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UpdatedEX: LIS302DL driver updated to v1.0.0 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9724 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi 2016-07-27 20:55:04 +00:00
parent 4f6a6abcfc
commit 293f9d708b
6 changed files with 387 additions and 239 deletions
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236
os/ex/ST/lis302dl.c
View File

@ -33,58 +33,6 @@
/* Driver local definitions. */ /* Driver local definitions. */
/*===========================================================================*/ /*===========================================================================*/
#define LIS302DL_SENS_2G ((float)18.0f)
#define LIS302DL_SENS_8G ((float)72.0f)
#define LIS302DL_DI ((uint8_t)0xFF)
#define LIS302DL_DI_0 ((uint8_t)0x01)
#define LIS302DL_DI_1 ((uint8_t)0x02)
#define LIS302DL_DI_2 ((uint8_t)0x04)
#define LIS302DL_DI_3 ((uint8_t)0x08)
#define LIS302DL_DI_4 ((uint8_t)0x10)
#define LIS302DL_DI_5 ((uint8_t)0x20)
#define LIS302DL_DI_6 ((uint8_t)0x40)
#define LIS302DL_DI_7 ((uint8_t)0x80)
#define LIS302DL_AD ((uint8_t)0x3F)
#define LIS302DL_AD_0 ((uint8_t)0x01)
#define LIS302DL_AD_1 ((uint8_t)0x02)
#define LIS302DL_AD_2 ((uint8_t)0x04)
#define LIS302DL_AD_3 ((uint8_t)0x08)
#define LIS302DL_AD_4 ((uint8_t)0x10)
#define LIS302DL_AD_5 ((uint8_t)0x20)
#define LIS302DL_MS ((uint8_t)0x40)
#define LIS302DL_RW ((uint8_t)0x80)
#define LIS302DL_AD_WHO_AM_I ((uint8_t)0x0F)
#define LIS302DL_AD_CTRL_REG1 ((uint8_t)0x20)
#define LIS302DL_AD_CTRL_REG2 ((uint8_t)0x21)
#define LIS302DL_AD_CTRL_REG3 ((uint8_t)0x22)
#define LIS302DL_AD_HP_FILER_RESET ((uint8_t)0x23)
#define LIS302DL_AD_STATUS_REG ((uint8_t)0x27)
#define LIS302DL_AD_OUT_X ((uint8_t)0x29)
#define LIS302DL_AD_OUT_Y ((uint8_t)0x2B)
#define LIS302DL_AD_OUT_Z ((uint8_t)0x2D)
#define LIS302DL_AD_FF_WU_CFG_1 ((uint8_t)0x30)
#define LIS302DL_AD_FF_WU_SRC_1 ((uint8_t)0x31)
#define LIS302DL_AD_FF_WU_THS_1 ((uint8_t)0x32)
#define LIS302DL_AD_FF_WU_DURATION_1 ((uint8_t)0x33)
#define LIS302DL_AD_FF_WU_CFG_2 ((uint8_t)0x34)
#define LIS302DL_AD_FF_WU_SRC_2 ((uint8_t)0x35)
#define LIS302DL_AD_FF_WU_THS_2 ((uint8_t)0x36)
#define LIS302DL_AD_FF_WU_DURATION_2 ((uint8_t)0x37)
#define LIS302DL_AD_CLICK_CFG ((uint8_t)0x38)
#define LIS302DL_AD_CLICK_SRC ((uint8_t)0x39)
#define LIS302DL_AD_CLICK_THSY_X ((uint8_t)0x3B)
#define LIS302DL_AD_CLICK_THSZ ((uint8_t)0x3C)
#define LIS302DL_AD_CLICK_TIME_LIMIT ((uint8_t)0x3D)
#define LIS302DL_AD_CLICK_LATENCY ((uint8_t)0x3E)
#define LIS302DL_AD_CLICK_WINDOW ((uint8_t)0x3F)
#define LIS302DL_CTRL_REG1_FS_MASK ((uint8_t)0x20)
#define TO_G ((float)0.001f)
#define TO_SI ((float)0.00981f)
/*===========================================================================*/ /*===========================================================================*/
/* Driver exported variables. */ /* Driver exported variables. */
/*===========================================================================*/ /*===========================================================================*/
@ -93,14 +41,6 @@
/* Driver local variables and types. */ /* Driver local variables and types. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief LIS302DL Power Mode
*/
typedef enum {
LIS302DL_PM_POWER_DOWN = 0x00, /**< Power down enabled. */
LIS302DL_PM_SLEEP_NORMAL = 0x40 /**< Normal operation mode. */
}lis302dl_pm_t;
/*===========================================================================*/ /*===========================================================================*/
/* Driver local functions. */ /* Driver local functions. */
/*===========================================================================*/ /*===========================================================================*/
@ -111,16 +51,18 @@ typedef enum {
* @pre The SPI interface must be initialized and the driver started. * @pre The SPI interface must be initialized and the driver started.
