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-rw-r--r--os/ex/ST/l3gd20.c28
-rw-r--r--os/ex/ST/l3gd20.h14
-rw-r--r--testhal/STM32/STM32F3xx/SPI-L3GD20/main.c50
-rw-r--r--testhal/STM32/STM32F4xx/SPI-L3GD20/main.c62
-rw-r--r--testhal/STM32/STM32L4xx/SPI-L3GD20/main.c50
5 files changed, 80 insertions, 124 deletions
diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c
index 255026fba..60aeee8cf 100644
--- a/os/ex/ST/l3gd20.c
+++ b/os/ex/ST/l3gd20.c
@@ -264,18 +264,6 @@ static msg_t set_full_scale(void *ip, l3gd20_fs_t fs) {
return MSG_OK;
}
-static l3gd20_fs_t get_full_scale(void *ip) {
- if(((L3GD20Driver *)ip)->fullscale == L3GD20_250DPS) {
- return L3GD20_FS_250DPS;
- }
- else if(((L3GD20Driver *)ip)->fullscale == L3GD20_500DPS) {
- return L3GD20_FS_500DPS;
- }
- else {
- return L3GD20_FS_2000DPS;
- }
-}
-
static msg_t set_meas_unit(void *ip, l3gd20_unit_t unit) {
unsigned i;
if(unit != ((L3GD20Driver *)ip)->meas_unit) {
@@ -294,11 +282,6 @@ static msg_t set_meas_unit(void *ip, l3gd20_unit_t unit) {
return MSG_OK;
}
-static l3gd20_unit_t get_meas_unit(void *ip) {
-
- return ((L3GD20Driver *)ip)->meas_unit;
-}
-
static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked
};
@@ -313,8 +296,7 @@ static const struct L3GD20VMT vmt_l3gd20 = {
get_axes_number, read_raw, read_cooked,
sample_bias, set_bias, reset_bias,
set_sensivity, reset_sensivity,
- set_full_scale, get_full_scale,
- set_meas_unit, get_meas_unit
+ set_full_scale, set_meas_unit
};
/*===========================================================================*/
@@ -353,7 +335,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == L3GD20_STOP) || (devp->state == L3GD20_READY),
- "l3gd20Start(), invalid state");
+ "l3gd20Start(), invalid state");
devp->config = config;
@@ -403,7 +385,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
cr[4] = L3GD20_CTRL_REG5_HPEN;
if(devp->config->lp2mode != L3GD20_LP2M_BYPASSED) {
cr[4] |= L3GD20_CTRL_REG5_INT1_SEL1 |
- L3GD20_CTRL_REG5_OUT_SEL1;
+ L3GD20_CTRL_REG5_OUT_SEL1;
}
else {
cr[4] |= L3GD20_CTRL_REG5_INT1_SEL0 |
@@ -416,7 +398,7 @@ void l3gd20Start(L3GD20Driver *devp, const L3GD20Config *config) {
5, cr);
#if L3GD20_SHARED_SPI
spiReleaseBus((devp)->config->spip);
-#endif /* L3GD20_SHARED_SPI */
+#endif /* L3GD20_SHARED_SPI */
#endif /* L3GD20_USE_SPI */
/* Storing sensitivity information according to full scale and unit value */
@@ -498,7 +480,7 @@ void l3gd20Stop(L3GD20Driver *devp) {
spiStop((devp)->config->spip);
#if L3GD20_SHARED_SPI
spiReleaseBus((devp)->config->spip);
-#endif /* L3GD20_SHARED_SPI */
+#endif /* L3GD20_SHARED_SPI */
}
#endif /* L3GD20_USE_SPI */
devp->state = L3GD20_STOP;
diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h
index 5d21f6a76..1b3f2993a 100644
--- a/os/ex/ST/l3gd20.h
+++ b/os/ex/ST/l3gd20.h
@@ -40,22 +40,22 @@
/**
* @brief L3GD20 driver version string.
*/
-#define EX_L3GD20_VERSION "1.0.0"
+#define EX_L3GD20_VERSION "1.0.0"
/**
* @brief L3GD20 driver version major number.
*/
-#define EX_L3GD20_MAJOR 1
+#define EX_L3GD20_MAJOR 1
/**
* @brief L3GD20 driver version minor number.
*/
-#define EX_L3GD20_MINOR 0
+#define EX_L3GD20_MINOR 0
/**
* @brief L3GD20 driver version patch number.
*/
-#define EX_L3GD20_PATCH 0
+#define EX_L3GD20_PATCH 0
/** @} */
/**
@@ -490,12 +490,8 @@ typedef struct L3GD20Driver L3GD20Driver;
_base_gyroscope_methods \
/* Change full scale value of L3GD20 .*/ \
msg_t (*set_full_scale)(void *instance, l3gd20_fs_t fs); \
- /* Get full scale value of L3GD20 .*/ \
- l3gd20_fs_t (*get_full_scale)(void *instance); \
/* Change measurement unit of L3GD20 .*/ \
msg_t (*set_meas_unit)(void *instance, l3gd20_unit_t unit); \
- /* Get measurement unit of L3GD20 .*/ \
- l3gd20_unit_t (*get_meas_unit)(void *instance);
/**
* @extends BaseGyroscopeVMT
@@ -547,7 +543,7 @@ struct L3GD20Driver {
/*===========================================================================*/
/**
- * @brief Change initial fullscale value.
