diff options
Diffstat (limited to 'testhal/STM32')
4 files changed, 132 insertions, 46 deletions
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile b/testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile index d1fbfb2b1..13a8fe6f5 100644 --- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile +++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile @@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk # Other files (optional).
include $(CHIBIOS)/os/ex/ST/lis302dl.mk
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
@@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \ $(BOARDSRC) \
$(LIS302DLSRC) \
$(STREAMSSRC) \
+ $(SHELLSRC) \
usbcfg.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM) INCDIR = $(CHIBIOS)/os/license \
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS302DLINC) \
- $(STREAMSINC) $(CHIBIOS)/os/various
+ $(STREAMSINC) $(SHELLINC)
#
# Project, sources and paths
@@ -198,7 +200,8 @@ CPPWARN = -Wall -Wextra -Wundef #
# List all user C define here, like -D_DEBUG=1
-UDEFS = -DCHPRINTF_USE_FLOAT=1
+UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
+ -DLIS302DL_USE_ADVANCED=0
# Define ASM defines here
UADEFS =
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch b/testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch index 9fd9e2b08..66baeff93 100644 --- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch +++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch @@ -33,7 +33,7 @@ <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
-<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="cr2-adc_lld_start_conversion-(format)" val="4"/><content id="CR2-adc-null-port_wait_for_interrupt-(format)" val="4"/><content id="CR2-adc-adcp-adc_lld_start_conversion-(format)" val="4"/></contentList>"/>
+<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="cr2-adc_lld_start_conversion-(format)" val="4"/><content id="CR2-adc-null-port_wait_for_interrupt-(format)" val="4"/><content id="CR2-adc-adcp-adc_lld_start_conversion-(format)" val="4"/><content id="null-read_raw.lto_priv.67-(format)" val="0"/><content id="buff[0]-null-read_raw.lto_priv.67-(format)" val="2"/><content id="buff[1]-null-read_raw.lto_priv.67-(format)" val="2"/><content id="buff[2]-null-read_raw.lto_priv.67-(format)" val="2"/></contentList>"/>
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <globalVariableList/> "/>
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList/> "/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c b/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c index 429f7b0bb..fcdbfe81b 100644 --- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c +++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c @@ -18,14 +18,15 @@ #include "hal.h"
#include "usbcfg.h"
-
+#include "string.h"
+#include "shell.h"
#include "chprintf.h"
-#include "lis302dl.h"
-/* Enable use of special ANSI escape sequences */
-#define CHPRINTF_USE_ANSI_CODE TRUE
+#include "lis302dl.h"
-static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
+/*===========================================================================*/
+/* LIS302DL related. */
+/*===========================================================================*/
/* LIS302DL Driver: This object represent an LIS302DL instance */
static LIS302DLDriver LIS302DLD1;
@@ -33,26 +34,111 @@ static LIS302DLDriver LIS302DLD1; static int32_t rawdata[LIS302DL_NUMBER_OF_AXES];
static float cookeddata[LIS302DL_NUMBER_OF_AXES];
-static char axesID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char axisID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
static const SPIConfig spicfg = {
NULL,
- GPIOE, /* port of LIS302DL CS */
- GPIOE_CS_SPI, /* pin of LIS302DL CS */
- SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register*/ /* CR2 register */
+ GPIOE, /* port of LIS302DL CS.*/
+ GPIOE_CS_SPI, /* pin of LIS302DL CS.*/
+ SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register.*/
+ 0 /* CR2 register.*/
};
-static LIS302DLConfig lis302dlcfg = {
- &SPID1, /* Pointer to SPI Driver */
- &spicfg, /* Pointer to SPI Configuration */
+static LIS302DLConfig l3gd20cfg = {
+ &SPID1, /* Pointer to SPI Driver.*/
