diff options
Diffstat (limited to 'testhal/STM32/STM32F3xx/SPI-L3GD20/main.c')
| -rw-r--r-- | testhal/STM32/STM32F3xx/SPI-L3GD20/main.c | 178 |
1 files changed, 178 insertions, 0 deletions
diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c new file mode 100644 index 000000000..d9925b041 --- /dev/null +++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c @@ -0,0 +1,178 @@ +/*
+ 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 "usbcfg.h"
+#include "chprintf.h"
+#include "l3gd20.h"
+
+/*
+ * DP resistor control is not possible on the STM32F3-Discovery, using stubs
+ * for the connection macros.
+ */
+#define usb_lld_connect_bus(usbp)
+#define usb_lld_disconnect_bus(usbp)
+
+/* Enable use of special ANSI escape sequences */
+#define CHPRINTF_USE_ANSI_CODE TRUE
+
+static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
+
+/* L3GD20 Driver: This object represent an L3GD20 instance */
+static L3GD20Driver L3GD20D1;
+
+static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
+static float cookeddata[L3GD20_NUMBER_OF_AXES];
+
+static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const SPIConfig spicfg = {
+ NULL,
+ GPIOE, /* port of L3GD20 CS */
+ GPIOE_L3GD20_CS, /* pin of L3GD20 CS */
+ SPI_CR1_BR | SPI_CR1_CPOL | SPI_CR1_CPHA, /* CR1 register */
+ 0 /* CR2 register */
+};
+
+static L3GD20Config l3gd20cfg = {
+ &SPID1, /* Pointer to SPI Driver */
+ &spicfg, /* Pointer to SPI Configuration */
+ L3GD20_FS_250DPS, /* Full scale value */
+ L3GD20_ODR_760HZ_FC_30, /* Output data rate */
+ L3GD20_AE_XYZ, /* Enabled axes */
+ L3GD20_BDU_BLOCKED, /* Block data update */
+ L3GD20_END_LITTLE /* Endianness */
+};
+
+/*
+ * 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_LED6_GREEN);
+ chThdSleepMilliseconds(50);
+ palToggleLine(LINE_LED4_BLUE);
+ chThdSleepMilliseconds(50);
+ palToggleLine(LINE_LED3_RED);
+ chThdSleepMilliseconds(50);
+ palToggleLine(LINE_LED5_ORANGE);
+ chThdSleepMilliseconds(50);
+ palToggleLine(LINE_LED7_GREEN);
+ chThdSleepMilliseconds(200);
+ }
+}
+
+/*
+ * 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();
+
+ /*
+ * Initializes a serial-over-USB CDC driver.
+ */
+ sduObjectInit(&SDU1);
+ sduStart(&SDU1, &serusbcfg);
+
+ /*
+ * Activates the USB driver and then the USB bus pull-up on D+.
+ * Note, a delay is inserted in order to not have to disconnect the cable
+ * after a reset.
+ */
+ usbDisconnectBus(serusbcfg.usbp);
+ chThdSleepMilliseconds(1500);
+ usbStart(serusbcfg.usbp, &usbcfg);
+ usbConnectBus(serusbcfg.usbp);
+
+ /*
+ * Creates the blinker thread.
+ */
+ chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
+
+ /*
+ * L3GD20 Object Initialization
+ */
+ l3gd20ObjectInit(&L3GD20D1);
+
+ /*
+ * Activates the L3GD20 driver.
+ */
+ l3gd20Start(&L3GD20D1, &l3gd20cfg);
+
+ while(!palReadLine(LINE_BUTTON)){
+ palToggleLine(LINE_LED10_RED);
+ gyroscopeReadRaw(&L3GD20D1, rawdata);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
+
+ gyroscopeReadCooked(&L3GD20D1, cookeddata);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
+
+ chprintf(chp, "Press Button to continue...\r\n");
+ chThdSleepMilliseconds(150);
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ }
+
+ palClearLine(LINE_LED10_RED);
+ chprintf(chp, "Calibrating Gyroscope...\r\n");
+ chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
+ chThdSleepMilliseconds(3000);
+
+ palSetLine(LINE_LED10_RED);
+ chThdSleepMilliseconds(1000);
+
+ gyroscopeCalibrate(&L3GD20D1);
+ palClearLine(LINE_LED10_RED);
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+
+ while (TRUE) {
+ palToggleLine(LINE_LED10_RED);
+ gyroscopeReadRaw(&L3GD20D1, rawdata);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
+
+ gyroscopeReadCooked(&L3GD20D1, cookeddata);
+ for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
+ chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
+
+ chThdSleepMilliseconds(150);
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ }
+ l3gd20Stop(&L3GD20D1);
+}
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