Updated all L3GD20 related demos

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9648 35acf78f-673a-0410-8e92-d51de3d6d3f4

8 files changed, 408 insertions, 111 deletions

diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
index b37a16d5a..beb2b6927 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -186,7 +186,7 @@ static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
 #endif

     chprintf(chp, "Please don't move the device while Green LEDs are on!\r\n");

     chprintf(chp, "Press a key to start...\r\n");

-    while (chnGetTimeout((BaseChannel *)chp, TIME_IMMEDIATE) == Q_TIMEOUT)

+    while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT)

       ;

     palSetLine(LINE_LED6_GREEN);

     palSetLine(LINE_LED7_GREEN);

diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt b/testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt
index 39d8d97f6..f84f6001a 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/readme.txt
@@ -8,8 +8,8 @@ The demo runs on an STM32F3 Discovery board.
 

 ** The Demo **

 

-The demo flashes the board LED using a thread, read data from L3GD20 printing

-it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).

+The demo uses the ChibiOS Shell in order to test L3GD20 APIs.

+Shell is used on the SDU1 BaseSequentialStream.

 

 ** Build Procedure **

 

diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/Makefile b/testhal/STM32/STM32F4xx/SPI-L3GD20/Makefile
index b37fcca12..db92c1e2c 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/Makefile
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/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/l3gd20.mk

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

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

 

 # Define linker script file here

 LDSCRIPT= $(STARTUPLD)/STM32F401xC.ld

@@ -113,8 +114,9 @@ CSRC = $(STARTUPSRC) \
        $(HALSRC) \

        $(PLATFORMSRC) \

        $(BOARDSRC) \

-	   $(L3GD20SRC) \

+       $(L3GD20SRC) \

        $(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) $(L3GD20INC) \

-         $(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 \

+        -DL3GD20_USE_ADVANCED=0

 

 # Define ASM defines here

 UADEFS =

diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
index e6e732898..af0cdcae9 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -18,42 +18,206 @@
 #include "hal.h"

 

 #include "usbcfg.h"

-

+#include "string.h"

+#include "shell.h"

 #include "chprintf.h"

-#include "l3gd20.h"

 

-/* Enable use of special ANSI escape sequences */

-#define CHPRINTF_USE_ANSI_CODE         TRUE

+#include "l3gd20.h"

 

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

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

+/* L3GD20 related.                                                           */

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

 

 /* L3GD20 Driver: This object represent an L3GD20 instance */

 static L3GD20Driver L3GD20D1;

 

 static int32_t rawdata[L3GD20_NUMBER_OF_AXES];

 static float cookeddata[L3GD20_NUMBER_OF_AXES];

-static float temperature;

 

-static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static char unit[4] = "dps";

 static uint32_t i;

 

 static const SPIConfig spicfg = {

   NULL,

   GPIOE,                                     /* port of L3GD20 CS */

   GPIOE_L3GD20_CS,                           /* pin of L3GD20 CS */

-  SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/*   CR1 register*/                                        /* CR2 register */

+  SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/*   CR1 register*/

+  0                                          /* CR2 register */

 };

 

 static L3GD20Config l3gd20cfg = {

   &SPID1,                                    /* Pointer to SPI Driver */

   &spicfg,                                   /* Pointer to SPI Configuration */

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

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

+  L3GD20_UNIT_DPS,                           /* Measurement unit DPS */

   L3GD20_FS_250DPS,                          /* Full scale value */

-  L3GD20_ODR_760HZ_FC_30,                    /* Output data rate */

-  L3GD20_AE_XYZ,                             /* Enabled axes */

-  L3GD20_BDU_BLOCKED,                        /* Block data update */

-  L3GD20_END_LITTLE                          /* Endianness */

+  L3GD20_ODR_760HZ,                          /* Output data rate */

+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)

+  L3GD20_BDU_CONTINUOUS,

+  L3GD20_END_LITTLE,

+  L3GD20_BW3,

+  L3GD20_HPM_REFERENCE,

+  L3GD20_HPCF_8,

+  L3GD20_LP2M_ON,

+#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_get(BaseSequentialStream *chp, int argc, char *argv[]) {

+  (void)argv;

+  if (argc != 1) {

+    chprintf(chp, "Usage: get [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

+      gyroscopeReadRaw(&L3GD20D1, rawdata);

+      chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");