+ &spicfg, /* Pointer to SPI Configuration.*/
+ {0, 0, 0}, /* Use default sensitivity.*/
+ {0, 0, 0}, /* Use default bias.*/
LIS302DL_FS_2G, /* Full scale value */
LIS302DL_ODR_100HZ, /* Output data rate */
+#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
LIS302DL_HP_DISABLED, /* HP filter disabled */
- LIS302DL_AE_XYZ, /* Enabled axes */
- LIS302DL_ACC_UNIT_G /* Measurement unit for cooked */
+#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
+ accelerometerReadRaw(&LIS302DLD1, rawdata);
+ chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");
+ for(i = 0; i < LIS302DL_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
+ accelerometerReadCooked(&LIS302DLD1, cookeddata);
+ chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");
+ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.4f mg\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 [2G|8G]\r\n");
+ return;
+ }
+#if CHPRINTF_USE_ANSI_CODE
+ chprintf(chp, "\033[2J\033[1;1H");
+#endif
+ if(!strcmp (argv[0], "2G")) {
+ accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_2G);
+ chprintf(chp, "LIS302DL Accelerometer full scale set to 2 g...\r\n");
+ }
+ else if(!strcmp (argv[0], "8G")) {
+ accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_8G);
+ chprintf(chp, "LIS302DL Accelerometer full scale set to 8 g...\r\n");
+ }
+ else {
+ chprintf(chp, "Usage: fullscale [2G|8G]\r\n");
+ return;
+ }
+}
+
+static const ShellCommand commands[] = {
+ {"read", cmd_read},
+ {"fullscale", cmd_fullscale},
+ {NULL, NULL}
+};
+
+static const ShellConfig shell_cfg1 = {
+ (BaseSequentialStream *)&SDU1,
+ commands
};
+/*===========================================================================*/
+/* Main code. */
+/*===========================================================================*/
+
/*
* LED blinker thread, times are in milliseconds.
*/
@@ -62,8 +148,13 @@ static THD_FUNCTION(Thread1, arg) { (void)arg;
chRegSetThreadName("blinker");
while (true) {
- palToggleLine(LINE_LED6);
- chThdSleepMilliseconds(250);
+ systime_t time;
+
+ time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
+ palClearLine(LINE_LED6);
+ chThdSleepMilliseconds(time);
+ palSetLine(LINE_LED6);
+ chThdSleepMilliseconds(time);
}
}
@@ -82,9 +173,7 @@ int main(void) { halInit();
chSysInit();
- /*
- * Initializes a serial-over-USB CDC driver.
- */
+ /* Initializes a serial-over-USB CDC driver.*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
@@ -97,35 +186,29 @@ int main(void) { chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
- /*
- * Creates the blinker thread.
- */
+
+ /* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
- /*
- * LIS302DL Object Initialization
- */
+ /* LIS302DL Object Initialization.*/
lis302dlObjectInit(&LIS302DLD1);
- /*
- * Activates the LIS302DL driver.
- */
- lis302dlStart(&LIS302DLD1, &lis302dlcfg);
+ /* Activates the LIS302DL driver.*/
+ lis302dlStart(&LIS302DLD1, &l3gd20cfg);
- while (TRUE) {
- palToggleLine(LINE_LED3);
- accelerometerReadRaw(&LIS302DLD1, rawdata);
- for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
- chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
+ /* Shell manager initialization.*/
+ shellInit();
- accelerometerReadCooked(&LIS302DLD1, cookeddata);
- for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
- chprintf(chp, "COOKED-%c:%.3f g\r\n", axesID[i], cookeddata[i]);
-
- chThdSleepMilliseconds(150);
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
+ 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);
}
lis302dlStop(&LIS302DLD1);
+ return 0;
}
+
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt b/testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt index 354fff29a..11e515e07 100644 --- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt +++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt @@ -8,7 +8,7 @@ The demo runs on an STM32F407 Discovery board rev MB997B. ** The Demo **
-The demo flashes the board LED using a thread, read data from LIS302L printing
+The demo flashes the board LED using a thread, read data from LIS302DL printing
it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).
** Build Procedure **
|