* *
* @param[in] spip pointer to the SPI interface * @param[in] spip pointer to the SPI interface
* @param[in] reg register number * @param[in] reg starting register address
* @return register value. * @param[in] n number of adjacent registers to write
* @param[in] b pointer to a buffer.
*/ */
static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) { static void lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t txbuf[2] = {LIS302DL_RW | reg, 0xFF}; uint8_t* b) {
uint8_t rxbuf[2] = {0x00, 0x00}; uint8_t cmd;
(n == 1) ? (cmd = reg | LIS302DL_RW) : (cmd = reg | LIS302DL_RW | LIS302DL_MS);
spiSelect(spip); spiSelect(spip);
spiExchange(spip, 2, txbuf, rxbuf); spiSend(spip, 1, &cmd);
spiReceive(spip, n, b);
spiUnselect(spip); spiUnselect(spip);
return rxbuf[1];
} }
/** /**
@ -128,50 +70,18 @@ static uint8_t lis302dlSPIReadRegister(SPIDriver *spip, uint8_t reg) {
* @pre The SPI interface must be initialized and the driver started. * @pre The SPI interface must be initialized and the driver started.
* *
* @param[in] spip pointer to the SPI interface * @param[in] spip pointer to the SPI interface
* @param[in] reg register number * @param[in] reg starting register address
* @param[in] value register value. * @param[in] n number of adjacent registers to write
* @param[in] value pointer to a buffer of values.
*/ */
static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, static void lis302dlSPIWriteRegister(SPIDriver *spip, uint8_t reg, size_t n,
uint8_t value) { uint8_t* b) {
uint8_t cmd;
switch (reg) { (n == 1) ? (cmd = reg) : (cmd = reg | LIS302DL_MS);
default:
/* Reserved register must not be written, according to the datasheet
* this could permanently damage the device.
*/
osalDbgAssert(FALSE, "lis302dlSPIWriteRegister(), reserved register");
case LIS302DL_AD_WHO_AM_I:
case LIS302DL_AD_HP_FILER_RESET:
case LIS302DL_AD_STATUS_REG:
case LIS302DL_AD_OUT_X:
case LIS302DL_AD_OUT_Y:
case LIS302DL_AD_OUT_Z:
case LIS302DL_AD_FF_WU_SRC_1:
case LIS302DL_AD_FF_WU_SRC_2:
case LIS302DL_AD_CLICK_SRC:
/* Read only registers cannot be written, the command is ignored.*/
return;
case LIS302DL_AD_CTRL_REG1:
case LIS302DL_AD_CTRL_REG2:
case LIS302DL_AD_CTRL_REG3:
case LIS302DL_AD_FF_WU_CFG_1:
case LIS302DL_AD_FF_WU_THS_1:
case LIS302DL_AD_FF_WU_DURATION_1:
case LIS302DL_AD_FF_WU_CFG_2:
case LIS302DL_AD_FF_WU_THS_2:
case LIS302DL_AD_FF_WU_DURATION_2:
case LIS302DL_AD_CLICK_CFG:
case LIS302DL_AD_CLICK_THSY_X:
case LIS302DL_AD_CLICK_THSZ:
case LIS302DL_AD_CLICK_TIME_LIMIT:
case LIS302DL_AD_CLICK_LATENCY:
case LIS302DL_AD_CLICK_WINDOW:
spiSelect(spip); spiSelect(spip);
uint8_t txbuf[2] = {reg, value}; spiSend(spip, 1, &cmd);
spiSend(spip, 2, txbuf); spiSend(spip, n, b);
spiUnselect(spip); spiUnselect(spip);
}
} }
#endif /* LIS302DL_USE_SPI */ #endif /* LIS302DL_USE_SPI */
@ -185,7 +95,8 @@ static size_t get_axes_number(void *ip) {
} }
static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) { static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
int8_t tmp; uint8_t i, tmp;
osalDbgCheck((ip != NULL) && (axes != NULL)); osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY), osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
@ -199,20 +110,10 @@ static msg_t read_raw(void *ip, int32_t axes[LIS302DL_NUMBER_OF_AXES]) {
spiStart(((LIS302DLDriver *)ip)->config->spip, spiStart(((LIS302DLDriver *)ip)->config->spip,
((LIS302DLDriver *)ip)->config->spicfg); ((LIS302DLDriver *)ip)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */ #endif /* LIS302DL_SHARED_SPI */
if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_X){ for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip, lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