+      for(i = 0; i < L3GD20_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

+      gyroscopeReadCooked(&L3GD20D1, cookeddata);

+      chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");

+      for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {

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

+      }

+    }

+    else {

+      chprintf(chp, "Usage: get [raw|cooked]\r\n");

+      return;

+    }

+  }

+  chprintf(chp, "Stopped\r\n");

+}

+

+static void cmd_set(BaseSequentialStream *chp, int argc, char *argv[]) {

+  (void)argv;

+  if (argc < 1) {

+    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");

+    return;

+  }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+    if (argc != 2) {

+      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

+      return;

+    }

+    if(!strcmp (argv[1], "250")) {

+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);

+      chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");

+    }

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

+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);

+      chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");

+    }

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

+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);

+      chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");

+    }

+    else {

+      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

+      return;

+    }

+  }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+    if (argc != 2) {

+      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

+      return;

+    }

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

+      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_DPS);

+      strcpy(unit, "dps");

+      chprintf(chp, "L3GD20 Gyroscope unit set to degrees per second...\r\n");

+    }

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

+      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_RPS);

+      strcpy(unit, "rps");

+      chprintf(chp, "L3GD20 Gyroscope unit set to radians per second...\r\n");

+    }

+    else {

+      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

+      return;

+    }

+  }

+  else {

+    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");

+  }

+}

+

+static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {

+  (void)argv;

+  if (argc != 1) {

+    chprintf(chp, "Usage: bias [sample|reset]\r\n");

+    return;

+  }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+    chprintf(chp, "Please don't move the device while Green LED is on!\r\n");

+    chprintf(chp, "Press a key to start...\r\n");

+    while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT) {

+      ;

+    }

+    palSetLine(LINE_LED4);

+    chThdSleepMilliseconds(1000);

+    gyroscopeSampleBias(&L3GD20D1);

+    palClearLine(LINE_LED4);

+

+    chprintf(chp, "Procedure completed!\r\n");

+  }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+    gyroscopeResetBias(&L3GD20D1);

+    chprintf(chp, "Bias correction removed!\r\n");

+  }

+  else {

+    chprintf(chp, "Usage: bias [sample|reset]\r\n");

+    return;

+  }

+}

+

+static const ShellCommand commands[] = {

+  {"get", cmd_get},

+  {"set", cmd_set},

+  {"bias", cmd_bias},

+  {NULL, NULL}

+};

+

+static const ShellConfig shell_cfg1 = {

+  (BaseSequentialStream *)&SDU1,

+  commands

 };

 

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

+/* Main code.                                                                */

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

+

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -63,8 +227,13 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;

   chRegSetThreadName("blinker");

   while (true) {

-    palToggleLine(LINE_LED6);

-    chThdSleepMilliseconds(250);

+    systime_t time;

+

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

+    palClearLine(LINE_LED5);

+    chThdSleepMilliseconds(time);

+    palSetLine(LINE_LED5);

+    chThdSleepMilliseconds(time);

   }

 }

 

@@ -98,6 +267,7 @@ int main(void) {
   chThdSleepMilliseconds(1500);

   usbStart(serusbcfg.usbp, &usbcfg);

   usbConnectBus(serusbcfg.usbp);

+

   /*

    * Creates the blinker thread.

    */

@@ -113,45 +283,20 @@ int main(void) {
    */

   l3gd20Start(&L3GD20D1, &l3gd20cfg);

 

-  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");

-  chprintf(chp, "Keep it in the rest position while red LED is on\r\n");

-  chThdSleepMilliseconds(3000);

-

-  palSetLine(LINE_LED5);

-  chThdSleepMilliseconds(1000);

-

-  gyroscopeSampleBias(&L3GD20D1);

-  palClearLine(LINE_LED5);

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-

-  while (TRUE) {

-    palToggleLine(LINE_LED3);

-    gyroscopeReadRaw(&L3GD20D1, rawdata);

-    for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)

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

-

-    gyroscopeReadCooked(&L3GD20D1, cookeddata);

-    for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)

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

-

-    gyroscopeGetTemp(&L3GD20D1, &temperature);

-    chprintf(chp, "TEMP:%.1f C°\r\n", temperature);

+  /*

+   * Shell manager initialization.

