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
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
|
/*
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 "string.h"
#include "shell.h"
#include "chprintf.h"
#include "lis3mdl.h"
/*===========================================================================*/
/* LIS3MDL related. */
/*===========================================================================*/
/* LIS3MDL Driver: This object represent an LIS3MDL instance.*/
static LIS3MDLDriver LIS3MDLD1;
static int32_t rawdata[LIS3MDL_NUMBER_OF_AXES];
static float cookeddata[LIS3MDL_NUMBER_OF_AXES];
static char axisID[LIS3MDL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
static const I2CConfig i2ccfg = {
OPMODE_I2C,
400000,
FAST_DUTY_CYCLE_2,
};
static LIS3MDLConfig LIS3MDLcfg = {
&I2CD1,
&i2ccfg,
NULL,
NULL,
LIS3MDL_SAD_VCC,
LIS3MDL_FS_4GA,
LIS3MDL_ODR_40HZ,
#if LIS3MDL_USE_ADVANCED
LIS3MDL_LP_ENABLED,
LIS3MDL_MD_CONTINUOUS,
LIS3MDL_OMXY_LOW_POWER,
LIS3MDL_OMZ_LOW_POWER,
LIS3MDL_BDU_CONTINUOUS,
LIS3MDL_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 != 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
compassReadRaw(&LIS3MDLD1, rawdata);
chprintf(chp, "LIS3MDL compass raw data...\r\n");
for(i = 0; i < LIS3MDL_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
compassReadCooked(&LIS3MDLD1, cookeddata);
chprintf(chp, "LIS3MDL compass cooked data...\r\n");
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.3f Gauss\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 [4|8|12|16]\r\n");
return;
}
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
if(!strcmp (argv[0], "4")) {
compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_4GA);
chprintf(chp, "LIS3MDL compass full scale set to 4 Gauss...\r\n");
}
else if(!strcmp (argv[0], "8")) {
compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_8GA);
chprintf(chp, "LIS3MDL compass full scale set to 8 Gauss...\r\n");
}
else if(!strcmp (argv[0], "12")) {
compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_12GA);
chprintf(chp, "LIS3MDL compass full scale set to 12 Gauss...\r\n");
}
else if(!strcmp (argv[0], "16")) {
compassSetFullScale(&LIS3MDLD1, LIS3MDL_FS_16GA);
chprintf(chp, "LIS3MDL compass full scale set to 16 Gauss...\r\n");
}
else {
chprintf(chp, "Usage: fullscale [4|8|12|16]\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(250);
palSetLine(LINE_LED_GREEN);
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();
palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD2, NULL);
/* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
/* LIS3MDL Object Initialization.*/
lis3mdlObjectInit(&LIS3MDLD1);
/* Activates the LIS3MDL driver.*/
lis3mdlStart(&LIS3MDLD1, &LIS3MDLcfg);
/* 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. */
}
lis3mdlStop(&LIS3MDLD1);
return 0;
}
|
