked(&LSM6DSLD1, acccooked);
+ chprintf(chp, "LSM6DSL Accelerometer cooked data...\r\n");
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
+ }
+
+ lsm6dslGyroscopeReadCooked(&LSM6DSLD1, gyrocooked);
+ chprintf(chp, "LSM6DSL Gyroscope cooked data...\r\n");
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], gyrocooked[i]);
+ }
+ chThdSleepMilliseconds(100);
+ cls(chp);
+ }
+ lsm6dslStop(&LSM6DSLD1);
+}
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