Updated LSM6DS0 driver

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11710 110e8d01-0319-4d1e-a829-52ad28d1bb01

3 files changed, 62 insertions, 249 deletions

diff --git a/testex/STM32/STM32F4xx/I2C-LPS25H/main.c b/testex/STM32/STM32F4xx/I2C-LPS25H/main.c
index 640a82c91..014af067e 100644
--- a/testex/STM32/STM32F4xx/I2C-LPS25H/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LPS25H/main.c
@@ -97,7 +97,7 @@ int main(void) {
   palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |

                  PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);

 

-  /* Activates the serial driver 1 using the driver default configuration.*/

+  /* Activates the serial driver 2 using the driver default configuration.*/

   sdStart(&SD2, NULL);

 

   /* Creates the blinker thread.*/

diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile b/testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile
index f205016a5..b404ccd51 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile
+++ b/testex/STM32/STM32F4xx/I2C-LSM6DS0/Makefile
@@ -87,6 +87,9 @@ PROJECT = ch
 

 # Imported source files and paths

 CHIBIOS = ../../../..

+

+# Licensing files.

+include $(CHIBIOS)/os/license/license.mk

 # Startup files.

 include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk

 # HAL-OSAL files (optional).

@@ -97,31 +100,23 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 # RTOS files (optional).

 include $(CHIBIOS)/os/rt/rt.mk

 include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk

-# Other files (optional).

+# EX files (optional).

 include $(CHIBIOS)/os/ex/ST/lsm6ds0.mk

+# Other files (optional).

 include $(CHIBIOS)/os/hal/lib/streams/streams.mk

-include $(CHIBIOS)/os/various/shell/shell.mk

 

 # Define linker script file here

 LDSCRIPT= $(STARTUPLD)/STM32F401xE.ld

 

 # C sources that can be compiled in ARM or THUMB mode depending on the global

 # setting.

-CSRC = $(STARTUPSRC) \

-       $(KERNSRC) \

-       $(PORTSRC) \

-       $(OSALSRC) \

-       $(HALSRC) \

-       $(PLATFORMSRC) \

-       $(BOARDSRC) \

-       $(LSM6DS0SRC) \

-       $(STREAMSSRC) \

-       $(SHELLSRC) \

+CSRC = $(ALLCSRC) \

+       $(TESTSRC) \

        main.c

 

 # C++ sources that can be compiled in ARM or THUMB mode depending on the global

 # setting.

-CPPSRC =

+CPPSRC = $(ALLCPPSRC)

 

 # C sources to be compiled in ARM mode regardless of the global setting.

 # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler

@@ -144,13 +139,10 @@ TCSRC =
 TCPPSRC =

 

 # List ASM source files here

-ASMSRC =

-ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)

+ASMSRC = $(ALLASMSRC)

+ASMXSRC = $(ALLXASMSRC)

 

-INCDIR = $(CHIBIOS)/os/license \

-         $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \

-         $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LSM6DS0INC) \

-         $(STREAMSINC) $(SHELLINC)

+INCDIR = $(ALLINC) $(TESTINC)

 

 #

 # Project, sources and paths

@@ -200,7 +192,7 @@ CPPWARN = -Wall -Wextra -Wundef
 #

 

 # List all user C define here, like -D_DEBUG=1

-UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \

+UDEFS = -DCHPRINTF_USE_FLOAT=1 \

         -DLSM6DS0_USE_ADVANCED=0 -DLSM6DS0_GYRO_USE_ADVANCED=0 \

         -DLSM6DS0_ACC_USE_ADVANCED=0 -DLSM6DS0_SHARED_I2C=0

 

diff --git a/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c b/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
index 73cd07b3f..bd1bd5d6a 100644
--- a/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
+++ b/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
@@ -2,7 +2,7 @@
     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 not use this file except in gyroliance with the License.

