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Updated STM32/STM32F4xx/SPI-L3GD20 

git-svn-id: https://svn.code.sf.net/p/chibios/svn2/trunk@11645 110e8d01-0319-4d1e-a829-52ad28d1bb01
This commit is contained in:
Rocco Marco Guglielmi 2018-03-08 15:59:15 +00:00
parent c02e7a5abc
commit 0c61d9bddf
4 changed files with 46 additions and 159 deletions
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2
testex/STM32/STM32F4xx/I2C-LSM303DLHC/Makefile
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@ -193,7 +193,7 @@ CPPWARN = -Wall -Wextra -Wundef
# #
# List all user C define here, like -D_DEBUG=1 # List all user C define here, like -D_DEBUG=1
UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \ UDEFS = -DCHPRINTF_USE_FLOAT=1 \
-DLSM303DLHC_ACC_USE_ADVANCED=0 -DLSM303DLHC_COMP_USE_ADVANCED=0 \ -DLSM303DLHC_ACC_USE_ADVANCED=0 -DLSM303DLHC_COMP_USE_ADVANCED=0 \
-DLSM303DLHC_SHARED_I2C=0 -DLSM303DLHC_SHARED_I2C=0
# Define ASM defines here # Define ASM defines here

32
testex/STM32/STM32F4xx/SPI-L3GD20/Makefile
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@ -87,6 +87,9 @@ PROJECT = ch
# Imported source files and paths # Imported source files and paths
CHIBIOS = ../../../.. CHIBIOS = ../../../..
# Licensing files.
include $(CHIBIOS)/os/license/license.mk
# Startup files. # Startup files.
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f4xx.mk
# HAL-OSAL files (optional). # HAL-OSAL files (optional).
@ -97,31 +100,23 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files (optional). # RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional). # EX files (optional).
include $(CHIBIOS)/os/ex/ST/l3gd20.mk include $(CHIBIOS)/os/ex/ST/l3gd20.mk
# Other files (optional).
include $(CHIBIOS)/os/hal/lib/streams/streams.mk include $(CHIBIOS)/os/hal/lib/streams/streams.mk
include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here # Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F401xC.ld LDSCRIPT= $(STARTUPLD)/STM32F401xC.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global # C sources that can be compiled in ARM or THUMB mode depending on the global
# setting. # setting.
CSRC = $(STARTUPSRC) \ CSRC = $(ALLCSRC) \
$(KERNSRC) \ $(TESTSRC) \
$(PORTSRC) \
$(OSALSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(L3GD20SRC) \
$(STREAMSSRC) \
$(SHELLSRC) \
usbcfg.c main.c usbcfg.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global # C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting. # setting.
CPPSRC = CPPSRC = $(AllCPPSRC)
# C sources to be compiled in ARM mode regardless of the global setting. # C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler # NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@ -147,10 +142,11 @@ TCPPSRC =
ASMSRC = ASMSRC =
ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM) ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(CHIBIOS)/os/license \ # List ASM source files here
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \ ASMSRC = $(ALLASMSRC)
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(L3GD20INC) \ ASMXSRC = $(ALLXASMSRC)
$(STREAMSINC) $(SHELLINC)
INCDIR = $(ALLINC) $(TESTINC)
# #
# Project, sources and paths # Project, sources and paths
@ -200,7 +196,7 @@ CPPWARN = -Wall -Wextra -Wundef
# #
# List all user C define here, like -D_DEBUG=1 # List all user C define here, like -D_DEBUG=1
UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \ UDEFS = -DCHPRINTF_USE_FLOAT=1 \
-DL3GD20_USE_ADVANCED=0 -DL3GD20_SHARED_SPI=0 -DL3GD20_USE_ADVANCED=0 -DL3GD20_SHARED_SPI=0
# Define ASM defines here # Define ASM defines here

168
testex/STM32/STM32F4xx/SPI-L3GD20/main.c
View File

@ -18,12 +18,11 @@
#include "hal.h" #include "hal.h"
#include "usbcfg.h" #include "usbcfg.h"
#include "string.h"
#include "shell.h"
#include "chprintf.h" #include "chprintf.h"
#include "l3gd20.h" #include "l3gd20.h"
#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
/*===========================================================================*/ /*===========================================================================*/
/* L3GD20 related. */ /* L3GD20 related. */
/*===========================================================================*/ /*===========================================================================*/
@ -31,10 +30,10 @@
/* L3GD20 Driver: This object represent an L3GD20 instance.*/ /* L3GD20 Driver: This object represent an L3GD20 instance.*/
static L3GD20Driver L3GD20D1; static L3GD20Driver L3GD20D1;
static int32_t rawdata[L3GD20_NUMBER_OF_AXES]; static int32_t gyroraw[L3GD20_GYRO_NUMBER_OF_AXES];
static float cookeddata[L3GD20_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 uint32_t i;
static const SPIConfig spicfg = { static const SPIConfig spicfg = {
@ -63,129 +62,11 @@ static L3GD20Config l3gd20cfg = {
#endif #endif
}; };
/*===========================================================================*/
/* 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)
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 LED is on!\r\n");
chprintf(chp, "Press a key to start...\r\n");
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")) {
#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. */ /* Main code. */
/*===========================================================================*/ /*===========================================================================*/
static BaseSequentialStream* chp = (BaseSequentialStream*)&SDU1;
/* /*
* LED blinker thread, times are in milliseconds. * LED blinker thread, times are in milliseconds.
*/ */
@ -237,24 +118,35 @@ int main(void) {
/* Creates the blinker thread.*/ /* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL); chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
/* L3GD20 Object Initialization.*/ /*
* L3GD20 Object Initialization
*/
l3gd20ObjectInit(&L3GD20D1); l3gd20ObjectInit(&L3GD20D1);
/* Activates the L3GD20 driver.*/ /*
* Activates the L3GD20 driver.
*/
l3gd20Start(&L3GD20D1, &l3gd20cfg); l3gd20Start(&L3GD20D1, &l3gd20cfg);
/* Shell manager initialization.*/ /*
shellInit(); * Normal main() thread activity, printing MEMS data on the serial over usb
* driver 1.
while(TRUE) { */
if (SDU1.config->usbp->state == USB_ACTIVE) { while (true) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE, l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);
"shell", NORMALPRIO + 1, chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
shellThread, (void *)&shell_cfg1); for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
chThdWait(shelltp); /* Waiting termination. */ chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);
} }
chThdSleepMilliseconds(1000);
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(100);
cls(chp);
} }
l3gd20Stop(&L3GD20D1); l3gd20Stop(&L3GD20D1);
return 0;
} }

3
testex/STM32/STM32F4xx/SPI-L3GD20/readme.txt
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@ -8,8 +8,7 @@ The demo runs on an STM32F401C Discovery board.
** The Demo ** ** The Demo **
The demo uses the ChibiOS Shell in order to test L3GD20 APIs. The demo prints L3GD20 data on the SDU1 BaseSequentialStream.
Shell is used on the SDU1 BaseSequentialStream.
** Build Procedure ** ** Build Procedure **