1 files changed, 132 insertions, 0 deletions
diff --git a/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
new file mode 100644
index 000000000..011a30cda
--- /dev/null
+++ b/testhal/STM32/STM32F4xx/SPI-LIS3DSH/main.c
@@ -0,0 +1,132 @@
+/*
+    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 "lis3dsh.h"
+
+/* Enable use of special ANSI escape sequences */
+#define CHPRINTF_USE_ANSI_CODE         TRUE
+
+static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
+
+/* LIS3DSH Driver: This object represent an LIS3DSH instance */
+static LIS3DSHDriver LIS3DSHD1;
+
+static int32_t rawdata[LIS3DSH_NUMBER_OF_AXES];
+static float cookeddata[LIS3DSH_NUMBER_OF_AXES];
+
+static char axesID[LIS3DSH_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const SPIConfig spicfg = {
+  NULL,
+  GPIOE,                                     /* port of LIS3DSH CS */
+  GPIOE_CS_SPI,                              /* pin of LIS3DSH CS */
+  SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA,/*   CR1 register*/                                        /* CR2 register */
+};
+
+static LIS3DSHConfig lis3dshcfg = {
+  &SPID1,                                    /* Pointer to SPI Driver */
+  &spicfg,                                   /* Pointer to SPI Configuration */
+  LIS3DSH_FS_2G,                             /* Full scale value */
+  LIS3DSH_ODR_100HZ,                         /* Output data rate */
+  LIS3DSH_BW_200HZ,                          /* AA filter BW 200 Hz */
+  LIS3DSH_AE_XYZ,                            /* Enabled axes */
+  LIS3DSH_BDU_BLOCKED,                       /* Block data update blocked */
+  LIS3DSH_ACC_UNIT_G                         /* Measurement unit for cooked */
+};
+
+/*
+ * LED blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+  (void)arg;
+  chRegSetThreadName("blinker");
+  while (true) {
+    palToggleLine(LINE_LED6);
+    chThdSleepMilliseconds(250);
+  }
+}
+
+/*
+ * 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);
+  /*
+   * Creates the blinker thread.
+   */
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
+
+  /*
+   * LIS3DSH Object Initialization
+   */
+  lis3dshObjectInit(&LIS3DSHD1);
+
+  /*
+   * Activates the LIS3DSH driver.
+   */
+  lis3dshStart(&LIS3DSHD1, &lis3dshcfg);
+
+  while (TRUE) {
+    palToggleLine(LINE_LED3);
+    accelerometerReadRaw(&LIS3DSHD1, rawdata);
+    for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+      chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
+
+    accelerometerReadCooked(&LIS3DSHD1, cookeddata);
+    for(i = 0; i < LIS3DSH_NUMBER_OF_AXES; i++)
+      chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
+
+    chThdSleepMilliseconds(150);
+#if CHPRINTF_USE_ANSI_CODE
+    chprintf(chp, "\033[2J\033[1;1H");
+#endif
+  }
+  lis3dshStop(&LIS3DSHD1);
+}