EX: LSM303DLHC driver updated to v1.0.0

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9700 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 277 insertions, 45 deletions

diff --git a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/Makefile b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/Makefile
index fe15d208b..707dd7bd5 100644
--- a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/Makefile
+++ b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/Makefile
@@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
 # Other files (optional).

 include $(CHIBIOS)/os/ex/ST/lsm303dlhc.mk

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

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

 

 # Define linker script file here

 LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld

@@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
        $(BOARDSRC) \

        $(LSM303DLHCSRC) \

        $(STREAMSSRC) \

+       $(SHELLSRC) \

        usbcfg.c main.c

 

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

@@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
 INCDIR = $(CHIBIOS)/os/license \

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

          $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LSM303DLHCINC) \

-         $(STREAMSINC) $(CHIBIOS)/os/various

+         $(STREAMSINC) $(SHELLINC)

 

 #

 # Project, sources and paths

@@ -198,7 +200,8 @@ CPPWARN = -Wall -Wextra -Wundef
 #

 

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

-UDEFS = -DCHPRINTF_USE_FLOAT=1

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

+        -DLSM303DLHC_ACC_USE_ADVANCED=0 -DLSM303DLHC_COMP_USE_ADVANCED=0

 

 # Define ASM defines here

 UADEFS =

diff --git a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
index 5cee22670..30bcf3881 100644
--- a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
+++ b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
@@ -18,28 +18,25 @@
 #include "hal.h"

 

 #include "usbcfg.h"

+#include "string.h"

+#include "shell.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

+#include "lsm303dlhc.h"

 

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

+/*===========================================================================*/

+/* LSM303DLHC related.                                                           */

+/*===========================================================================*/

 

 /* 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 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 char axisID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

 static uint32_t i;

 

 static const I2CConfig i2ccfg = {

@@ -51,20 +48,24 @@ static const I2CConfig i2ccfg = {
 };

 

 static const LSM303DLHCAccConfig lsm303dlhcacccfg = {

-  LSM303DLHC_ACC_FS_2G,

-  LSM303DLHC_ACC_ODR_100Hz,

-  LSM303DLHC_ACC_AE_XYZ,

+  {0, 0, 0},                        /* Use default sensitivity.*/

+  {0, 0, 0},                        /* Use default bias.*/

+  LSM303DLHC_ACC_FS_4G,             /* Full scale value 2g.*/

+  LSM303DLHC_ACC_ODR_100Hz,         /* Output data rate 100 Hz.*/

+#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)

   LSM303DLHC_ACC_LP_DISABLED,

   LSM303DLHC_ACC_HR_DISABLED,

   LSM303DLHC_ACC_BDU_BLOCK,

   LSM303DLHC_ACC_END_LITTLE,

-  LSM303DLHC_ACC_UNIT_G

+#endif

 };

 

 static const LSM303DLHCCompConfig lsm303dlhccompcfg = {

-  LSM303DLHC_COMP_FS_1_3_GA,

-  LSM303DLHC_COMP_ODR_30HZ,

-  LSM303DLHC_COMP_MD_CONT,

+  LSM303DLHC_COMP_FS_1P3GA,         /* Full scale value 1.3 Gauss.*/

+  LSM303DLHC_COMP_ODR_30HZ,         /* Output data rate 30 Hz.*/

+#if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__)

+  LSM303DLHC_COMP_MD_BLOCK

+#endif

 };

 

 static const LSM303DLHCConfig lsm303dlhccfg = {

@@ -74,6 +75,233 @@ static const LSM303DLHCConfig lsm303dlhccfg = {
   &lsm303dlhccompcfg

 };

 

+/*===========================================================================*/

+/* Command line related.                                                     */

+/*===========================================================================*/

+

+/*

+ * 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

+#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|comp|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(&LSM303DLHCD1, rawdata);

+        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], rawdata[i]);

+        }

+      }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+        accelerometerReadCooked(&LSM303DLHCD1, cookeddata);

+        chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");