LIS302DL_AD_OUT_X); LIS302DL_AD_OUT_X + (i * 2), 1, &tmp);
axes[0] = tmp + ((LIS302DLDriver *)ip)->bias[0]; axes[i] = (int32_t)((int8_t)tmp);
}
if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Y){
tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
LIS302DL_AD_OUT_Y);
axes[1] = tmp + ((LIS302DLDriver *)ip)->bias[1];
}
if(((LIS302DLDriver *)ip)->config->axesenabling & LIS302DL_AE_Z){
tmp = lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
LIS302DL_AD_OUT_Z);
axes[2] = tmp + ((LIS302DLDriver *)ip)->bias[2];
} }
#if LIS302DL_SHARED_SPI #if LIS302DL_SHARED_SPI
spiReleaseBus(((LIS302DLDriver *)ip)->config->spip); spiReleaseBus(((LIS302DLDriver *)ip)->config->spip);
@ -233,13 +134,8 @@ static msg_t read_cooked(void *ip, float axes[]) {
msg = read_raw(ip, raw); msg = read_raw(ip, raw);
for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){ for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]; axes[i] = (raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]);
if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_G){ axes[i] -= ((LIS302DLDriver *)ip)->bias[i];
axes[i] *= TO_G;
}
else if(((LIS302DLDriver *)ip)->config->unit == LIS302DL_ACC_UNIT_SI){
axes[i] *= TO_SI;
}
} }
return msg; return msg;
} }
@ -302,12 +198,47 @@ static msg_t reset_sensivity(void *ip) {
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G; ((LIS302DLDriver *)ip)->sensitivity[i] = LIS302DL_SENS_8G;
else { else {
osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue"); osalDbgAssert(FALSE, "reset_sensivity(), full scale issue");
return MSG_RESET; return MSG_RESET;
} }
return MSG_OK; return MSG_OK;
} }
static msg_t set_full_scale(void *ip, lis302dl_fs_t fs) {
float newfs, scale;
uint8_t i, cr;
if(fs == LIS302DL_FS_2G) {
newfs = LIS302DL_2G;
}
else if(fs == LIS302DL_FS_8G) {
newfs = LIS302DL_8G;
}
else {
return MSG_RESET;
}
if(newfs != ((LIS302DLDriver *)ip)->fullscale) {
scale = newfs / ((LIS302DLDriver *)ip)->fullscale;
((LIS302DLDriver *)ip)->fullscale = newfs;
/* Updating register.*/
lis302dlSPIReadRegister(((LIS302DLDriver *)ip)->config->spip,
LIS302DL_AD_CTRL_REG1, 1, &cr);
cr &= ~(LIS302DL_CTRL_REG1_FS_MASK);
cr |= fs;
lis302dlSPIWriteRegister(((LIS302DLDriver *)ip)->config->spip,
LIS302DL_AD_CTRL_REG1, 1, &cr);
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
((LIS302DLDriver *)ip)->sensitivity[i] *= scale;
((LIS302DLDriver *)ip)->bias[i] *= scale;
}
}
return MSG_OK;
}
static const struct BaseSensorVMT vmt_basesensor = { static const struct BaseSensorVMT vmt_basesensor = {
get_axes_number, read_raw, read_cooked get_axes_number, read_raw, read_cooked
}; };
@ -319,7 +250,8 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
static const struct LIS302DLVMT vmt_lis302dl = { static const struct LIS302DLVMT vmt_lis302dl = {
get_axes_number, read_raw, read_cooked, get_axes_number, read_raw, read_cooked,
set_bias, reset_bias, set_sensivity, reset_sensivity set_bias, reset_bias, set_sensivity, reset_sensivity,
set_full_scale
}; };
/*===========================================================================*/ /*===========================================================================*/
@ -354,6 +286,7 @@ void lis302dlObjectInit(LIS302DLDriver *devp) {
*/ */
void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) { void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
uint32_t i; uint32_t i;
uint8_t cr[2] = {0, 0};
osalDbgCheck((devp != NULL) && (config != NULL)); osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY), osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
