EX: added LSM303DLHC support, included demo for STM32F3 Discovery and SMT32F401C Discovery

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9499 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 138 insertions, 0 deletions

diff --git a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
new file mode 100644
index 000000000..5cee22670
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
@@ -0,0 +1,138 @@
+/*

+    ChibiOS - Copyright (C) 2006..2016 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 "usbcfg.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

+

+static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;

+

+/* 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 char axesID[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 LSM303DLHCAccConfig lsm303dlhcacccfg = {

+  LSM303DLHC_ACC_FS_2G,

+  LSM303DLHC_ACC_ODR_100Hz,

+  LSM303DLHC_ACC_AE_XYZ,

+  LSM303DLHC_ACC_LP_DISABLED,

+  LSM303DLHC_ACC_HR_DISABLED,

+  LSM303DLHC_ACC_BDU_BLOCK,

+  LSM303DLHC_ACC_END_LITTLE,

+  LSM303DLHC_ACC_UNIT_G

+};

+

+static const LSM303DLHCCompConfig lsm303dlhccompcfg = {

+  LSM303DLHC_COMP_FS_1_3_GA,

+  LSM303DLHC_COMP_ODR_30HZ,

+  LSM303DLHC_COMP_MD_CONT,

+};

+

+static const LSM303DLHCConfig lsm303dlhccfg = {

+  &I2CD1,

+  &i2ccfg,

+  &lsm303dlhcacccfg,

+  &lsm303dlhccompcfg

+};

+

+/*

+ * 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();

+

+  /*

+   * Initializes a serial-over-USB CDC driver.

+   */

+  sduObjectInit(&SDU1);

+  sduStart(&SDU1, &serusbcfg);

+

+  /*

+   * Activates the USB driver and then the USB bus pull-up on D+.

+   * Note, a delay is inserted in order to not have to disconnect the cable

+   * after a reset.

+   */

+  usbDisconnectBus(serusbcfg.usbp);

+  chThdSleepMilliseconds(1500);

+  usbStart(serusbcfg.usbp, &usbcfg);

+  usbConnectBus(serusbcfg.usbp);

+

+  /*

+   * LSM303DLHC Object Initialization

+   */

+  lsm303dlhcObjectInit(&LSM303DLHCD1);

+

+  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

+  }

+}