From cc4cde9bd020c7c9be2badc95bcaf0b69c1b38f3 Mon Sep 17 00:00:00 2001
From: Rocco Marco Guglielmi <roccomarco.guglielmi@live.com>
Date: Sat, 21 May 2016 14:53:20 +0000
Subject: EX: added LSM303DLHC support, included demo for STM32F3 Discovery and
 SMT32F401C Discovery

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9499 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c | 138 ++++++++++++++++++++++++++
 1 file changed, 138 insertions(+)
 create mode 100644 testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c

(limited to 'testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c')

diff --git a/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
new file mode 100644
index 000000000..5cee22670
--- /dev/null
+++ b/testhal/STM32/STM32F3xx/I2C-LSM303DLHC/main.c
@@ -0,0 +1,138 @@
+/*
+    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 "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
+
+static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
+
+/* 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 char axesID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const I2CConfig i2ccfg = {
+  STM32_TIMINGR_PRESC(15U) |
+  STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |
+  STM32_TIMINGR_SCLH(15U)  | STM32_TIMINGR_SCLL(21U),
+  0,
+  0
+};
+
+static const LSM303DLHCAccConfig lsm303dlhcacccfg = {
+  LSM303DLHC_ACC_FS_2G,
+  LSM303DLHC_ACC_ODR_100Hz,
+  LSM303DLHC_ACC_AE_XYZ,
+  LSM303DLHC_ACC_LP_DISABLED,
+  LSM303DLHC_ACC_HR_DISABLED,
+  LSM303DLHC_ACC_BDU_BLOCK,
+  LSM303DLHC_ACC_END_LITTLE,
+  LSM303DLHC_ACC_UNIT_G
+};
+
+static const LSM303DLHCCompConfig lsm303dlhccompcfg = {
+  LSM303DLHC_COMP_FS_1_3_GA,
+  LSM303DLHC_COMP_ODR_30HZ,
+  LSM303DLHC_COMP_MD_CONT,
+};
+
+static const LSM303DLHCConfig lsm303dlhccfg = {
+  &I2CD1,
+  &i2ccfg,
+  &lsm303dlhcacccfg,
+  &lsm303dlhccompcfg
+};
+
+/*
+ * 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);
+
+  /*
+   * LSM303DLHC Object Initialization
+   */
+  lsm303dlhcObjectInit(&LSM303DLHCD1);
+
+  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
+  }
+}
-- 
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