+   */

+  shellInit();

 

-    chThdSleepMilliseconds(150);

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

+  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);

   }

   l3gd20Stop(&L3GD20D1);

+  return 0;

 }

diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt b/testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt
index d58aa3b23..2dd9006e4 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/readme.txt
@@ -8,8 +8,8 @@ The demo runs on an STM32F401C Discovery board.
 

 ** The Demo **

 

-The demo flashes the board LED using a thread, read data from L3GD20 printing

-it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).

+The demo uses the ChibiOS Shell in order to test L3GD20 APIs.

+Shell is used on the SDU1 BaseSequentialStream.

 

 ** Build Procedure **

 

diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile b/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile
index 2ce900855..4f6779d7b 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/Makefile
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/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/l3gd20.mk

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

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

 

 # Define linker script file here

 LDSCRIPT= $(STARTUPLD)/STM32L476xG.ld

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

        $(L3GD20SRC) \

        $(STREAMSSRC) \

+       $(SHELLSRC) \

        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) $(L3GD20INC) \

-         $(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 \

+        -DL3GD20_USE_ADVANCED=0

 

 # Define ASM defines here

 UADEFS =

diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
index 288a15c81..403f78916 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
@@ -17,22 +17,24 @@
 #include "ch.h"

 #include "hal.h"

 

+#include "string.h"

+#include "shell.h"

 #include "chprintf.h"

-#include "l3gd20.h"

 

-/* Enable use of special ANSI escape sequences */

-#define CHPRINTF_USE_ANSI_CODE         TRUE

+#include "l3gd20.h"

 

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

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

+/* L3GD20 related.                                                           */

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

 

 /* L3GD20 Driver: This object represent an L3GD20 instance */

 static L3GD20Driver L3GD20D1;

 

 static int32_t rawdata[L3GD20_NUMBER_OF_AXES];

 static float cookeddata[L3GD20_NUMBER_OF_AXES];

-static float temperature;

 

-static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};

+static char unit[4] = "dps";

 static uint32_t i;

 

 static const SPIConfig spicfg = {

@@ -46,13 +48,180 @@ static const SPIConfig spicfg = {
 static L3GD20Config l3gd20cfg = {

   &SPID2,                                    /* Pointer to SPI Driver */

   &spicfg,                                   /* Pointer to SPI Configuration */

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

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

+  L3GD20_UNIT_DPS,                           /* Measurement unit DPS */

   L3GD20_FS_250DPS,                          /* Full scale value */

-  L3GD20_ODR_760HZ_FC_30,                    /* Output data rate */

-  L3GD20_AE_XYZ,                             /* Enabled axes */

-  L3GD20_BDU_BLOCKED,                        /* Block data update */

-  L3GD20_END_LITTLE                          /* Endianness */

+  L3GD20_ODR_760HZ,                          /* Output data rate */

+#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)

+  L3GD20_BDU_CONTINUOUS,

+  L3GD20_END_LITTLE,

+  L3GD20_BW3,

+  L3GD20_HPM_REFERENCE,

+  L3GD20_HPCF_8,

+  L3GD20_LP2M_ON,

+#endif

+};

+

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

+/* 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_get(BaseSequentialStream *chp, int argc, char *argv[]) {

+  (void)argv;

+  if (argc != 1) {

+    chprintf(chp, "Usage: get [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

+      gyroscopeReadRaw(&L3GD20D1, rawdata);

+      chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");

+      for(i = 0; i < L3GD20_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

+      gyroscopeReadCooked(&L3GD20D1, cookeddata);

+      chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");

+      for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {

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

+      }

+    }

+    else {

+      chprintf(chp, "Usage: get [raw|cooked]\r\n");

+      return;

+    }

+  }

+  chprintf(chp, "Stopped\r\n");

+}

+

+static void cmd_set(BaseSequentialStream *chp, int argc, char *argv[]) {

+  (void)argv;

+  if (argc < 1) {

+    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");

+    return;

+  }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+    if (argc != 2) {

+      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

+      return;

+    }

+    if(!strcmp (argv[1], "250")) {

+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);

+      chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");

+    }

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

+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);

+      chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");

+    }

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

+      gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);

+      chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");

+    }

+    else {

+      chprintf(chp, "Usage: set fs [250|500|2000]\r\n");

+      return;

+    }

+  }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+    if (argc != 2) {

+      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

+      return;

+    }

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

+      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_DPS);

