215 lines
6.8 KiB
C
215 lines
6.8 KiB
C
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/*
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ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include "ch.h"
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#include "hal.h"
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#include "usbcfg.h"
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#include "string.h"
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#include "shell.h"
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#include "chprintf.h"
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#include "lis302dl.h"
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/*===========================================================================*/
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/* LIS302DL related. */
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/*===========================================================================*/
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/* LIS302DL Driver: This object represent an LIS302DL instance */
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static LIS302DLDriver LIS302DLD1;
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static int32_t rawdata[LIS302DL_NUMBER_OF_AXES];
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static float cookeddata[LIS302DL_NUMBER_OF_AXES];
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static char axisID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
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static uint32_t i;
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static const SPIConfig spicfg = {
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NULL,
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GPIOE, /* port of LIS302DL CS.*/
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GPIOE_CS_SPI, /* pin of LIS302DL CS.*/
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SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register.*/
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0 /* CR2 register.*/
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};
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static LIS302DLConfig l3gd20cfg = {
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&SPID1, /* Pointer to SPI Driver.*/
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&spicfg, /* Pointer to SPI Configuration.*/
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NULL, /* Use default sensitivity.*/
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NULL, /* Use default bias.*/
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LIS302DL_FS_2G, /* Full scale value.*/
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LIS302DL_ODR_100HZ, /* Output data rate.*/
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#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
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LIS302DL_HP_DISABLED, /* HP filter disabled.*/
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#endif
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};
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/*===========================================================================*/
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/* Command line related. */
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/*===========================================================================*/
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/* Enable use of special ANSI escape sequences.*/
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#define CHPRINTF_USE_ANSI_CODE TRUE
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#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
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static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
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(void)argv;
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if (argc != 1) {
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chprintf(chp, "Usage: read [raw|cooked]\r\n");
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return;
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}
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while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
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if (!strcmp (argv[0], "raw")) {
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#if CHPRINTF_USE_ANSI_CODE
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chprintf(chp, "\033[2J\033[1;1H");
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#endif
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accelerometerReadRaw(&LIS302DLD1, rawdata);
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chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
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}
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}
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else if (!strcmp (argv[0], "cooked")) {
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#if CHPRINTF_USE_ANSI_CODE
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chprintf(chp, "\033[2J\033[1;1H");
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#endif
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accelerometerReadCooked(&LIS302DLD1, cookeddata);
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chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");
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for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.4f mg\r\n", axisID[i], cookeddata[i]);
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}
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}
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else {
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chprintf(chp, "Usage: read [raw|cooked]\r\n");
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return;
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}
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}
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chprintf(chp, "Stopped\r\n");
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}
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static void cmd_fullscale(BaseSequentialStream *chp, int argc, char *argv[]) {
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(void)argv;
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if (argc != 1) {
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chprintf(chp, "Usage: fullscale [2G|8G]\r\n");
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return;
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}
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#if CHPRINTF_USE_ANSI_CODE
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chprintf(chp, "\033[2J\033[1;1H");
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#endif
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if(!strcmp (argv[0], "2G")) {
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accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_2G);
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chprintf(chp, "LIS302DL Accelerometer full scale set to 2G...\r\n");
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}
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else if(!strcmp (argv[0], "8G")) {
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accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_8G);
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chprintf(chp, "LIS302DL Accelerometer full scale set to 8G...\r\n");
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}
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else {
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chprintf(chp, "Usage: fullscale [2G|8G]\r\n");
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return;
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}
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}
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static const ShellCommand commands[] = {
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{"read", cmd_read},
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{"fullscale", cmd_fullscale},
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{NULL, NULL}
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};
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static const ShellConfig shell_cfg1 = {
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(BaseSequentialStream *)&SDU1,
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commands
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};
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/*===========================================================================*/
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/* Main code. */
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/*===========================================================================*/
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/*
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* LED blinker thread, times are in milliseconds.
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*/
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static THD_WORKING_AREA(waThread1, 128);
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static THD_FUNCTION(Thread1, arg) {
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(void)arg;
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chRegSetThreadName("blinker");
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while (true) {
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systime_t time;
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time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
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palClearLine(LINE_LED6);
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chThdSleepMilliseconds(time);
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palSetLine(LINE_LED6);
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chThdSleepMilliseconds(time);
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}
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}
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/*
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* Application entry point.
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*/
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int main(void) {
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/* Initializes a serial-over-USB CDC driver.*/
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sduObjectInit(&SDU1);
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sduStart(&SDU1, &serusbcfg);
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/*
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* Activates the USB driver and then the USB bus pull-up on D+.
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* Note, a delay is inserted in order to not have to disconnect the cable
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* after a reset.
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*/
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usbDisconnectBus(serusbcfg.usbp);
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chThdSleepMilliseconds(1500);
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usbStart(serusbcfg.usbp, &usbcfg);
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usbConnectBus(serusbcfg.usbp);
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/* Creates the blinker thread.*/
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
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/* LIS302DL Object Initialization.*/
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lis302dlObjectInit(&LIS302DLD1);
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/* Activates the LIS302DL driver.*/
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lis302dlStart(&LIS302DLD1, &l3gd20cfg);
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/* Shell manager initialization.*/
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shellInit();
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while(TRUE) {
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if (SDU1.config->usbp->state == USB_ACTIVE) {
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thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
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"shell", NORMALPRIO + 1,
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shellThread, (void *)&shell_cfg1);
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chThdWait(shelltp); /* Waiting termination. */
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}
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chThdSleepMilliseconds(1000);
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}
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lis302dlStop(&LIS302DLD1);
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return 0;
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}
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