@ -367,25 +300,42 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
#endif /* LIS302DL_SHARED_SPI */ #endif /* LIS302DL_SHARED_SPI */
spiStart((devp)->config->spip, spiStart((devp)->config->spip,
(devp)->config->spicfg); (devp)->config->spicfg);
/* Control register 1 configuration block.*/
{
cr[0] = LIS302DL_CTRL_REG1_XEN | LIS302DL_CTRL_REG1_YEN |
LIS302DL_CTRL_REG1_ZEN | LIS302DL_CTRL_REG1_PD |
devp->config->outputdatarate |
devp->config->fullscale;
}
/* Control register 2 configuration block.*/
{
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
if(devp->config->hpmode != LIS302DL_HPM_BYPASSED)
cr[1] = devp->config->highpass;
#endif
}
lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1,
LIS302DL_PM_SLEEP_NORMAL | 2, cr);
devp->config->axesenabling |
devp->config->fullscale |
devp->config->outputdatarate);
lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG2,
devp->config->highpass);
#if LIS302DL_SHARED_SPI #if LIS302DL_SHARED_SPI
spiReleaseBus((devp)->config->spip); spiReleaseBus((devp)->config->spip);
#endif /* LIS302DL_SHARED_SPI */ #endif /* LIS302DL_SHARED_SPI */
#endif /* LIS302DL_USE_SPI */ #endif /* LIS302DL_USE_SPI */
/* Storing sensitivity information according to full scale value */ /* Storing sensitivity information according to full scale value */
if(devp->config->fullscale == LIS302DL_FS_2G) if(devp->config->fullscale == LIS302DL_FS_2G) {
devp->fullscale = LIS302DL_2G;
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS302DL_SENS_2G; devp->sensitivity[i] = LIS302DL_SENS_2G;
else if(devp->config->fullscale == LIS302DL_FS_8G) }
else if(devp->config->fullscale == LIS302DL_FS_8G) {
devp->fullscale = LIS302DL_8G;
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
devp->sensitivity[i] = LIS302DL_SENS_8G; devp->sensitivity[i] = LIS302DL_SENS_8G;
}
else { else {
osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue"); osalDbgAssert(FALSE, "lis302dlStart(), accelerometer full scale issue");
} }
@ -403,7 +353,7 @@ void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config) {
* @api * @api
*/ */
void lis302dlStop(LIS302DLDriver *devp) { void lis302dlStop(LIS302DLDriver *devp) {
uint8_t cr1;
osalDbgCheck(devp != NULL); osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY), osalDbgAssert((devp->state == LIS302DL_STOP) || (devp->state == LIS302DL_READY),
@ -416,8 +366,8 @@ void lis302dlStop(LIS302DLDriver *devp) {
spiStart((devp)->config->spip, spiStart((devp)->config->spip,
(devp)->config->spicfg); (devp)->config->spicfg);
#endif /* LIS302DL_SHARED_SPI */ #endif /* LIS302DL_SHARED_SPI */
lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, cr1 = 0;
LIS302DL_PM_POWER_DOWN | LIS302DL_AE_DISABLED); lis302dlSPIWriteRegister(devp->config->spip, LIS302DL_AD_CTRL_REG1, 1, &cr1);
spiStop((devp)->config->spip); spiStop((devp)->config->spip);
#if LIS302DL_SHARED_SPI #if LIS302DL_SHARED_SPI
spiReleaseBus((devp)->config->spip); spiReleaseBus((devp)->config->spip);

196
os/ex/ST/lis302dl.h
View File

@ -35,10 +35,130 @@
/*===========================================================================*/ /*===========================================================================*/
/** /**
* @brief LIS302DL number of axes. * @name Version identification
* @{
*/ */
#define LIS302DL_NUMBER_OF_AXES ((size_t) 3U) /**
* @brief LIS302DL driver version string.
*/
#define EX_LIS302DL_VERSION "1.0.0"
/**
* @brief LIS302DL driver version major number.
*/
#define EX_LIS302DL_MAJOR 1
/**
* @brief LIS302DL driver version minor number.
*/
#define EX_LIS302DL_MINOR 0
/**
* @brief LIS302DL driver version patch number.
*/
#define EX_LIS302DL_PATCH 0
/** @} */
/**
* @brief LIS302DL characteristics.
