diff options
Diffstat (limited to 'testex/STM32/STM32L4xx/I2C-LSM6DS0/main.c')
| -rw-r--r-- | testex/STM32/STM32L4xx/I2C-LSM6DS0/main.c | 344 |
1 files changed, 0 insertions, 344 deletions
diff --git a/testex/STM32/STM32L4xx/I2C-LSM6DS0/main.c b/testex/STM32/STM32L4xx/I2C-LSM6DS0/main.c deleted file mode 100644 index 75da1f011..000000000 --- a/testex/STM32/STM32L4xx/I2C-LSM6DS0/main.c +++ /dev/null @@ -1,344 +0,0 @@ -/*
- 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 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 "lsm6ds0.h"
-
-/*===========================================================================*/
-/* LSM6DS0 related. */
-/*===========================================================================*/
-/* LSM6DS0 Driver: This object represent an LSM6DS0 instance */
-static LSM6DS0Driver LSM6DS0D1;
-
-static int32_t rawdata[LSM6DS0_ACC_NUMBER_OF_AXES +
- LSM6DS0_GYRO_NUMBER_OF_AXES];
-static float cookeddata[LSM6DS0_ACC_NUMBER_OF_AXES +
- LSM6DS0_GYRO_NUMBER_OF_AXES];
-
-static char axisID[LSM6DS0_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
-static uint32_t i;
-
-static const I2CConfig i2ccfg = {
- STM32_TIMINGR_PRESC(15U) |
- STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |
- STM32_TIMINGR_SCLH(15U) | STM32_TIMINGR_SCLL(21U),
- 0,
- 0
-};
-
-static const LSM6DS0AccConfig lsm6ds0acccfg = {
- NULL,
- NULL,
- LSM6DS0_ACC_FS_2G,
- LSM6DS0_ACC_ODR_50Hz,
-#if LSM6DS0_ACC_USE_ADVANCED
- LSM6DS0_ACC_OBW_AA,
- LSM6DS0_ACC_HR_ENABLED,
- LSM6DS0_ACC_FDS_DISABLED,
- LSM6DS0_ACC_DCF_9,
- LSM6DS0_ACC_AABW_AUTO,
- LSM6DS0_ACC_DEC_DISABLED,
-#endif
-};
-
-static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {
- NULL,
- NULL,
- LSM6DS0_GYRO_FS_245DPS,
- LSM6DS0_GYRO_ODR_119HZ_FC_31,
-#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
- LSM6DS0_GYRO_LP_DISABLED,
- LSM6DS0_GYRO_OUT_SEL_0,
- LSM6DS0_GYRO_HP_DISABLED,
- LSM6DS0_GYRO_HPCF_0
-#endif
-};
-
-static const LSM6DS0Config lsm6ds0cfg = {
- &I2CD1,
- &i2ccfg,
- &lsm6ds0acccfg,
- &lsm6ds0gyrocfg,
- LSM6DS0_SAD_VCC,
-#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
- LSM6DS0_BDU_BLOCKED,
- LSM6DS0_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 != 2) {
- chprintf(chp, "Usage: read [acc|gyro|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(&LSM6DS0D1, rawdata);
- chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n");
- for(i = 0; i < LSM6DS0_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(&LSM6DS0D1, cookeddata);
- chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");
- return;
- }
- }
- else if (!strcmp (argv[0], "gyro")) {
- if (!strcmp (argv[1], "raw")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- gyroscopeReadRaw(&LSM6DS0D1, rawdata);
- chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n");
- for(i = 0; i < LSM6DS0_GYRO_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
- gyroscopeReadCooked(&LSM6DS0D1, cookeddata);
- chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");
- for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|gyro|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(&LSM6DS0D1, rawdata);
- chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n");
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
- }
- chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n");
- for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i],
- rawdata[i + LSM6DS0_ACC_NUMBER_OF_AXES]);
- }
- }
- else if (!strcmp (argv[1], "cooked")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- sensorReadCooked(&LSM6DS0D1, cookeddata);
- chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
- }
- chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");
- for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i],
- cookeddata[i + LSM6DS0_ACC_NUMBER_OF_AXES]);
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");
- return;
- }
- }
- else {
- chprintf(chp, "Usage: read [acc|gyro|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|gyro] [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(&LSM6DS0D1, LSM6DS0_ACC_FS_2G);
- chprintf(chp, "LSM6DS0 Accelerometer full scale set to 2G...\r\n");
- }
- else if(!strcmp (argv[1], "4G")) {
- accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_4G);
- chprintf(chp, "LSM6DS0 Accelerometer full scale set to 4G...\r\n");
- }
- else if(!strcmp (argv[1], "8G")) {
- accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_8G);
- chprintf(chp, "LSM6DS0 Accelerometer full scale set to 8G...\r\n");
- }
- else if(!strcmp (argv[1], "16G")) {
- accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_16G);
- chprintf(chp, "LSM6DS0 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], "gyro")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- if(!strcmp (argv[1], "245")) {
- gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_245DPS);
- chprintf(chp, "LSM6DS0 Gyroscope full scale set to 245 DPS...\r\n");
- }
- else if(!strcmp (argv[1], "500")) {
- gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_500DPS);
- chprintf(chp, "LSM6DS0 Gyroscope full scale set to 500 DPS...\r\n");
- }
- else if(!strcmp (argv[1], "2000")) {
- gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_2000DPS);
- chprintf(chp, "LSM6DS0 Gyroscope full scale set to 2000 DPS...\r\n");
- }
- else {
- chprintf(chp, "Usage: fullscale gyro [245|500|2000]\r\n");
- return;
- }
- }
- else {
- chprintf(chp, "Usage: fullscale [acc|gyro] [value]\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(500);
- palSetLine(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();
-
- palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
- PAL_STM32_OSPEED_HIGH | PAL_STM32_OTYPE_OPENDRAIN);
- palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
- PAL_STM32_OSPEED_HIGH | 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);
-
- /*
- * LSM6DS0 Object Initialization
- */
- lsm6ds0ObjectInit(&LSM6DS0D1);
-
- /*
- * Activates the LSM6DS0 driver.
- */
- lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);
-
- /*
- * 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. */
- chThdSleepMilliseconds(1000);
- }
- lsm6ds0Stop(&LSM6DS0D1);
- return 0;
-}
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