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-rw-r--r--testex/STM32/STM32F4xx/I2C-LPS25H/main.c2
-rw-r--r--testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile32
-rw-r--r--testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c277
3 files changed, 62 insertions, 249 deletions
diff --git a/testex/STM32/STM32F4xx/I2C-LPS25H/main.c b/testex/STM32/STM32F4xx/I2C-LPS25H/main.c
index 640a82c91..014af067e 100644
--- a/testex/STM32/STM32F4xx/I2C-LPS25H/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LPS25H/main.c
@@ -97,7 +97,7 @@ int main(void) {
palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
- /* Activates the serial driver 1 using the driver default configuration.*/
+ /* Activates the serial driver 2 using the driver default configuration.*/
sdStart(&SD2, NULL);
/* Creates the blinker thread.*/
diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile b/testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile
index f205016a5..b404ccd51 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile
+++ b/testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile
@@ -87,6 +87,9 @@ PROJECT = ch
# Imported source files and paths
CHIBIOS = ../../../..
+
+# Licensing files.
+include $(CHIBIOS)/os/license/license.mk
# Startup files.
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
# HAL-OSAL files (optional).
@@ -97,31 +100,23 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
-# Other files (optional).
+# EX files (optional).
include $(CHIBIOS)/os/ex/ST/lsm6ds0.mk
+# Other files (optional).
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
-include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F401xE.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
-CSRC = $(STARTUPSRC) \
- $(KERNSRC) \
- $(PORTSRC) \
- $(OSALSRC) \
- $(HALSRC) \
- $(PLATFORMSRC) \
- $(BOARDSRC) \
- $(LSM6DS0SRC) \
- $(STREAMSSRC) \
- $(SHELLSRC) \
+CSRC = $(ALLCSRC) \
+ $(TESTSRC) \
main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
-CPPSRC =
+CPPSRC = $(ALLCPPSRC)
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@@ -144,13 +139,10 @@ TCSRC =
TCPPSRC =
# List ASM source files here
-ASMSRC =
-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
+ASMSRC = $(ALLASMSRC)
+ASMXSRC = $(ALLXASMSRC)
-INCDIR = $(CHIBIOS)/os/license \
- $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
- $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LSM6DS0INC) \
- $(STREAMSINC) $(SHELLINC)
+INCDIR = $(ALLINC) $(TESTINC)
#
# Project, sources and paths
@@ -200,7 +192,7 @@ CPPWARN = -Wall -Wextra -Wundef
#
# List all user C define here, like -D_DEBUG=1
-UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
+UDEFS = -DCHPRINTF_USE_FLOAT=1 \
-DLSM6DS0_USE_ADVANCED=0 -DLSM6DS0_GYRO_USE_ADVANCED=0 \
-DLSM6DS0_ACC_USE_ADVANCED=0 -DLSM6DS0_SHARED_I2C=0
diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c b/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
index 73cd07b3f..bd1bd5d6a 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
@@ -2,7 +2,7 @@
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 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
@@ -17,22 +17,23 @@
#include "ch.h"
#include "hal.h"
-#include "string.h"
-#include "shell.h"
#include "chprintf.h"
-
#include "lsm6ds0.h"
+#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
+
/*===========================================================================*/
/* 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 int32_t accraw[LSM6DS0_ACC_NUMBER_OF_AXES];
+static int32_t gyroraw[LSM6DS0_GYRO_NUMBER_OF_AXES];
+
+static float acccooked[LSM6DS0_ACC_NUMBER_OF_AXES];
+static float gyrocooked[LSM6DS0_GYRO_NUMBER_OF_AXES];
static char axisID[LSM6DS0_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
@@ -43,7 +44,10 @@ static const I2CConfig i2ccfg = {
FAST_DUTY_CYCLE_2,
};
-static const LSM6DS0AccConfig lsm6ds0acccfg = {
+static const LSM6DS0Config lsm6ds0cfg = {
+ &I2CD1,
+ &i2ccfg,
+ LSM6DS0_SAD_VCC,
NULL,
NULL,
LSM6DS0_ACC_FS_2G,
@@ -51,9 +55,6 @@ static const LSM6DS0AccConfig lsm6ds0acccfg = {
#if LSM6DS0_ACC_USE_ADVANCED
LSM6DS0_ACC_DEC_X4,
#endif
-};
-
-static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {
NULL,
NULL,
LSM6DS0_GYRO_FS_245DPS,
@@ -64,14 +65,6 @@ static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {
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
@@ -79,190 +72,10 @@ static const LSM6DS0Config lsm6ds0cfg = {
};
/*===========================================================================*/
-/* 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. */
+/* Generic code. */
/*===========================================================================*/
+static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;
/*
* LED blinker thread, times are in milliseconds.
*/
@@ -272,13 +85,12 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
- palClearLine(LINE_LED_GREEN);
- chThdSleepMilliseconds(500);
- palSetLine(LINE_LED_GREEN);
+ palToggleLine(LINE_LED_GREEN);
chThdSleepMilliseconds(500);
}
}
+
/*
* Application entry point.
*/
@@ -294,44 +106,53 @@ int main(void) {
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.
- */
+ /* Activates the serial driver 2 using the driver default configuration.*/
sdStart(&SD2, NULL);
- /*
- * Creates the blinker thread.
- */
+ /* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
- /*
- * LSM6DS0 Object Initialization
- */
+ /* LSM6DS0 Object Initialization.*/
lsm6ds0ObjectInit(&LSM6DS0D1);
- /*
- * Activates the LSM6DS0 driver.
- */
+ /* Activates the LSM6DS0 driver.*/
lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);
- /*
- * Shell manager initialization.
- */
- shellInit();
+ lsm6ds0GyroscopeSampleBias(&LSM6DS0D1);
+
+ /* Normal main() thread activity, printing MEMS data on the SDU1.*/
+ while (true) {
+ lsm6ds0AccelerometerReadRaw(&LSM6DS0D1, accraw);
+ 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], accraw[i]);
+ }
- while(TRUE) {
+ lsm6ds0GyroscopeReadRaw(&LSM6DS0D1, gyroraw);
+ 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], gyroraw[i]);
+ }
+
+ lsm6ds0AccelerometerReadCooked(&LSM6DS0D1, acccooked);
+ chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
+ }
- thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
- "shell", NORMALPRIO + 1,
- shellThread, (void *)&shell_cfg1);
- chThdWait(shelltp); /* Waiting termination. */
- chThdSleepMilliseconds(1000);
+ lsm6ds0GyroscopeReadCooked(&LSM6DS0D1, gyrocooked);
+ chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], gyrocooked[i]);
+ }
+ chThdSleepMilliseconds(100);
+ cls(chp);
}
lsm6ds0Stop(&LSM6DS0D1);
- return 0;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-26 09:00:23 +0000