1 files changed, 101 insertions, 0 deletions
diff --git a/testhal/STM32/STM32F2xx/I2C-LIS3MLD/main.c b/testhal/STM32/STM32F2xx/I2C-LIS3MLD/main.c
new file mode 100644
index 000000000..fc222136b
--- /dev/null
+++ b/testhal/STM32/STM32F2xx/I2C-LIS3MLD/main.c
@@ -0,0 +1,101 @@
+/*
+    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 "chprintf.h"
+#include "lis3mdl.h"
+
+/* Enable use of special ANSI escape sequences */
+#define CHPRINTF_USE_ANSI_CODE         TRUE
+
+static BaseSequentialStream * chp = (BaseSequentialStream*) &SD3;
+
+/* 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 axesID[LIS3MDL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const I2CConfig i2ccfg = {
+   OPMODE_I2C,
+   400000,
+   FAST_DUTY_CYCLE_2,
+};
+
+static const LIS3MDLConfig lis3mdlcfg = {
+  &I2CD1,
+  &i2ccfg,
+  LIS3MDL_SAD_VCC,
+  LIS3MDL_FS_4GA,
+  LIS3MDL_ODR_40HZ,
+  LIS3MDL_LP_DISABLED,
+  LIS3MDL_MD_CONTINUOUS,
+  LIS3MDL_OMXY_ULTRA,
+  LIS3MDL_OMZ_ULTRA,
+  LIS3MDL_TEMP_ENABLED,
+  LIS3MDL_BDU_BLOCKED,
+  LIS3MDL_END_LITTLE
+};
+
+/*
+ * 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();
+
+  /*
+   * Activates the serial driver 3 using the driver default configuration.
+   */
+  sdStart(&SD3, NULL);
+
+  /*
+   * LIS3MDL Object Initialization
+   */
+  lis3mdlObjectInit(&LIS3MDLD1);
+
+  lis3mdlStart(&LIS3MDLD1, &lis3mdlcfg);
+
+  while (TRUE) {
+    palToggleLine(LINE_LED2);
+    compassReadRaw(&LIS3MDLD1, rawdata);
+    compassReadCooked(&LIS3MDLD1, cookeddata);
+#if CHPRINTF_USE_ANSI_CODE
+    chprintf(chp, "\033[2J\033[1;1H");
+#endif
+    chprintf(chp, "COMPASS DATA\r\n");
+    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+      chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);
+    chprintf(chp, "\r\n");
+    for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
+      chprintf(chp, "COOKED-%c:%.3f Gauss\t", axesID[i], cookeddata[i]);
+    chprintf(chp, "\r\n");
+    chThdSleepMilliseconds(100);
+  }
+}