     You may obtain a copy of the License at

 

         http://www.apache.org/licenses/LICENSE-2.0

@@ -17,22 +17,23 @@
 #include "ch.h"

 #include "hal.h"

 

-#include "string.h"

-#include "shell.h"

 #include "chprintf.h"

-

 #include "lsm6ds0.h"

 

+#define cls(chp)  chprintf(chp, "\033[2J\033[1;1H")

+

 /*===========================================================================*/

 /* LSM6DS0 related.                                                          */

 /*===========================================================================*/

+

 /* LSM6DS0 Driver: This object represent an LSM6DS0 instance */

 static  LSM6DS0Driver LSM6DS0D1;

 

-static int32_t rawdata[LSM6DS0_ACC_NUMBER_OF_AXES +

-                       LSM6DS0_GYRO_NUMBER_OF_AXES];

-static float cookeddata[LSM6DS0_ACC_NUMBER_OF_AXES +

-                        LSM6DS0_GYRO_NUMBER_OF_AXES];

+static int32_t accraw[LSM6DS0_ACC_NUMBER_OF_AXES];

+static int32_t gyroraw[LSM6DS0_GYRO_NUMBER_OF_AXES];

+

+static float acccooked[LSM6DS0_ACC_NUMBER_OF_AXES];

+static float gyrocooked[LSM6DS0_GYRO_NUMBER_OF_AXES];

 

 static char axisID[LSM6DS0_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

 static uint32_t i;

@@ -43,7 +44,10 @@ static const I2CConfig i2ccfg = {
   FAST_DUTY_CYCLE_2,

 };

 

-static const LSM6DS0AccConfig lsm6ds0acccfg = {

+static const LSM6DS0Config lsm6ds0cfg = {

+  &I2CD1,

+  &i2ccfg,

+  LSM6DS0_SAD_VCC,

   NULL,

   NULL,

   LSM6DS0_ACC_FS_2G,

@@ -51,9 +55,6 @@ static const LSM6DS0AccConfig lsm6ds0acccfg = {
 #if LSM6DS0_ACC_USE_ADVANCED

   LSM6DS0_ACC_DEC_X4,

 #endif

-};

-

-static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {

   NULL,

   NULL,

   LSM6DS0_GYRO_FS_245DPS,

@@ -64,14 +65,6 @@ static const LSM6DS0GyroConfig lsm6ds0gyrocfg = {
   LSM6DS0_GYRO_HP_DISABLED,

   LSM6DS0_GYRO_HPCF_0

 #endif

-};

-

-static const LSM6DS0Config lsm6ds0cfg = {

-  &I2CD1,

-  &i2ccfg,

-  &lsm6ds0acccfg,

-  &lsm6ds0gyrocfg,

-  LSM6DS0_SAD_VCC,

 #if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)

   LSM6DS0_BDU_BLOCKED,

   LSM6DS0_END_LITTLE

@@ -79,190 +72,10 @@ static const LSM6DS0Config lsm6ds0cfg = {
 };

 

 /*===========================================================================*/

-/* 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 != 2) {

-    chprintf(chp, "Usage: read [acc|gyro|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(&LSM6DS0D1, rawdata);

-        chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n");

-        for(i = 0; i < LSM6DS0_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(&LSM6DS0D1, cookeddata);

-        chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");

-        for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {

-          chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);

-        }

-      }

-      else {

-        chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");

-        return;

-      }

-    }

-    else if (!strcmp (argv[0], "gyro")) {

-      if (!strcmp (argv[1], "raw")) {

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-        gyroscopeReadRaw(&LSM6DS0D1, rawdata);

-        chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n");

-        for(i = 0; i < LSM6DS0_GYRO_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

-        gyroscopeReadCooked(&LSM6DS0D1, cookeddata);

-        chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");

-        for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {

-          chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]);

-        }

-      }

-      else {

-        chprintf(chp, "Usage: read [acc|gyro|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(&LSM6DS0D1, rawdata);

-        chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n");

-        for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {

-          chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);

-        }

-        chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n");

-        for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {

-          chprintf(chp, "%c-axis: %d\r\n", axisID[i],

-                   rawdata[i + LSM6DS0_ACC_NUMBER_OF_AXES]);

-        }

-      }

-      else if (!strcmp (argv[1], "cooked")) {

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-        sensorReadCooked(&LSM6DS0D1, cookeddata);

-        chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");

-        for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {

-          chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);

-        }

-        chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");

-        for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {

-          chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i],

-                   cookeddata[i + LSM6DS0_ACC_NUMBER_OF_AXES]);

-        }

-      }

-      else {

-        chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");

-        return;

-      }

-    }

-    else {

-      chprintf(chp, "Usage: read [acc|gyro|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|gyro] [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(&LSM6DS0D1, LSM6DS0_ACC_FS_2G);

-      chprintf(chp, "LSM6DS0 Accelerometer full scale set to 2G...\r\n");

