From 8d4c6ef5b8c18ce3415ec60711296b90fb4da487 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Sun, 10 Jul 2016 20:02:39 +0000 Subject: EX: LSM303DLHC driver updated to v1.0.0 git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9700 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- testhal/STM32/STM32F3xx/I2C-LSM303DLHC/Makefile | 7 +- testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c | 315 ++++++++++++++++++++---- 2 files changed, 277 insertions(+), 45 deletions(-) (limited to 'testhal/STM32/STM32F3xx') diff --git a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/Makefile b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/Makefile index fe15d208b..707dd7bd5 100644 --- a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/Makefile +++ b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/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/lsm303dlhc.mk include $(CHIBIOS)/os/hal/lib/streams/streams.mk +include $(CHIBIOS)/os/various/shell/shell.mk # Define linker script file here LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld @@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \ $(BOARDSRC) \ $(LSM303DLHCSRC) \ $(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) $(LSM303DLHCINC) \ - $(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 \ + -DLSM303DLHC_ACC_USE_ADVANCED=0 -DLSM303DLHC_COMP_USE_ADVANCED=0 # Define ASM defines here UADEFS = diff --git a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c index 5cee22670..30bcf3881 100644 --- a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c +++ b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c @@ -18,28 +18,25 @@ #include "hal.h" #include "usbcfg.h" +#include "string.h" +#include "shell.h" #include "chprintf.h" -#include "lsm303dlhc.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 +#include "lsm303dlhc.h" -static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1; +/*===========================================================================*/ +/* LSM303DLHC related. */ +/*===========================================================================*/ /* LSM303DLHC Driver: This object represent an LSM303DLHC instance */ static LSM303DLHCDriver LSM303DLHCD1; -static int32_t rawdata[LSM303DLHC_ACC_NUMBER_OF_AXES + LSM303DLHC_COMP_NUMBER_OF_AXES]; -static float cookeddata[LSM303DLHC_ACC_NUMBER_OF_AXES + LSM303DLHC_COMP_NUMBER_OF_AXES]; +static int32_t rawdata[LSM303DLHC_ACC_NUMBER_OF_AXES + + LSM303DLHC_COMP_NUMBER_OF_AXES]; +static float cookeddata[LSM303DLHC_ACC_NUMBER_OF_AXES + + LSM303DLHC_COMP_NUMBER_OF_AXES]; -static char axesID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'}; +static char axisID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'}; static uint32_t i; static const I2CConfig i2ccfg = { @@ -51,20 +48,24 @@ static const I2CConfig i2ccfg = { }; static const LSM303DLHCAccConfig lsm303dlhcacccfg = { - LSM303DLHC_ACC_FS_2G, - LSM303DLHC_ACC_ODR_100Hz, - LSM303DLHC_ACC_AE_XYZ, + {0, 0, 0}, /* Use default sensitivity.*/ + {0, 0, 0}, /* Use default bias.*/ + LSM303DLHC_ACC_FS_4G, /* Full scale value 2g.*/ + LSM303DLHC_ACC_ODR_100Hz, /* Output data rate 100 Hz.*/ +#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__) LSM303DLHC_ACC_LP_DISABLED, LSM303DLHC_ACC_HR_DISABLED, LSM303DLHC_ACC_BDU_BLOCK, LSM303DLHC_ACC_END_LITTLE, - LSM303DLHC_ACC_UNIT_G +#endif }; static const LSM303DLHCCompConfig lsm303dlhccompcfg = { - LSM303DLHC_COMP_FS_1_3_GA, - LSM303DLHC_COMP_ODR_30HZ, - LSM303DLHC_COMP_MD_CONT, + LSM303DLHC_COMP_FS_1P3GA, /* Full scale value 1.3 Gauss.*/ + LSM303DLHC_COMP_ODR_30HZ, /* Output data rate 30 Hz.*/ +#if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__) + LSM303DLHC_COMP_MD_BLOCK +#endif }; static const LSM303DLHCConfig lsm303dlhccfg = { @@ -74,6 +75,233 @@ static const LSM303DLHCConfig lsm303dlhccfg = { &lsm303dlhccompcfg }; +/*===========================================================================*/ +/* Command line related. */ +/*===========================================================================*/ + +/* + * 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 +#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|comp|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(&LSM303DLHCD1, rawdata); + chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n"); + for(i = 0; i < LSM303DLHC_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(&LSM303DLHCD1, cookeddata); + chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n"); + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]); + } + } + else { + chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n"); + return; + } + } + else if (!strcmp (argv[0], "comp")) { + if (!strcmp (argv[1], "raw")) { +#if CHPRINTF_USE_ANSI_CODE + chprintf(chp, "\033[2J\033[1;1H"); +#endif + compassReadRaw(&LSM303DLHCD1, rawdata); + chprintf(chp, "LSM303DLHC Compass raw data...\r\n"); + for(i = 0; i < LSM303DLHC_COMP_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 + compassReadCooked(&LSM303DLHCD1, cookeddata); + chprintf(chp, "LSM303DLHC Compass cooked data...