+        for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

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

+        }

+      }

+      else {

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

+        return;

+      }

+    }

+    else if (!strcmp (argv[0], "comp")) {

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+        compassReadRaw(&LSM303DLHCD1, rawdata);

+        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], rawdata[i]);

+        }

+      }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+        compassReadCooked(&LSM303DLHCD1, cookeddata);

+        chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");

+        for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

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

+        }

+      }

+      else {

+        chprintf(chp, "Usage: read [acc|comp|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(&LSM303DLHCD1, rawdata);

+        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], rawdata[i]);

+        }

+        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],

+                   rawdata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);

+        }

+      }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+        sensorReadCooked(&LSM303DLHCD1, cookeddata);

+        chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");

+        for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {

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

+        }

+        chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");

+        for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {

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

+                   cookeddata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);

+        }

+      }

+      else {

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

+        return;

+      }

+    }

+    else {

+      chprintf(chp, "Usage: read [acc|comp|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|comp] [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(&LSM303DLHCD1, LSM303DLHC_ACC_FS_2G);

+      chprintf(chp, "LSM303DLHC Accelerometer full scale set to 2G...\r\n");

+    }

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

+      accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_4G);

+      chprintf(chp, "LSM303DLHC Accelerometer full scale set to 4G...\r\n");

+    }

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

+      accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_8G);

+      chprintf(chp, "LSM303DLHC Accelerometer full scale set to 8G...\r\n");

+    }

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

+      accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_16G);

+      chprintf(chp, "LSM303DLHC Accelerometer full scale set to 4G...\r\n");

+    }

+    else {

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

+      return;

+    }

+  }

+  else if (!strcmp (argv[0], "comp")) {

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+      if(!strcmp (argv[1], "1.3")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P3GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 1.3 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "1.9")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P9GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 1.9 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "2.5")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_2P5GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 2.5 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "4.0")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P0GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 4.0 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "4.7")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P7GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 4.7 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "5.6")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_5P6GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 5.6 Gauss...\r\n");

+      }

+      else if(!strcmp (argv[1], "8.1")) {

+        compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_8P1GA);

+        chprintf(chp, "LSM303DLHC Compass full scale set to 8.1 Gauss...\r\n");

+      }

+      else {

+        chprintf(chp, "Usage: fullscale comp [1.3|1.9|2.5|4.0|4.7|5.6|8.1]\r\n");

+        return;

+      }

+  }

+  else {

+    chprintf(chp, "Usage: fullscale [acc|comp] [value]\r\n");

+    return;

+  }

+}

+

+static const ShellCommand commands[] = {

+  {"read", cmd_read},

+  {"fullscale", cmd_fullscale},

+  {NULL, NULL}

+};

+

+static const ShellConfig shell_cfg1 = {

+  (BaseSequentialStream *)&SDU1,

+  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) {

+    systime_t time;

+

+    time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;

+    palClearLine(LINE_LED3_RED);

+    chThdSleepMilliseconds(time);

+    palSetLine(LINE_LED3_RED);

+    chThdSleepMilliseconds(time);

+  }

+}

+

 /*

  * Application entry point.

  */

@@ -106,33 +334,34 @@ int main(void) {
   usbConnectBus(serusbcfg.usbp);

 

   /*

+   * Creates the blinker thread.

+   */

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

+

+  /*

    * LSM303DLHC Object Initialization

    */

   lsm303dlhcObjectInit(&LSM303DLHCD1);

 

+  /*

+   * Activates the LSM303DLHC driver.

+   */

   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

+  /*

+   * Shell manager initialization.

+   */

+  shellInit();

+

+  while(TRUE) {

+    if (SDU1.config->usbp->state == USB_ACTIVE) {

+      thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,

+                                              "shell", NORMALPRIO + 1,

+                                              shellThread, (void *)&shell_cfg1);

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

+    }

+    chThdSleepMilliseconds(1000);

   }

+  lsm303dlhcStop(&LSM303DLHCD1);

+  return 0;

 }