+      strcpy(unit, "dps");

+      chprintf(chp, "L3GD20 Gyroscope unit set to degrees per second...\r\n");

+    }

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

+      gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_RPS);

+      strcpy(unit, "rps");

+      chprintf(chp, "L3GD20 Gyroscope unit set to radians per second...\r\n");

+    }

+    else {

+      chprintf(chp, "Usage: set unit [dps|rps]\r\n");

+      return;

+    }

+  }

+  else {

+    chprintf(chp, "Usage: set [fs|unit] [value]\r\n");

+  }

+}

+

+static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {

+  (void)argv;

+  if (argc != 1) {

+    chprintf(chp, "Usage: bias [sample|reset]\r\n");

+    return;

+  }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+    chprintf(chp, "Please don't move the device while Green LED is on!\r\n");

+    chprintf(chp, "Press a key to start...\r\n");

+    while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT)

+      ;

+    palSetLine(LINE_LED_GREEN);

+    chThdSleepMilliseconds(1000);

+    gyroscopeSampleBias(&L3GD20D1);

+    palClearLine(LINE_LED_GREEN);

+    chprintf(chp, "Procedure completed!\r\n");

+  }

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

+#if CHPRINTF_USE_ANSI_CODE

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

+#endif

+    gyroscopeResetBias(&L3GD20D1);

+    chprintf(chp, "Bias correction removed!\r\n");

+  }

+  else {

+    chprintf(chp, "Usage: bias [sample|reset]\r\n");

+    return;

+  }

+}

+

+static const ShellCommand commands[] = {

+  {"get", cmd_get},

+  {"set", cmd_set},

+  {"bias", cmd_bias},

+  {NULL, NULL}

+};

+

+static const ShellConfig shell_cfg1 = {

+  (BaseSequentialStream *)&SD2,

+  commands

 };

 

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

+/* Main code.                                                                */

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

+

 /*

  * LED blinker thread, times are in milliseconds.

  */

@@ -62,8 +231,10 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;

   chRegSetThreadName("blinker");

   while (true) {

-    palToggleLine(LINE_LED_GREEN);

-    chThdSleepMilliseconds(250);

+    palClearLine(LINE_LED_RED);

+    chThdSleepMilliseconds(500);

+    palSetLine(LINE_LED_RED);

+    chThdSleepMilliseconds(500);

   }

 }

 

@@ -102,42 +273,17 @@ int main(void) {
    */

   l3gd20Start(&L3GD20D1, &l3gd20cfg);

 

-  while(!palReadLine(LINE_JOY_CENTER)){

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

-    chThdSleepMilliseconds(150);

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-  }

-  

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

-  chprintf(chp, "Keep it in the rest position while red LED is on\r\n");

-  palSetLine(LINE_LED_RED);

-  chThdSleepMilliseconds(1000);

-

-  gyroscopeSampleBias(&L3GD20D1);

-  palClearLine(LINE_LED_RED);

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

-

-  while (TRUE) {

-    palToggleLine(LINE_LED_RED);

-    gyroscopeReadRaw(&L3GD20D1, rawdata);

-    for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)

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

-

-    gyroscopeReadCooked(&L3GD20D1, cookeddata);

-    for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)

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

-

-    gyroscopeGetTemp(&L3GD20D1, &temperature);

-    chprintf(chp, "TEMP:%.1f C°\r\n", temperature);

+  /*

+   * Shell manager initialization.

+   */

+  shellInit();

 

-    chThdSleepMilliseconds(150);

-#if CHPRINTF_USE_ANSI_CODE

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

-#endif

+  while(TRUE) {

+    thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,

+                                              "shell", NORMALPRIO + 1,

+                                              shellThread, (void *)&shell_cfg1);

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

   }

   l3gd20Stop(&L3GD20D1);

+  return 0;

 }

diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt b/testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt
index 9d0aab6f2..1119b8764 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/readme.txt
@@ -8,8 +8,8 @@ The demo runs on an STM32L4 Discovery board.
 

 ** The Demo **

 

-The demo flashes the board LED using a thread, read data from L3GD20 printing

-it on a BaseSequentialStream (USART2, mapped on USB virtual COM port).

+The demo uses the ChibiOS Shell in order to test L3GD20 APIs.

+Shell is used on the SDU1 BaseSequentialStream.

 

 ** Build Procedure **