diff options
Diffstat (limited to 'testex/STM32/STM32F3xx/SPI-L3GD20/main.c')
| -rw-r--r-- | testex/STM32/STM32F3xx/SPI-L3GD20/main.c | 204 |
1 files changed, 38 insertions, 166 deletions
diff --git a/testex/STM32/STM32F3xx/SPI-L3GD20/main.c b/testex/STM32/STM32F3xx/SPI-L3GD20/main.c index b32ab7bd1..c4c8e64dc 100644 --- a/testex/STM32/STM32F3xx/SPI-L3GD20/main.c +++ b/testex/STM32/STM32F3xx/SPI-L3GD20/main.c @@ -17,13 +17,11 @@ #include "ch.h"
#include "hal.h"
-#include "usbcfg.h"
-#include "string.h"
-#include "shell.h"
#include "chprintf.h"
-
#include "l3gd20.h"
+#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
+
/*===========================================================================*/
/* L3GD20 related. */
/*===========================================================================*/
@@ -31,10 +29,10 @@ /* 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 int32_t gyroraw[L3GD20_GYRO_NUMBER_OF_AXES];
+static float gyrocooked[L3GD20_GYRO_NUMBER_OF_AXES];
-static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static char axisID[L3GD20_GYRO_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i;
static const SPIConfig spicfg = {
@@ -64,136 +62,12 @@ static L3GD20Config l3gd20cfg = { };
/*===========================================================================*/
-/* 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 != 1) {
- chprintf(chp, "Usage: read [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 DPS\r\n", axisID[i], cookeddata[i]);
- }
- }
- else {
- chprintf(chp, "Usage: read [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 [250|500|2000]\r\n");
- return;
- }
-#if CHPRINTF_USE_ANSI_CODE
- chprintf(chp, "\033[2J\033[1;1H");
-#endif
- if(!strcmp (argv[0], "250")) {
- gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);
- chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");
- }
- else if(!strcmp (argv[0], "500")) {
- gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);
- chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");
- }
- else if(!strcmp (argv[0], "2000")) {
- gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);
- chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");
- }
- else {
- chprintf(chp, "Usage: fullscale [250|500|2000]\r\n");
- return;
- }
-}
-
-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 LEDs are on!\r\n");
- chprintf(chp, "Press a key to start...\r\n");
- while (chnGetTimeout((BaseChannel *)chp, 500) == Q_TIMEOUT)
- ;
- palSetLine(LINE_LED6_GREEN);
- palSetLine(LINE_LED7_GREEN);
- chThdSleepMilliseconds(1000);
- gyroscopeSampleBias(&L3GD20D1);
- palClearLine(LINE_LED6_GREEN);
- palClearLine(LINE_LED7_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[] = {
- {"read", cmd_read},
- {"fullscale", cmd_fullscale},
- {"bias", cmd_bias},
- {NULL, NULL}
-};
-
-static const ShellConfig shell_cfg1 = {
- (BaseSequentialStream *)&SDU1,
- commands
-};
-
-/*===========================================================================*/
-/* Main code. */
+/* Generic code. */
/*===========================================================================*/
+static BaseSequentialStream* chp = (BaseSequentialStream*)&SD1;
/*
- * LED blinker thread, times are in milliseconds.
+ * Red LED blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
@@ -201,13 +75,8 @@ 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);
+ palToggleLine(LINE_LED3_RED);
+ chThdSleepMilliseconds(250);
}
}
@@ -226,41 +95,44 @@ int main(void) { 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.
+ * Activates the serial driver 1 using the driver default configuration.
*/
- usbDisconnectBus(serusbcfg.usbp);
- chThdSleepMilliseconds(1500);
- usbStart(serusbcfg.usbp, &usbcfg);
- usbConnectBus(serusbcfg.usbp);
+ sdStart(&SD1, NULL);
- /* Creates the blinker thread.*/
- chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
+ /*
+ * Creates the blinker thread.
+ */
+ chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
- /* L3GD20 Object Initialization.*/
+ /*
+ * L3GD20 Object Initialization
+ */
l3gd20ObjectInit(&L3GD20D1);
- /* Activates the L3GD20 driver.*/
+ /*
+ * Activates the L3GD20 driver.
+ */
l3gd20Start(&L3GD20D1, &l3gd20cfg);
- /* Shell manager initialization.*/
- shellInit();
+ /*
+ * Normal main() thread activity, printing MEMS data on the serial driver 1.
+ */
+ while (true) {
+ l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);
+ chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
+ for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);
+ }
- 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. */
+ l3gd20GyroscopeReadCooked(&L3GD20D1, gyrocooked);
+ chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");
+ for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
+ chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], gyrocooked[i]);
}
- chThdSleepMilliseconds(1000);
+
+ chThdSleepMilliseconds(100);
+ cls(chp);
}
l3gd20Stop(&L3GD20D1);
- return 0;
}
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