+ * @brief Change gyroscope fullscale value.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
* @param[in] fs the new full scale value.
diff --git a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
index beb2b6927..2f2199fc6 100644
--- a/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
@@ -28,7 +28,7 @@
/* L3GD20 related. */
/*===========================================================================*/
-/* L3GD20 Driver: This object represent an L3GD20 instance */
+/* L3GD20 Driver: This object represent an L3GD20 instance.*/
static L3GD20Driver L3GD20D1;
static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
@@ -40,20 +40,20 @@ static uint32_t i;
static const SPIConfig spicfg = {
NULL,
- GPIOE, /* port of L3GD20 CS */
- GPIOE_L3GD20_CS, /* pin of L3GD20 CS */
- SPI_CR1_BR | SPI_CR1_CPOL | SPI_CR1_CPHA, /* CR1 register */
- 0 /* CR2 register */
+ GPIOE, /* port of L3GD20 CS.*/
+ GPIOE_L3GD20_CS, /* pin of L3GD20 CS.*/
+ SPI_CR1_BR | 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, /* Output data rate */
+ &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, /* Output data rate.*/
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
L3GD20_BDU_CONTINUOUS,
L3GD20_END_LITTLE,
@@ -75,9 +75,9 @@ static L3GD20Config l3gd20cfg = {
#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)
+/* 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;
@@ -259,9 +259,7 @@ int main(void) {
halInit();
chSysInit();
- /*
- * Initializes a serial-over-USB CDC driver.
- */
+ /* Initializes a serial-over-USB CDC driver.*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
@@ -275,24 +273,16 @@ int main(void) {
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
- /*
- * Creates the blinker thread.
- */
+ /* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
- /*
- * L3GD20 Object Initialization
- */
+ /* L3GD20 Object Initialization.*/
l3gd20ObjectInit(&L3GD20D1);
- /*
- * Activates the L3GD20 driver.
- */
+ /* Activates the L3GD20 driver.*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
- /*
- * Shell manager initialization.
- */
+ /* Shell manager initialization.*/
shellInit();
while(TRUE) {
diff --git a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
index af0cdcae9..e93e21a32 100644
--- a/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -28,7 +28,7 @@
/* L3GD20 related. */
/*===========================================================================*/
-/* L3GD20 Driver: This object represent an L3GD20 instance */
+/* L3GD20 Driver: This object represent an L3GD20 instance.*/
static L3GD20Driver L3GD20D1;
static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
@@ -40,20 +40,20 @@ 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*/
- 0 /* CR2 register */
+ GPIOE, /* port of L3GD20 CS.*/
+ GPIOE_L3GD20_CS, /* pin of L3GD20 CS.*/
+ 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, /* Output data rate */
+ &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, /* Output data rate.*/
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
L3GD20_BDU_CONTINUOUS,
L3GD20_END_LITTLE,
@@ -68,9 +68,16 @@ static L3GD20Config l3gd20cfg = {
/* 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)
+
+
+
+
+
+
+
+/* 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;
@@ -179,14 +186,15 @@ static void cmd_bias(BaseSequentialStream *chp, int argc, char *argv[]) {
#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) {
+ 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")) {
@@ -252,9 +260,7 @@ int main(void) {
halInit();
chSysInit();
- /*
- * Initializes a serial-over-USB CDC driver.
- */
+ /* Initializes a serial-over-USB CDC driver.*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
@@ -268,24 +274,16 @@ int main(void) {
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
- /*
- * Creates the blinker thread.
- */
+ /* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
- /*
- * L3GD20 Object Initialization
- */
+ /* L3GD20 Object Initialization.*/
l3gd20ObjectInit(&L3GD20D1);
- /*
- * Activates the L3GD20 driver.
- */
+ /* Activates the L3GD20 driver.*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
- /*
- * Shell manager initialization.
- */
+ /* Shell manager initialization.*/
shellInit();
while(TRUE) {
diff --git a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
index 403f78916..d2147de31 100644
--- a/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
+++ b/testhal/STM32/STM32L4xx/SPI-L3GD20/main.c
@@ -27,7 +27,7 @@
/* L3GD20 related. */
/*===========================================================================*/
-/* L3GD20 Driver: This object represent an L3GD20 instance */
+/* L3GD20 Driver: This object represent an L3GD20 instance.*/
static L3GD20Driver L3GD20D1;
static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
@@ -39,20 +39,20 @@ static uint32_t i;
static const SPIConfig spicfg = {
NULL,
- GPIOD, /* port of L3GD20 CS */
- GPIOD_GYRO_CS, /* pin of L3GD20 CS */
- SPI_CR1_BR | SPI_CR1_CPOL | SPI_CR1_CPHA, /* CR1 register */
- 0 /* CR2 register */
+ GPIOD, /* port of L3GD20 CS.*/
+ GPIOD_GYRO_CS, /* pin of L3GD20 CS.*/
+ SPI_CR1_BR | SPI_CR1_CPOL | SPI_CR1_CPHA, /* CR1 register.*/
+ 0 /* CR2 register.*/
};
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, /* Output data rate */
+ &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, /* Output data rate.*/
#if L3GD20_USE_ADVANCED || defined(__DOXYGEN__)
L3GD20_BDU_CONTINUOUS,
L3GD20_END_LITTLE,
@@ -74,9 +74,9 @@ static L3GD20Config l3gd20cfg = {
#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)
+/* 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;
@@ -253,29 +253,19 @@ int main(void) {
halInit();
chSysInit();
- /*
- * 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);
- /*
- * L3GD20 Object Initialization
- */
+ /* L3GD20 Object Initialization.*/
l3gd20ObjectInit(&L3GD20D1);
- /*
- * Activates the L3GD20 driver.
- */
+ /* Activates the L3GD20 driver.*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
- /*
- * Shell manager initialization.
- */
+ /* Shell manager initialization.*/
shellInit();
while(TRUE) {
generated by cgit v1.2.3 (git 2.25.1) at 2025-04-15 13:19:03 +0000