Fixes an improvements to EX demos

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9471 35acf78f-673a-0410-8e92-d51de3d6d3f4

6 files changed, 35 insertions, 8 deletions

diff --git a/os/ex/ST/lis3dsh.c b/os/ex/ST/lis3dsh.c
index 880cf391e..517b325e5 100644
--- a/os/ex/ST/lis3dsh.c
+++ b/os/ex/ST/lis3dsh.c
@@ -466,6 +466,24 @@ static msg_t reset_sensivity(void *ip) {
   return MSG_OK;
 }
 
+static msg_t get_temperature(void *ip, int8_t* tempp) {
+#if LIS3DSH_USE_SPI
+  osalDbgAssert((((LIS3DSHDriver *)ip)->config->spip->state == SPI_READY),
+                "read_raw(), channel not ready");
+#if	LIS3DSH_SHARED_SPI
+  spiAcquireBus(((LIS3DSHDriver *)ip)->config->spip);
+  spiStart(((LIS3DSHDriver *)ip)->config->spip,
+           ((LIS3DSHDriver *)ip)->config->spicfg);
+#endif /* LIS3DSH_SHARED_SPI */   
+  *tempp = lis3dshSPIReadRegister(((LIS3DSHDriver *)ip)->config->spip,
+                                    LIS3DSH_AD_OUT_T);
+#if	LIS3DSH_SHARED_SPI
+  spiReleaseBus(((LIS3DSHDriver *)ip)->config->spip);
+#endif /* LIS3DSH_SHARED_SPI */   
+#endif /* LIS3DSH_USE_SPI */ 
+  return MSG_OK;
+}
+
 static const struct BaseSensorVMT vmt_basesensor = {
   get_axes_number, read_raw, read_cooked
 };
@@ -477,7 +495,8 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
 
 static const struct LIS3DSHVMT vmt_lis3dsh = {
   get_axes_number, read_raw, read_cooked,
-  set_bias, reset_bias, set_sensivity, reset_sensivity
+  set_bias, reset_bias, set_sensivity, reset_sensivity,
+  get_temperature
 };
 
 /*===========================================================================*/
diff --git a/os/ex/ST/lis3dsh.h b/os/ex/ST/lis3dsh.h
index 7d1002f87..1f0ebcd17 100644
--- a/os/ex/ST/lis3dsh.h
+++ b/os/ex/ST/lis3dsh.h
@@ -241,7 +241,9 @@ typedef struct LIS3DSHDriver LIS3DSHDriver;
  * @brief   @p LIS3DSH specific methods.
  */
 #define _lis3dsh_methods                                                    \
-  _base_accelerometer_methods
+  _base_accelerometer_methods                                               \
+  /* Retrieve the temperature of L3GD20 chip.*/                             \
+  msg_t (*get_temperature)(void *instance, int8_t* temperature);
 
 /**
  * @extends BaseAccelerometerVMT
@@ -291,16 +293,17 @@ struct LIS3DSHDriver {
 /**
  * @brief   Get current MEMS temperature.
  * @detail  This information is very useful especially for high accuracy IMU
+ * @note    Value is raw since there is a lack of information in datasheet.
  *
  * @param[in] ip        pointer to a @p BaseAccelerometer class.
- * @param[out] temp     the MEMS temperature as single precision floating.
+ * @param[out] temp     the MEMS temperature as raw data.
  *
  * @return              The operation status.
  * @retval MSG_OK       if the function succeeded.
  * @retval MSG_RESET    if one or more errors occurred.
  * @api
  */
-#define accelerometerGetTemp(ip, tpp)                                           \
+#define accelerometerGetTemp(ip, tpp)                                       \
         (ip)->vmt_lis3dsh->get_temperature(ip, tpp)
 
 /*===========================================================================*/
diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
index fb4edfb21..e6e732898 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -113,12 +113,13 @@ int main(void) {
    */

   l3gd20Start(&L3GD20D1, &l3gd20cfg);

 

-  while(!palReadLine(LINE_BUTTON)){

+  while(!palReadLine(LINE_BUTTON)) {

     chprintf(chp, "Press BTN to calibrate gyroscope...\r\n");

     chThdSleepMilliseconds(150);

 #if CHPRINTF_USE_ANSI_CODE

     chprintf(chp, "\033[2J\033[1;1H");

 #endif

+  }

 

   palClearLine(LINE_LED3);

   chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");

diff --git a/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c b/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c
index 025789275..429f7b0bb 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c
@@ -120,7 +120,7 @@ int main(void) {
 

     accelerometerReadCooked(&LIS302DLD1, cookeddata);

     for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)

-      chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);

+      chprintf(chp, "COOKED-%c:%.3f g\r\n", axesID[i], cookeddata[i]);

 

     chThdSleepMilliseconds(150);

 #if CHPRINTF_USE_ANSI_CODE

diff --git a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (OpenOCD, Flash and Run).launch b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (OpenOCD, Flash and Run).launch
index bfde2a1c3..df0961499 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (OpenOCD, Flash and Run).launch
+++ b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/debug/STM32F4xx-SPI-LIS3DSH (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="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;null-lis3dshStart-(format)&quot; val=&quot;2&quot;/&gt;&lt;/contentList&gt;"/>

+<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;null-lis3dshStart-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;/contentList&gt;"/>

 <stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>

 <stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>

 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>

diff --git a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
index 011a30cda..e67eda9b8 100644
--- a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
@@ -32,6 +32,7 @@ static LIS3DSHDriver LIS3DSHD1;
 

 static int32_t rawdata[LIS3DSH_NUMBER_OF_AXES];

 static float cookeddata[LIS3DSH_NUMBER_OF_AXES];

+static int8_t temperature;

 

 static char axesID[LIS3DSH_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

 static uint32_t i;

@@ -121,7 +122,10 @@ int main(void) {
 

     accelerometerReadCooked(&LIS3DSHD1, cookeddata);

     for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)

-      chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);

+      chprintf(chp, "COOKED-%c:%.3f g\r\n", axesID[i], cookeddata[i]);

+

+    accelerometerGetTemp(&LIS3DSHD1, &temperature);

+    chprintf(chp, "TEMP:%d \r\n", temperature);

 

     chThdSleepMilliseconds(150);

 #if CHPRINTF_USE_ANSI_CODE