-    }

-    else if(!strcmp (argv[1], "4G")) {

-      accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_4G);

-      chprintf(chp, "LSM6DS0 Accelerometer full scale set to 4G...\r\n");

-    }

-    else if(!strcmp (argv[1], "8G")) {

-      accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_8G);

-      chprintf(chp, "LSM6DS0 Accelerometer full scale set to 8G...\r\n");

-    }

-    else if(!strcmp (argv[1], "16G")) {

-      accelerometerSetFullScale(&LSM6DS0D1, LSM6DS0_ACC_FS_16G);

-      chprintf(chp, "LSM6DS0 Accelerometer full scale set to 16G...\r\n");

-    }

-    else {

-      chprintf(chp, "Usage: fullscale acc [2G|4G|8G|16G]\r\n");

-      return;

-    }

-  }

-  else if (!strcmp (argv[0], "gyro")) {

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-      if(!strcmp (argv[1], "245")) {

-        gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_245DPS);

-        chprintf(chp, "LSM6DS0 Gyroscope full scale set to 245 DPS...\r\n");

-      }

-      else if(!strcmp (argv[1], "500")) {

-        gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_500DPS);

-        chprintf(chp, "LSM6DS0 Gyroscope full scale set to 500 DPS...\r\n");

-      }

-      else if(!strcmp (argv[1], "2000")) {

-        gyroscopeSetFullScale(&LSM6DS0D1, LSM6DS0_GYRO_FS_2000DPS);

-        chprintf(chp, "LSM6DS0 Gyroscope full scale set to 2000 DPS...\r\n");

-      }

-      else {

-        chprintf(chp, "Usage: fullscale gyro [245|500|2000]\r\n");

-        return;

-      }

-  }

-  else {

-    chprintf(chp, "Usage: fullscale [acc|gyro] [value]\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.                                                                */

+/* Generic code.                                                             */

 /*===========================================================================*/

 

+static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -272,13 +85,12 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;

   chRegSetThreadName("blinker");

   while (true) {

-    palClearLine(LINE_LED_GREEN);

-    chThdSleepMilliseconds(500);

-    palSetLine(LINE_LED_GREEN);

+    palToggleLine(LINE_LED_GREEN);

     chThdSleepMilliseconds(500);

   }

 }

 

+

 /*

  * Application entry point.

  */

@@ -294,44 +106,53 @@ int main(void) {
   halInit();

   chSysInit();

 

+  /* Configuring I2C SCK and I2C SDA related GPIOs .*/

   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.

-   */

+  /* Activates the serial driver 2 using the driver default configuration.*/

   sdStart(&SD2, NULL);

 

-  /*

-   * Creates the blinker thread.

-   */

+  /* Creates the blinker thread.*/

   chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);

 

-  /*

-   * LSM6DS0 Object Initialization

-   */

+  /* LSM6DS0 Object Initialization.*/

   lsm6ds0ObjectInit(&LSM6DS0D1);

 

-  /*

-   * Activates the LSM6DS0 driver.

-   */

+  /* Activates the LSM6DS0 driver.*/

   lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);

 

-  /*

-   * Shell manager initialization.

-   */

-  shellInit();

+  lsm6ds0GyroscopeSampleBias(&LSM6DS0D1);

+

+  /* Normal main() thread activity, printing MEMS data on the SDU1.*/

+  while (true) {

+    lsm6ds0AccelerometerReadRaw(&LSM6DS0D1, accraw);

+    chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n");

+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {

+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);

+    }

 

-  while(TRUE) {

+    lsm6ds0GyroscopeReadRaw(&LSM6DS0D1, gyroraw);

+    chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n");

+    for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {

+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);

+    }

+

+    lsm6ds0AccelerometerReadCooked(&LSM6DS0D1, acccooked);

+    chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");

+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {

+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);

+    }

 

-    thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,

-                                            "shell", NORMALPRIO + 1,

-                                            shellThread, (void *)&shell_cfg1);

-    chThdWait(shelltp);                  /* Waiting termination.             */

-    chThdSleepMilliseconds(1000);

+    lsm6ds0GyroscopeReadCooked(&LSM6DS0D1, gyrocooked);

+    chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");

+    for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {

+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], gyrocooked[i]);

+    }

+    chThdSleepMilliseconds(100);

+    cls(chp);

   }

   lsm6ds0Stop(&LSM6DS0D1);

-  return 0;

 }