*
* @{
*/
#define LIS302DL_NUMBER_OF_AXES 3U
#define LIS302DL_2G 2.0f
#define LIS302DL_8G 8.0f
#define LIS302DL_SENS_2G 18.0f
#define LIS302DL_SENS_8G 72.0f
/** @} */
/**
* @name LIS302DL communication interfaces related bit masks
* @{
*/
#define LIS302DL_DI_MASK 0xFF /**< Data In mask */
#define LIS302DL_DI(n) (1 << n) /**< Data In bit n */
#define LIS302DL_AD_MASK 0x3F /**< Address Data mask */
#define LIS302DL_AD(n) (1 << n) /**< Address Data bit n */
#define LIS302DL_MS (1 << 6) /**< Multiple read write */
#define LIS302DL_RW (1 << 7) /**< Read Write selector */
/** @} */
/**
* @name LIS302DL register addresses
* @{
*/
#define LIS302DL_AD_WHO_AM_I 0x0F
#define LIS302DL_AD_CTRL_REG1 0x20
#define LIS302DL_AD_CTRL_REG2 0x21
#define LIS302DL_AD_CTRL_REG3 0x22
#define LIS302DL_AD_HP_FILER_RESET 0x23
#define LIS302DL_AD_STATUS_REG 0x27
#define LIS302DL_AD_OUT_X 0x29
#define LIS302DL_AD_OUT_Y 0x2B
#define LIS302DL_AD_OUT_Z 0x2D
#define LIS302DL_AD_FF_WU_CFG_1 0x30
#define LIS302DL_AD_FF_WU_SRC_1 0x31
#define LIS302DL_AD_FF_WU_THS_1 0x32
#define LIS302DL_AD_FF_WU_DURATION_1 0x33
#define LIS302DL_AD_FF_WU_CFG_2 0x34
#define LIS302DL_AD_FF_WU_SRC_2 0x35
#define LIS302DL_AD_FF_WU_THS_2 0x36
#define LIS302DL_AD_FF_WU_DURATION_2 0x37
#define LIS302DL_AD_CLICK_CFG 0x38
#define LIS302DL_AD_CLICK_SRC 0x39
#define LIS302DL_AD_CLICK_THSY_X 0x3B
#define LIS302DL_AD_CLICK_THSZ 0x3C
#define LIS302DL_AD_CLICK_TIME_LIMIT 0x3D
#define LIS302DL_AD_CLICK_LATENCY 0x3E
#define LIS302DL_AD_CLICK_WINDOW 0x3F
/** @} */
/**
* @name LIS302DL_CTRL_REG1 register bits definitions
* @{
*/
#define LIS302DL_CTRL_REG1_MASK 0xFF /**< LIS302DL_CTRL_REG1 mask */
#define LIS302DL_CTRL_REG1_FS_MASK 0x20 /**< Full scale field mask */
#define LIS302DL_CTRL_REG1_XEN (1 << 0) /**< X axis enable */
#define LIS302DL_CTRL_REG1_YEN (1 << 1) /**< Y axis enable */
#define LIS302DL_CTRL_REG1_ZEN (1 << 2) /**< Z axis enable */
#define LIS302DL_CTRL_REG1_STM (1 << 3) /**< Self test P-M */
#define LIS302DL_CTRL_REG1_STP (1 << 4) /**< Self test P-M */
#define LIS302DL_CTRL_REG1_FS (1 << 5) /**< Full scale */
#define LIS302DL_CTRL_REG1_PD (1 << 6) /**< Power-down mode enable */
#define LIS302DL_CTRL_REG1_DR (1 << 7) /**< Output data rate */
/** @} */
/**
* @name LIS302DL_CTRL_REG2 register bits definitions
* @{
*/
#define LIS302DL_CTRL_REG2_MASK 0xDF /**< LIS302DL_CTRL_REG2 mask */
#define LIS302DL_CTRL_REG2_HPCF1 (1 << 0) /**< HP filter cutoff bit 0 */
#define LIS302DL_CTRL_REG2_HPCF2 (1 << 1) /**< HP filter cutoff bit 1 */
#define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2) /**< HP filter cutoff bit 2 */
#define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3) /**< HP filter cutoff bit 3 */
#define LIS302DL_CTRL_REG2_FDS (1 << 4) /**< HP filter mode bit 0 */
#define LIS302DL_CTRL_REG2_BOOT (1 << 6) /**< HP filter mode bit 1 */
#define LIS302DL_CTRL_REG2_SIM (1 << 7) /**< HP filter mode bit 1 */
/** @} */
/**
* @name LIS302DL_CTRL_REG3 register bits definitions
* @{
*/
#define LIS302DL_CTRL_REG3_MASK 0xFF /**< LIS302DL_CTRL_REG3 mask */
#define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0) /**< Interrupt 1 config bit 0 */
#define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1) /**< Interrupt 1 config bit 1 */
#define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2) /**< Interrupt 1 config bit 2 */
#define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3) /**< Interrupt 2 config bit 0 */
#define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4) /**< Interrupt 2 config bit 1 */
#define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5) /**< Interrupt 2 config bit 2 */
#define LIS302DL_CTRL_REG3_PP_OD (1 << 6) /**< Push-pull open-drain */
#define LIS302DL_CTRL_REG3_IHL (1 << 7) /**< Int active high low */
/** @} */
/*===========================================================================*/ /*===========================================================================*/
/* Driver pre-compile time settings. */ /* Driver pre-compile time settings. */
/*===========================================================================*/ /*===========================================================================*/
@ -65,6 +185,15 @@
#define LIS302DL_USE_I2C FALSE #define LIS302DL_USE_I2C FALSE
#endif #endif
/**
* @brief LIS302DL advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
#if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__)
#define LIS302DL_USE_ADVANCED FALSE
#endif
/** /**
* @brief LIS302DL shared SPI switch. * @brief LIS302DL shared SPI switch.