\r\n"); + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i], cookeddata[i]); + } + } + else { + chprintf(chp, "Usage: read [acc|comp|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(&LSM303DLHCD1, rawdata); + chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n"); + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]); + } + chprintf(chp, "LSM303DLHC Compass raw data...\r\n"); + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %d\r\n", axisID[i], + rawdata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]); + } + } + else if (!strcmp (argv[1], "cooked")) { +#if CHPRINTF_USE_ANSI_CODE + chprintf(chp, "\033[2J\033[1;1H"); +#endif + sensorReadCooked(&LSM303DLHCD1, cookeddata); + chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n"); + for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]); + } + chprintf(chp, "LSM303DLHC Compass cooked data...\r\n"); + for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) { + chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i], + cookeddata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]); + } + } + else { + chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n"); + return; + } + } + else { + chprintf(chp, "Usage: read [acc|comp|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|comp] [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(&LSM303DLHCD1, LSM303DLHC_ACC_FS_2G); + chprintf(chp, "LSM303DLHC Accelerometer full scale set to 2G...\r\n"); + } + else if(!strcmp (argv[1], "4G")) { + accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_4G); + chprintf(chp, "LSM303DLHC Accelerometer full scale set to 4G...\r\n"); + } + else if(!strcmp (argv[1], "8G")) { + accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_8G); + chprintf(chp, "LSM303DLHC Accelerometer full scale set to 8G...\r\n"); + } + else if(!strcmp (argv[1], "16G")) { + accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_16G); + chprintf(chp, "LSM303DLHC Accelerometer full scale set to 4G...\r\n"); + } + else { + chprintf(chp, "Usage: fullscale acc [2G|4G|8G|16G]\r\n"); + return; + } + } + else if (!strcmp (argv[0], "comp")) { +#if CHPRINTF_USE_ANSI_CODE + chprintf(chp, "\033[2J\033[1;1H"); +#endif + if(!strcmp (argv[1], "1.3")) { + compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P3GA); + chprintf(chp, "LSM303DLHC Compass full scale set to 1.3 Gauss...\r\n"); + } + else if(!strcmp (argv[1], "1.9")) { + compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P9GA); + chprintf(chp, "LSM303DLHC Compass full scale set to 1.9 Gauss...\r\n"); + } + else if(!strcmp (argv[1], "2.5")) { + compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_2P5GA); + chprintf(chp, "LSM303DLHC Compass full scale set to 2.5 Gauss...\r\n"); + } + else if(!strcmp (argv[1], "4.0")) { + compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P0GA); + chprintf(chp, "LSM303DLHC Compass full scale set to 4.0 Gauss...\r\n"); + } + else if(!strcmp (argv[1], "4.7")) { + compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P7GA); + chprintf(chp, "LSM303DLHC Compass full scale set to 4.7 Gauss...\r\n"); + } + else if(!strcmp (argv[1], "5.6")) { + compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_5P6GA); + chprintf(chp, "LSM303DLHC Compass full scale set to 5.6 Gauss...\r\n"); + } + else if(!strcmp (argv[1], "8.1")) { + compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_8P1GA); + chprintf(chp, "LSM303DLHC Compass full scale set to 8.1 Gauss...\r\n"); + } + else { + chprintf(chp, "Usage: fullscale comp [1.3|1.9|2.5|4.0|4.7|5.6|8.1]\r\n"); + return; + } + } + else { + chprintf(chp, "Usage: fullscale [acc|comp] [value]\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. + */ +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_LED3_RED); + chThdSleepMilliseconds(time); + palSetLine(LINE_LED3_RED); + chThdSleepMilliseconds(time); + } +} + /* * Application entry point. */ @@ -105,34 +333,35 @@ int main(void) { usbStart(serusbcfg.usbp, &usbcfg); usbConnectBus(serusbcfg.usbp); + /* + * Creates the blinker thread. + */ + chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL); + /* * LSM303DLHC Object Initialization */ lsm303dlhcObjectInit(&LSM303DLHCD1); + /* + * Activates the LSM303DLHC driver. + */ lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg); - while (TRUE) { - palToggleLine(LINE_LED3_RED); - sensorReadRaw(&LSM303DLHCD1, rawdata); - sensorReadCooked(&LSM303DLHCD1, cookeddata); - chprintf(chp, "ACCELEROMETER DATA\r\n"); - for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) - chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]); - chprintf(chp, "\r\n"); - for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) - chprintf(chp, "COOKED-%c:%.3f g\t", axesID[i], cookeddata[i]); - - chprintf(chp, "\r\nCOMPSCOPE DATA\r\n"); - for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) - chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i + 3]); - chprintf(chp, "\r\n"); - for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) - chprintf(chp, "COOKED-%c:%.3f Gauss\t", axesID[i], cookeddata[i + 3]); - 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) { + 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); } + lsm303dlhcStop(&LSM303DLHCD1); + return 0; } -- cgit v1.2.3