andreika-git
/
ChibiOS
mirror of https://github.com/andreika-git/ChibiOS.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Updated STM32L4xx/SPI-L3GD20 demo. Cosmetic changes to L3GD20 demos 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11655 110e8d01-0319-4d1e-a829-52ad28d1bb01
This commit is contained in:
Rocco Marco Guglielmi 2018-03-09 08:02:15 +00:00
parent afefa3bffd
commit c72c670130
5 changed files with 51 additions and 195 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
testex/STM32/STM32F3xx/SPI-L3GD20/main.c
View File

@ -95,29 +95,19 @@ int main(void) {
halInit();
chSysInit();
/*
* Activates the serial driver 1 using the driver default configuration.
*/
/* Activates the serial driver 1 using the driver default configuration.*/
sdStart(&SD1, NULL);
/*
* Creates the blinker thread.
*/
/* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* L3GD20 Object Initialization
*/
/* L3GD20 Object Initialization.*/
l3gd20ObjectInit(&L3GD20D1);
/*
* Activates the L3GD20 driver.
*/
/* Activates the L3GD20 driver.*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
/*
* Normal main() thread activity, printing MEMS data on the serial driver 1.
*/
/* Normal main() thread activity, printing MEMS data on the SD1.*/
while (true) {
l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);
chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");

17
testex/STM32/STM32F4xx/SPI-L3GD20/main.c
View File

@ -63,7 +63,7 @@ static L3GD20Config l3gd20cfg = {
};
/*===========================================================================*/
/* Main code. */
/* Generic code. */
/*===========================================================================*/
static BaseSequentialStream* chp = (BaseSequentialStream*)&SDU1;
@ -116,22 +116,15 @@ int main(void) {
usbConnectBus(serusbcfg.usbp);
/* Creates the blinker thread.*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
/*
* L3GD20 Object Initialization
*/
/* L3GD20 Object Initialization.*/
l3gd20ObjectInit(&L3GD20D1);
/*
* Activates the L3GD20 driver.
*/
/* Activates the L3GD20 driver.*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
/*
* Normal main() thread activity, printing MEMS data on the serial over usb
* driver 1.
*/
/* Normal main() thread activity, printing MEMS data on the SDU1.*/
while (true) {
l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);
chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");

36
testex/STM32/STM32L4xx/SPI-L3GD20/Makefile
View File

@ -5,7 +5,7 @@
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
endif
# C specific options here (added to USE_OPT).
@ -71,7 +71,7 @@ endif
# Enables the use of FPU (no, softfp, hard).
ifeq ($(USE_FPU),)
USE_FPU = no
USE_FPU = hard
endif
#
@ -87,6 +87,9 @@ PROJECT = ch
# Imported source files and paths
CHIBIOS = ../../../..
# Licensing files.
include $(CHIBIOS)/os/license/license.mk
# Startup files.
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32l4xx.mk
# HAL-OSAL files (optional).
@ -97,31 +100,23 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.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
# Other files (optional).
include $(CHIBIOS)/os/hal/lib/streams/streams.mk
include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32L476xG.ld
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(STARTUPSRC) \
$(KERNSRC) \
$(PORTSRC) \
$(OSALSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(L3GD20SRC) \
$(STREAMSSRC) \
$(SHELLSRC) \
CSRC = $(ALLCSRC) \
$(TESTSRC) \
main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =
CPPSRC = $(AllCPPSRC)
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
@ -144,13 +139,10 @@ TCSRC =
TCPPSRC =
# List ASM source files here
ASMSRC =
ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
ASMSRC = $(ALLASMSRC)
ASMXSRC = $(ALLXASMSRC)
INCDIR = $(CHIBIOS)/os/license \
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(L3GD20INC) \
$(STREAMSINC) $(SHELLINC)
INCDIR = $(ALLINC) $(TESTINC)
#
# Project, sources and paths
@ -200,7 +192,7 @@ CPPWARN = -Wall -Wextra -Wundef
#
# 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
# Define ASM defines here

170
testex/STM32/STM32L4xx/SPI-L3GD20/main.c
View File

@ -17,12 +17,11 @@
#include "ch.h"
#include "hal.h"
#include "string.h"
#include "shell.h"
#include "chprintf.h"
#include "l3gd20.h"
#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
/*===========================================================================*/
/* L3GD20 related. */
/*===========================================================================*/
@ -30,10 +29,10 @@
/* L3GD20 Driver: This object represent an L3GD20 instance.*/
static L3GD20Driver L3GD20D1;
static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
static float cookeddata[L3GD20_NUMBER_OF_AXES];
static int32_t gyroraw[L3GD20_GYRO_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 const SPIConfig spicfg = {
@ -63,134 +62,12 @@ static L3GD20Config l3gd20cfg = {
};
/*===========================================================================*/
/* Command line related. */
/* Generic code. */
/*===========================================================================*/
static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;
/*
* 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
#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_LED_GREEN);
chThdSleepMilliseconds(1000);
gyroscopeSampleBias(&L3GD20D1);
palClearLine(LINE_LED_GREEN);
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 *)&SD2,
commands
};
/*===========================================================================*/
/* Main code. */
/*===========================================================================*/
/*
* LED blinker thread, times are in milliseconds.
* Red LED blinker thread, times are in milliseconds.
*/
static THD_WORKING_AREA(waThread1, 128);
static THD_FUNCTION(Thread1, arg) {
@ -198,10 +75,8 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg;
chRegSetThreadName("blinker");
while (true) {
palClearLine(LINE_LED_RED);
chThdSleepMilliseconds(500);
palSetLine(LINE_LED_RED);
chThdSleepMilliseconds(500);
palToggleLine(LINE_LED_RED);
chThdSleepMilliseconds(250);
}
}
@ -232,15 +107,22 @@ int main(void) {
/* Activates the L3GD20 driver.*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
/* Shell manager initialization.*/
shellInit();
/* Normal main() thread activity, printing MEMS data on the SD2.*/
while (true) {
l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);
chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);
}
while(TRUE) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp); /* Waiting termination. */
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);
return 0;
}
}

3
testex/STM32/STM32L4xx/SPI-L3GD20/readme.txt
View File

@ -8,8 +8,7 @@ The demo runs on an STM32L4 Discovery board.
** The Demo **
The demo uses the ChibiOS Shell in order to test L3GD20 APIs.
Shell is used on the SDU1 BaseSequentialStream.
The demo prints L3GD20 data on the SD2 BaseSequentialStream.
** Build Procedure **