* @details If set to @p TRUE the device acquires SPI bus ownership * @details If set to @p TRUE the device acquires SPI bus ownership
@ -108,8 +237,8 @@
* @brief LIS302DL full scale. * @brief LIS302DL full scale.
*/ */
typedef enum { typedef enum {
LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */ LIS302DL_FS_2G = 0x00, /**< Full scale ±2g. */
LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */ LIS302DL_FS_8G = 0x20 /**< Full scale ±8g. */
}lis302dl_fs_t; }lis302dl_fs_t;
/** /**
@ -131,29 +260,6 @@ typedef enum {
LIS302DL_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */ LIS302DL_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */
}lis302dl_hp_t; }lis302dl_hp_t;
/**
* @brief LIS302DL axes enabling.
*/
typedef enum {
LIS302DL_AE_DISABLED = 0x00, /**< All axes disabled. */
LIS302DL_AE_X = 0x01, /**< Only X-axis enabled. */
LIS302DL_AE_Y = 0x02, /**< Only Y-axis enabled. */
LIS302DL_AE_XY = 0x03, /**< X and Y axes enabled. */
LIS302DL_AE_Z = 0x04, /**< Only Z-axis enabled. */
LIS302DL_AE_XZ = 0x05, /**< X and Z axes enabled. */
LIS302DL_AE_YZ = 0x06, /**< Y and Z axes enabled. */
LIS302DL_AE_XYZ = 0x07 /**< All axes enabled. */
}lis302dl_ae_t;
/**
* @brief LIS302DL accelerometer subsystem unit.
*/
typedef enum {
LIS302DL_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
LIS302DL_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
LIS302DL_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
} lis302dl_acc_unit_t;
/** /**
* @brief Driver state machine possible states. * @brief Driver state machine possible states.
*/ */
@ -188,6 +294,14 @@ typedef struct {
*/ */
const I2CConfig *i2ccfg; const I2CConfig *i2ccfg;
#endif /* LIS302DL_USE_I2C */ #endif /* LIS302DL_USE_I2C */
/**
* @brief LIS302DL initial sensitivity.
*/
float sensitivity[LIS302DL_NUMBER_OF_AXES];
/**
* @brief LIS302DL initial bias.
*/
float bias[LIS302DL_NUMBER_OF_AXES];
/** /**
* @brief LIS302DL full scale value. * @brief LIS302DL full scale value.
*/ */
@ -196,18 +310,12 @@ typedef struct {
* @brief LIS302DL output data rate selection. * @brief LIS302DL output data rate selection.
*/ */
lis302dl_odr_t outputdatarate; lis302dl_odr_t outputdatarate;
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
/** /**
* @brief LIS302DL high pass filtering * @brief LIS302DL high pass filtering
*/ */
lis302dl_hp_t highpass; lis302dl_hp_t highpass;
/** #endif
* @brief LIS302DL axes enabling.
*/
lis302dl_ae_t axesenabling;
/**
* @brief LIS302DL unit for cooked data.
*/
lis302dl_acc_unit_t unit;
} LIS302DLConfig; } LIS302DLConfig;
/** /**
@ -219,7 +327,9 @@ typedef struct LIS302DLDriver LIS302DLDriver;
* @brief @p LIS302DL specific methods. * @brief @p LIS302DL specific methods.
*/ */
#define _lis302dl_methods \ #define _lis302dl_methods \
_base_accelerometer_methods _base_accelerometer_methods \
/* Change full scale value of LIS302DL .*/ \
msg_t (*set_full_scale)(void *instance, lis302dl_fs_t fs);
/** /**
@ -243,7 +353,9 @@ struct LIS302DLVMT {
/* Current sensitivity.*/ \ /* Current sensitivity.*/ \
float sensitivity[LIS302DL_NUMBER_OF_AXES]; \ float sensitivity[LIS302DL_NUMBER_OF_AXES]; \
/* Bias data.*/ \ /* Bias data.*/ \
int32_t bias[LIS302DL_NUMBER_OF_AXES]; int32_t bias[LIS302DL_NUMBER_OF_AXES]; \
/* Current full scale value.*/ \
float fullscale;
/** /**
* @extends BaseAccelerometer. * @extends BaseAccelerometer.
@ -268,19 +380,19 @@ struct LIS302DLDriver {
/*===========================================================================*/ /*===========================================================================*/
/** /**
* @brief Get current MEMS temperature. * @brief Change accelerometer fullscale value.
* @detail This information is very useful especially for high accuracy IMU.
* *
* @param[in] ip pointer to a @p BaseAccelerometer class. * @param[in] ip pointer to a @p BaseAccelerometer class.
* @param[out] temp the MEMS temperature as single precision floating. * @param[in] fs the new full scale value.
* *
* @return The operation status. * @return The operation status.
* @retval MSG_OK if the function succeeded. * @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred. * @retval MSG_RESET if one or more errors occurred.
