1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
|
/*
ChibiOS - Copyright (C) 2006..2018 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 "chprintf.h"
#include "lsm303dlhc.h"
#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
/*===========================================================================*/
/* LSM303DLHC related. */
/*===========================================================================*/
/* LSM303DLHC Driver: This object represent an LSM303DLHC instance */
static LSM303DLHCDriver LSM303DLHCD1;
static int32_t accraw[LSM303DLHC_ACC_NUMBER_OF_AXES];
static int32_t compraw[LSM303DLHC_COMP_NUMBER_OF_AXES];
static float acccooked[LSM303DLHC_ACC_NUMBER_OF_AXES];
static float compcooked[LSM303DLHC_COMP_NUMBER_OF_AXES];
static char axisID[LSM303DLHC_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
};
static const LSM303DLHCConfig lsm303dlhccfg = {
&I2CD1,
&i2ccfg,
NULL,
NULL,
LSM303DLHC_ACC_FS_4G,
LSM303DLHC_ACC_ODR_100Hz,
#if LSM303DLHC_USE_ADVANCED
LSM303DLHC_ACC_LP_DISABLED,
LSM303DLHC_ACC_HR_DISABLED,
LSM303DLHC_ACC_BDU_BLOCK,
LSM303DLHC_ACC_END_LITTLE,
#endif
NULL,
NULL,
LSM303DLHC_COMP_FS_1P3GA,
LSM303DLHC_COMP_ODR_30HZ,
#if LSM303DLHC_USE_ADVANCED
LSM303DLHC_COMP_MD_BLOCK
#endif
};
/*===========================================================================*/
/* Generic code. */
/*===========================================================================*/
static BaseSequentialStream* chp = (BaseSequentialStream*)&SD1;
/*
* Red 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_LED3_RED);
chThdSleepMilliseconds(250);
}
}
/*
* 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();
/* Activates the serial driver 1 using the driver default configuration.*/
sdStart(&SD1, NULL);
/* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/* LSM303DLHC Object Initialization.*/
lsm303dlhcObjectInit(&LSM303DLHCD1);
/* Activates the LSM303DLHC driver.*/
lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg);
/* Normal main() thread activity, printing MEMS data on the SD1. */
while (true) {
lsm303dlhcAccelerometerReadRaw(&LSM303DLHCD1, accraw);
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], accraw[i]);
}
lsm303dlhcCompassReadRaw(&LSM303DLHCD1, compraw);
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], compraw[i]);
}
lsm303dlhcAccelerometerReadCooked(&LSM303DLHCD1, acccooked);
chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
}
lsm303dlhcCompassReadCooked(&LSM303DLHCD1, compcooked);
chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], compcooked[i]);
}
chThdSleepMilliseconds(100);
cls(chp);
}
lsm303dlhcStop(&LSM303DLHCD1);
}
|
