diff options
Diffstat (limited to 'testhal/STM32/STM32F4xx/SPI-L3GD20/main.c')
| -rw-r--r-- | testhal/STM32/STM32F4xx/SPI-L3GD20/main.c | 259 |
1 files changed, 0 insertions, 259 deletions
diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c deleted file mode 100644 index 2019b99a3..000000000 --- a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c +++ /dev/null @@ -1,259 +0,0 @@ -/*
- ChibiOS - Copyright (C) 2006..2016 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 "string.h"
-#include "shell.h"
-#include "chprintf.h"
-
-#include "l3gd20.h"
-
-/*===========================================================================*/
-/* L3GD20 related. */
-/*===========================================================================*/
-
-/* 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 axisID[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_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register.*/
- 0 /* CR2 register.*/
-};
-
-static L3GD20Config l3gd20cfg = {
- &SPID1, /* Pointer to SPI Driver.*/
- &spicfg, /* Pointer to SPI Configuration.*/
- NULL, /* Use default sensitivity.*/
- NULL, /* Use default bias.*/
- L3GD20_FS_250DPS, /* Full scale value.*/
- L3GD20_ODR_760HZ, /* Output data rate.*/
-#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
- L3GD20_BDU_CONTINUOUS,
- L3GD20_END_LITTLE,
- L3GD20_BW3,
- L3GD20_HPM_REFERENCE,
- L3GD20_HPCF_8,
- L3GD20_LP2M_ON,
-#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 != 1) {
- chprintf(chp, "Usage: read [raw|cooked]\r\n");
- return;
- }
-
- while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
- if (!strcmp (argv[0], "raw")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- gyroscopeReadRaw(&L3GD20D1, rawdata);
- chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
- for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
- }
- }
- else if (!strcmp (argv[0], "cooked")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- gyroscopeReadCooked(&L3GD20D1, cookeddata);
- chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");
- for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
- chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]);
- }
- }
- else {
- chprintf(chp, "Usage: read [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 [250|500|2000]\r\n");
- return;
- }
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- if(!strcmp (argv[0], "250")) {
- gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);
- chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");
- }
- else if(!strcmp (argv[0], "500")) {
- gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);
- chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");
- }
- else if(!strcmp (argv[0], "2000")) {
- gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);
- chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");
- }
- else {
- chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");
- return;
- }
-}
-
-static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
- (void)argv;
- if (argc != 1) {
- chprintf(chp, "Usage: bias [sample|reset]\r\n");
- return;
- }
- if(!strcmp (argv[0], "sample")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- chprintf(chp, "Please don't move the device while Green LED is on!\r\n");
- chprintf(chp, "Press a key to start...\r\n");
- while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT)
- ;
- palSetLine(LINE_LED4);
-
- chThdSleepMilliseconds(1000);
- gyroscopeSampleBias(&L3GD20D1);
- palClearLine(LINE_LED4);
-
-
- chprintf(chp, "Procedure completed!\r\n");
- }
- else if(!strcmp (argv[0], "reset")) {
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- gyroscopeResetBias(&L3GD20D1);
- chprintf(chp, "Bias correction removed!\r\n");
- }
- else {
- chprintf(chp, "Usage: bias [sample|reset]\r\n");
- return;
- }
-}
-
-static const ShellCommand commands[] = {
- {"read", cmd_read},
- {"fullscale", cmd_fullscale},
- {"bias", cmd_bias},
- {NULL, NULL}
-};
-
-static const ShellConfig shell_cfg1 = {
- (BaseSequentialStream *)&SDU1,
- 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) {
- systime_t time;
-
- time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
- palClearLine(LINE_LED5);
- chThdSleepMilliseconds(time);
- palSetLine(LINE_LED5);
- chThdSleepMilliseconds(time);
- }
-}
-
-/*
- * 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);
-
- /* Shell manager initialization.*/
- shellInit();
-
- while(TRUE) {
- if (SDU1.config->usbp->state == USB_ACTIVE) {
- thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
- "shell", NORMALPRIO + 1,
- shellThread, (void *)&shell_cfg1);
- chThdWait(shelltp); /* Waiting termination. */
- }
- chThdSleepMilliseconds(1000);
- }
- l3gd20Stop(&L3GD20D1);
- return 0;
-}
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