* @api * @api
*/ */
#define accelerometerGetTemp(ip, tpp) \ #define accelerometerSetFullScale(ip, fs) \
(ip)->vmt_lis302dl->get_temperature(ip, tpp) (ip)->vmt_lis302dl->set_full_scale(ip, fs)
/*===========================================================================*/ /*===========================================================================*/
/* External declarations. */ /* External declarations. */

7
testhal/STM32/STM32F4xx/SPI-LIS302DL/Makefile
View File

@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional). # Other files (optional).
include $(CHIBIOS)/os/ex/ST/lis302dl.mk include $(CHIBIOS)/os/ex/ST/lis302dl.mk
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)/STM32F407xG.ld LDSCRIPT= $(STARTUPLD)/STM32F407xG.ld
@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
$(BOARDSRC) \ $(BOARDSRC) \
$(LIS302DLSRC) \ $(LIS302DLSRC) \
$(STREAMSSRC) \ $(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
@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(CHIBIOS)/os/license \ INCDIR = $(CHIBIOS)/os/license \
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \ $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS302DLINC) \ $(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS302DLINC) \
$(STREAMSINC) $(CHIBIOS)/os/various $(STREAMSINC) $(SHELLINC)
# #
# Project, sources and paths # Project, sources and paths
@ -198,7 +200,8 @@ 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 UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0 \
-DLIS302DL_USE_ADVANCED=0
# Define ASM defines here # Define ASM defines here
UADEFS = UADEFS =

2
testhal/STM32/STM32F4xx/SPI-LIS302DL/debug/STM32F4xx-SPI-LIS302DL (OpenOCD, Flash and Run).launch
View File

@ -33,7 +33,7 @@
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/> <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/> <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/> <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;/contentList&gt;"/> <stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList&gt;&lt;content id=&quot;cr2-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-null-port_wait_for_interrupt-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;CR2-adc-adcp-adc_lld_start_conversion-(format)&quot; val=&quot;4&quot;/&gt;&lt;content id=&quot;null-read_raw.lto_priv.67-(format)&quot; val=&quot;0&quot;/&gt;&lt;content id=&quot;buff[0]-null-read_raw.lto_priv.67-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;buff[1]-null-read_raw.lto_priv.67-(format)&quot; val=&quot;2&quot;/&gt;&lt;content id=&quot;buff[2]-null-read_raw.lto_priv.67-(format)&quot; val=&quot;2&quot;/&gt;&lt;/contentList&gt;"/>
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/> <stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/> <stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/> <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>

167
testhal/STM32/STM32F4xx/SPI-LIS302DL/main.c
View File

@ -18,14 +18,15 @@
#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 "lis302dl.h" #include "lis302dl.h"
/* Enable use of special ANSI escape sequences */ /*===========================================================================*/
#define CHPRINTF_USE_ANSI_CODE TRUE /* LIS302DL related. */
/*===========================================================================*/
static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
/* LIS302DL Driver: This object represent an LIS302DL instance */ /* LIS302DL Driver: This object represent an LIS302DL instance */
static LIS302DLDriver LIS302DLD1; static LIS302DLDriver LIS302DLD1;
@ -33,26 +34,111 @@ static LIS302DLDriver LIS302DLD1;
static int32_t rawdata[LIS302DL_NUMBER_OF_AXES]; static int32_t rawdata[LIS302DL_NUMBER_OF_AXES];
static float cookeddata[LIS302DL_NUMBER_OF_AXES]; static float cookeddata[LIS302DL_NUMBER_OF_AXES];
static char axesID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'}; static char axisID[LIS302DL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static uint32_t i; static uint32_t i;
static const SPIConfig spicfg = { static const SPIConfig spicfg = {
NULL, NULL,
GPIOE, /* port of LIS302DL CS */ GPIOE, /* port of LIS302DL CS.*/
GPIOE_CS_SPI, /* pin of LIS302DL CS */ GPIOE_CS_SPI, /* pin of LIS302DL CS.*/
SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register*/ /* CR2 register */ SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,/* CR1 register.*/
0 /* CR2 register.*/
}; };
static LIS302DLConfig lis302dlcfg = { static LIS302DLConfig l3gd20cfg = {
&SPID1, /* Pointer to SPI Driver */ &SPID1, /* Pointer to SPI Driver.*/
&spicfg, /* Pointer to SPI Configuration */ &spicfg, /* Pointer to SPI Configuration.*/
