Improved L3GD20 demo.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9635 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Rocco Marco Guglielmi
parent
d888350fac
commit
d041c5a901
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@ -100,6 +100,7 @@ include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
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# Other files (optional).
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include $(CHIBIOS)/os/ex/ST/l3gd20.mk
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include $(CHIBIOS)/os/hal/lib/streams/streams.mk
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include $(CHIBIOS)/os/various/shell/shell.mk
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# Define linker script file here
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LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld
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@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
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$(BOARDSRC) \
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$(L3GD20SRC) \
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$(STREAMSSRC) \
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$(SHELLSRC) \
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usbcfg.c main.c
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global
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@ -148,7 +150,7 @@ ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
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INCDIR = $(CHIBIOS)/os/license \
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$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
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$(HALINC) $(PLATFORMINC) $(BOARDINC) $(L3GD20INC) \
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$(STREAMSINC) $(CHIBIOS)/os/various
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$(STREAMSINC) $(SHELLINC)
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#
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# Project, sources and paths
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@ -198,7 +200,7 @@ CPPWARN = -Wall -Wextra -Wundef
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#
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# List all user C define here, like -D_DEBUG=1
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UDEFS = -DCHPRINTF_USE_FLOAT=1
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UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0
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# Define ASM defines here
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UADEFS =
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@ -18,29 +18,24 @@
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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 "l3gd20.h"
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/*
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* DP resistor control is not possible on the STM32F3-Discovery, using stubs
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* for the connection macros.
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*/
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#define usb_lld_connect_bus(usbp)
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#define usb_lld_disconnect_bus(usbp)
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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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static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
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/*===========================================================================*/
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/* L3GD20 related. */
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/*===========================================================================*/
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/* L3GD20 Driver: This object represent an L3GD20 instance */
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static L3GD20Driver L3GD20D1;
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static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
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static float cookeddata[L3GD20_NUMBER_OF_AXES];
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static float temperature;
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static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
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static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
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static char unit[4] = "dps";
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static uint32_t i;
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static const SPIConfig spicfg = {
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@ -54,13 +49,138 @@ static const SPIConfig spicfg = {
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static L3GD20Config l3gd20cfg = {
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&SPID1, /* Pointer to SPI Driver */
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&spicfg, /* Pointer to SPI Configuration */
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{0, 0, 0}, /* Use default sensitivity */
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{0, 0, 0}, /* Use default bias */
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L3GD20_FS_250DPS, /* Full scale value */
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L3GD20_ODR_760HZ_FC_30, /* Output data rate */
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L3GD20_AE_XYZ, /* Enabled axes */
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L3GD20_BDU_BLOCKED, /* Block data update */
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L3GD20_END_LITTLE /* Endianness */
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L3GD20_ODR_760HZ, /* Output data rate */
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L3GD20_UNIT_DPS,
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};
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/*===========================================================================*/
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/* Command line related. */
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/*===========================================================================*/
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/*
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* DP resistor control is not possible on the STM32F3-Discovery, using stubs
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* for the connection macros.
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*/
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#define usb_lld_connect_bus(usbp)
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#define usb_lld_disconnect_bus(usbp)
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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_get(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: get [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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gyroscopeReadRaw(&L3GD20D1, rawdata);
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chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
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for(i = 0; i < L3GD20_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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gyroscopeReadCooked(&L3GD20D1, cookeddata);
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chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.4f %s\r\n", axisID[i], cookeddata[i], unit);
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}
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}
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else {
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chprintf(chp, "Usage: get [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_set(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: set [fs|unit] [value]\r\n");
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return;
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}
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if (!strcmp (argv[0], "fs")) {
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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 (argc != 2) {
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chprintf(chp, "Usage: set fs [250|500|2000]\r\n");
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return;
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}
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if(!strcmp (argv[1], "250")) {
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gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);
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chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");
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}
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else if(!strcmp (argv[1], "500")) {
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gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);
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chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");
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}
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else if(!strcmp (argv[1], "2000")) {
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gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);
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chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");
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}
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else {
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chprintf(chp, "Usage: set fs [250|500|2000]\r\n");
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return;
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}
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}
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else if (!strcmp (argv[0], "unit")) {
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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 (argc != 2) {
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chprintf(chp, "Usage: set unit [dps|rps]\r\n");
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return;
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}
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if(!strcmp (argv[1], "dps")) {
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gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_DPS);
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strcpy(unit, "dps");
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chprintf(chp, "L3GD20 Gyroscope unit set to degrees per second...\r\n");
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}
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else if(!strcmp (argv[1], "rps")) {
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gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_RPS);
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strcpy(unit, "rps");
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chprintf(chp, "L3GD20 Gyroscope unit set to radians per second...\r\n");
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}
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else {
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chprintf(chp, "Usage: set unit [dps|rps]\r\n");
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return;
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}
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}
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else {
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chprintf(chp, "Usage: set [fs|unit] [value]\r\n");
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}
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}
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static const ShellCommand commands[] = {
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{"get", cmd_get},
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{"set", cmd_set},
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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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@ -70,16 +190,13 @@ 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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palToggleLine(LINE_LED6_GREEN);
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chThdSleepMilliseconds(50);
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palToggleLine(LINE_LED4_BLUE);
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chThdSleepMilliseconds(50);
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palToggleLine(LINE_LED3_RED);
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chThdSleepMilliseconds(50);
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palToggleLine(LINE_LED5_ORANGE);
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chThdSleepMilliseconds(50);
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palToggleLine(LINE_LED7_GREEN);
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chThdSleepMilliseconds(200);
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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_LED3_RED);
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chThdSleepMilliseconds(time);
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palSetLine(LINE_LED3_RED);
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chThdSleepMilliseconds(time);
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}
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}
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@ -129,44 +246,20 @@ int main(void) {
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*/
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l3gd20Start(&L3GD20D1, &l3gd20cfg);
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while(!palReadLine(LINE_BUTTON)){
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chprintf(chp, "Press BTN to calibrate gyroscope...\r\n");
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chThdSleepMilliseconds(150);
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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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}
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/*
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* Shell manager initialization.
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*/
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shellInit();
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chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
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chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
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chThdSleepMilliseconds(3000);
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palSetLine(LINE_LED10_RED);
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chThdSleepMilliseconds(1000);
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gyroscopeSampleBias(&L3GD20D1);
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palClearLine(LINE_LED10_RED);
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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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while (TRUE) {
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palToggleLine(LINE_LED10_RED);
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gyroscopeReadRaw(&L3GD20D1, rawdata);
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
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gyroscopeReadCooked(&L3GD20D1, cookeddata);
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
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gyroscopeGetTemp(&L3GD20D1, &temperature);
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chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
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chThdSleepMilliseconds(150);
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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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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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l3gd20Stop(&L3GD20D1);
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return 0;
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}
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