diff options
Diffstat (limited to 'testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c')
| -rw-r--r-- | testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c | 304 |
1 files changed, 255 insertions, 49 deletions
diff --git a/testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c b/testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c index df7f14f69..fdf0199f4 100644 --- a/testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c +++ b/testhal/STM32/STM32L4xx/I2C-LSM6DS0/main.c @@ -2,7 +2,7 @@ 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 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
@@ -17,53 +17,60 @@ #include "ch.h"
#include "hal.h"
+#include "string.h"
+#include "shell.h"
#include "chprintf.h"
-#include "lsm6ds0.h"
-
-/* Enable use of special ANSI escape sequences */
-#define CHPRINTF_USE_ANSI_CODE TRUE
-static BaseSequentialStream * chp = (BaseSequentialStream*) &SD2;
+#include "lsm6ds0.h"
+/*===========================================================================*/
+/* LSM6DS0 related. */
+/*===========================================================================*/
/* LSM6DS0 Driver: This object represent an LSM6DS0 instance */
-static LSM6DS0Driver LSM6DS0D1;
+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 float temp;
+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 axesID[LSM6DS0_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+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
+ 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 = {
- LSM6DS0_ACC_FS_2G,
- LSM6DS0_ACC_ODR_50Hz,
- LSM6DS0_ACC_AE_XYZ,
+ {0, 0, 0}, /* Use default sensitivity.*/
+ {0, 0, 0}, /* Use default bias.*/
+ LSM6DS0_ACC_FS_2G, /* Full scale value 2g.*/
+ LSM6DS0_ACC_ODR_50Hz, /* Output data rate 100 Hz.*/
+#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
LSM6DS0_ACC_OBW_AA,
LSM6DS0_ACC_HR_ENABLED,
LSM6DS0_ACC_FDS_DISABLED,
LSM6DS0_ACC_DCF_9,
LSM6DS0_ACC_AABW_AUTO,
LSM6DS0_ACC_DEC_DISABLED,
- LSM6DS0_ACC_UNIT_SI
+#endif
};
static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {
- LSM6DS0_GYRO_FS_245DSP,
- LSM6DS0_GYRO_ODR_119HZ_FC_31,
- LSM6DS0_GYRO_AE_XYZ,
+ {0, 0, 0}, /* Use default sensitivity.*/
+ {0, 0, 0}, /* Use default bias.*/
+ LSM6DS0_GYRO_FS_245DPS, /* Full scale value 245DPS.*/
+ LSM6DS0_GYRO_ODR_119HZ_FC_31 /* Output data rate 119 Hz.*/
+#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 = {
@@ -72,10 +79,213 @@ static const LSM6DS0Config lsm6ds0cfg = { &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.
*/
@@ -100,37 +310,33 @@ int main(void) { 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);
- while (TRUE) {
- palToggleLine(LINE_LED_GREEN);
- sensorReadRaw(&LSM6DS0D1, rawdata);
- sensorReadCooked(&LSM6DS0D1, cookeddata);
- gyroscopeGetTemp(&LSM6DS0D1, &temp);
- chprintf(chp, "ACCELEROMETER DATA\r\n");
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
- chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);
- chprintf(chp, "\r\n");
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
- chprintf(chp, "COOKED-%c:%.3f g\t", axesID[i], cookeddata[i]);
-
- chprintf(chp, "\r\nGYROSCOPE DATA\r\n");
- for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
- chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i + 3]);
- chprintf(chp, "\r\n");
- for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
- chprintf(chp, "COOKED-%c:%.3f dps\t", axesID[i], cookeddata[i + 3]);
- chprintf(chp, "\r\n");
- chprintf(chp, "TEMPERATURE DATA\r\n");
- chprintf(chp, "LSM6DS0:%.3f C°\t", temp);
- chprintf(chp, "\r\n");
- chThdSleepMilliseconds(100);
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
+ /*
+ * 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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