{0, 0, 0}, /* Use default sensitivity.*/
{0, 0, 0}, /* Use default bias.*/
LIS302DL_FS_2G, /* Full scale value */ LIS302DL_FS_2G, /* Full scale value */
LIS302DL_ODR_100HZ, /* Output data rate */ LIS302DL_ODR_100HZ, /* Output data rate */
#if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__)
LIS302DL_HP_DISABLED, /* HP filter disabled */ LIS302DL_HP_DISABLED, /* HP filter disabled */
LIS302DL_AE_XYZ, /* Enabled axes */ #endif
LIS302DL_ACC_UNIT_G /* Measurement unit for cooked */
}; };
/*===========================================================================*/
/* 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
accelerometerReadRaw(&LIS302DLD1, rawdata);
chprintf(chp, "LIS302DL Accelerometer raw data...\r\n");
for(i = 0; i < LIS302DL_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
accelerometerReadCooked(&LIS302DLD1, cookeddata);
chprintf(chp, "LIS302DL Accelerometer cooked data...\r\n");
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.4f mg\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 [2G|8G]\r\n");
return;
}
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
if(!strcmp (argv[0], "2G")) {
accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_2G);
chprintf(chp, "LIS302DL Accelerometer full scale set to 2 g...\r\n");
}
else if(!strcmp (argv[0], "8G")) {
accelerometerSetFullScale(&LIS302DLD1, LIS302DL_FS_8G);
chprintf(chp, "LIS302DL Accelerometer full scale set to 8 g...\r\n");
}
else {
chprintf(chp, "Usage: fullscale [2G|8G]\r\n");
return;
}
}
static const ShellCommand commands[] = {
{"read", cmd_read},
{"fullscale", cmd_fullscale},
{NULL, NULL}
};
static const ShellConfig shell_cfg1 = {
(BaseSequentialStream *)&SDU1,
commands
};
/*===========================================================================*/
/* Main code. */
/*===========================================================================*/
/* /*
* LED blinker thread, times are in milliseconds. * LED blinker thread, times are in milliseconds.
*/ */
@ -62,8 +148,13 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg; (void)arg;
chRegSetThreadName("blinker"); chRegSetThreadName("blinker");
while (true) { while (true) {
palToggleLine(LINE_LED6); systime_t time;
chThdSleepMilliseconds(250);
time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
palClearLine(LINE_LED6);
chThdSleepMilliseconds(time);
palSetLine(LINE_LED6);
chThdSleepMilliseconds(time);
} }
} }
@ -82,9 +173,7 @@ int main(void) {
halInit(); halInit();
chSysInit(); chSysInit();
/* /* Initializes a serial-over-USB CDC driver.*/
* Initializes a serial-over-USB CDC driver.
*/
sduObjectInit(&SDU1); sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg); sduStart(&SDU1, &serusbcfg);
@ -97,35 +186,29 @@ int main(void) {
chThdSleepMilliseconds(1500); chThdSleepMilliseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg); usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp); usbConnectBus(serusbcfg.usbp);
/*
* Creates the blinker thread. /* Creates the blinker thread.*/
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL); chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
/* /* LIS302DL Object Initialization.*/
* LIS302DL Object Initialization
*/
lis302dlObjectInit(&LIS302DLD1); lis302dlObjectInit(&LIS302DLD1);
/* /* Activates the LIS302DL driver.*/
* Activates the LIS302DL driver. lis302dlStart(&LIS302DLD1, &l3gd20cfg);
*/
lis302dlStart(&LIS302DLD1, &lis302dlcfg);
while (TRUE) { /* Shell manager initialization.*/
palToggleLine(LINE_LED3); shellInit();
accelerometerReadRaw(&LIS302DLD1, rawdata);
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
accelerometerReadCooked(&LIS302DLD1, cookeddata); while(TRUE) {
for(i = 0; i < LIS302DL_NUMBER_OF_AXES; i++) if (SDU1.config->usbp->state == USB_ACTIVE) {
chprintf(chp, "COOKED-%c:%.3f g\r\n", axesID[i], cookeddata[i]); thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
chThdSleepMilliseconds(150); shellThread, (void *)&shell_cfg1);
#if CHPRINTF_USE_ANSI_CODE chThdWait(shelltp); /* Waiting termination. */
chprintf(chp, "\033[2J\033[1;1H"); }
#endif chThdSleepMilliseconds(1000);
} }
lis302dlStop(&LIS302DLD1); lis302dlStop(&LIS302DLD1);
return 0;
} }

2
testhal/STM32/STM32F4xx/SPI-LIS302DL/readme.txt
View File

@ -8,7 +8,7 @@ The demo runs on an STM32F407 Discovery board rev MB997B.
** The Demo ** ** The Demo **
The demo flashes the board LED using a thread, read data from LIS302L printing The demo flashes the board LED using a thread, read data from LIS302DL printing
it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port). it on a BaseSequentialStream (SDU1, mapped on USB virtual COM port).
** Build Procedure ** ** Build Procedure **