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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 2016-06-17 08:27:06 +00:00
parent d888350fac
commit d041c5a901
2 changed files with 161 additions and 66 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
testhal/STM32/STM32F3xx/SPI-L3GD20/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/l3gd20.mk include $(CHIBIOS)/os/ex/ST/l3gd20.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)/STM32F303xC.ld LDSCRIPT= $(STARTUPLD)/STM32F303xC.ld
@ -115,6 +116,7 @@ CSRC = $(STARTUPSRC) \
$(BOARDSRC) \ $(BOARDSRC) \
$(L3GD20SRC) \ $(L3GD20SRC) \
$(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) $(L3GD20INC) \ $(HALINC) $(PLATFORMINC) $(BOARDINC) $(L3GD20INC) \
$(STREAMSINC) $(CHIBIOS)/os/various $(STREAMSINC) $(SHELLINC)
# #
# Project, sources and paths # Project, sources and paths
@ -198,7 +200,7 @@ 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 UDEFS = -DCHPRINTF_USE_FLOAT=1 -DSHELL_CMD_TEST_ENABLED=0
# Define ASM defines here # Define ASM defines here
UADEFS = UADEFS =

221
testhal/STM32/STM32F3xx/SPI-L3GD20/main.c
View File

@ -18,29 +18,24 @@
#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"
/* /*===========================================================================*/
* DP resistor control is not possible on the STM32F3-Discovery, using stubs /* L3GD20 related. */
* 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
static BaseSequentialStream * chp = (BaseSequentialStream*) &SDU1;
/* 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 rawdata[L3GD20_NUMBER_OF_AXES];
static float cookeddata[L3GD20_NUMBER_OF_AXES]; static float cookeddata[L3GD20_NUMBER_OF_AXES];
static float temperature;
static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'}; static char axisID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
static char unit[4] = "dps";
static uint32_t i; static uint32_t i;
static const SPIConfig spicfg = { static const SPIConfig spicfg = {
@ -54,13 +49,138 @@ static const SPIConfig spicfg = {
static L3GD20Config l3gd20cfg = { static L3GD20Config 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 */
L3GD20_FS_250DPS, /* Full scale value */ L3GD20_FS_250DPS, /* Full scale value */
L3GD20_ODR_760HZ_FC_30, /* Output data rate */ L3GD20_ODR_760HZ, /* Output data rate */
L3GD20_AE_XYZ, /* Enabled axes */ L3GD20_UNIT_DPS,
L3GD20_BDU_BLOCKED, /* Block data update */
L3GD20_END_LITTLE /* Endianness */
}; };
/*===========================================================================*/
/* Command line related. */
/*===========================================================================*/
/*
* 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_get(BaseSequentialStream *chp, int argc, char *argv[]) {
(void)argv;
if (argc != 1) {
chprintf(chp, "Usage: get [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 %s\r\n", axisID[i], cookeddata[i], unit);
}
}
else {
chprintf(chp, "Usage: get [raw|cooked]\r\n");
return;
}
}
chprintf(chp, "Stopped\r\n");
}
static void cmd_set(BaseSequentialStream *chp, int argc, char *argv[]) {
(void)argv;
if (argc < 1) {
chprintf(chp, "Usage: set [fs|unit] [value]\r\n");
return;
}
if (!strcmp (argv[0], "fs")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
if (argc != 2) {
chprintf(chp, "Usage: set fs [250|500|2000]\r\n");
return;
}
if(!strcmp (argv[1], "250")) {
gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_250DPS);
chprintf(chp, "L3GD20 Gyroscope full scale set to 250 dps...\r\n");
}
else if(!strcmp (argv[1], "500")) {
gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_500DPS);
chprintf(chp, "L3GD20 Gyroscope full scale set to 500 dps...\r\n");
}
else if(!strcmp (argv[1], "2000")) {
gyroscopeSetFullScale(&L3GD20D1, L3GD20_FS_2000DPS);
chprintf(chp, "L3GD20 Gyroscope full scale set to 2000 dps...\r\n");
}
else {
chprintf(chp, "Usage: set fs [250|500|2000]\r\n");
return;
}
}
else if (!strcmp (argv[0], "unit")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
if (argc != 2) {
chprintf(chp, "Usage: set unit [dps|rps]\r\n");
return;
}
if(!strcmp (argv[1], "dps")) {
gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_DPS);
strcpy(unit, "dps");
chprintf(chp, "L3GD20 Gyroscope unit set to degrees per second...\r\n");
}
else if(!strcmp (argv[1], "rps")) {
gyroscopeSetMeasurementUnit(&L3GD20D1, L3GD20_UNIT_RPS);
strcpy(unit, "rps");
chprintf(chp, "L3GD20 Gyroscope unit set to radians per second...\r\n");
}
else {
chprintf(chp, "Usage: set unit [dps|rps]\r\n");
return;
}
}
else {
chprintf(chp, "Usage: set [fs|unit] [value]\r\n");
}
}
static const ShellCommand commands[] = {
{"get", cmd_get},
{"set", cmd_set},
{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.
*/ */
@ -70,16 +190,13 @@ static THD_FUNCTION(Thread1, arg) {
(void)arg; (void)arg;
chRegSetThreadName("blinker"); chRegSetThreadName("blinker");
while (true) { while (true) {
palToggleLine(LINE_LED6_GREEN); systime_t time;
chThdSleepMilliseconds(50);
palToggleLine(LINE_LED4_BLUE); time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
chThdSleepMilliseconds(50); palClearLine(LINE_LED3_RED);
palToggleLine(LINE_LED3_RED); chThdSleepMilliseconds(time);
chThdSleepMilliseconds(50); palSetLine(LINE_LED3_RED);
palToggleLine(LINE_LED5_ORANGE); chThdSleepMilliseconds(time);
chThdSleepMilliseconds(50);
palToggleLine(LINE_LED7_GREEN);
chThdSleepMilliseconds(200);
} }
} }
@ -129,44 +246,20 @@ int main(void) {
*/ */
l3gd20Start(&L3GD20D1, &l3gd20cfg); l3gd20Start(&L3GD20D1, &l3gd20cfg);
while(!palReadLine(LINE_BUTTON)){ /*
chprintf(chp, "Press BTN to calibrate gyroscope...\r\n"); * Shell manager initialization.
chThdSleepMilliseconds(150); */
#if CHPRINTF_USE_ANSI_CODE shellInit();
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n"); while(TRUE) {
chprintf(chp, "Keep it in the rest position while red LED is on\r\n"); if (SDU1.config->usbp->state == USB_ACTIVE) {
chThdSleepMilliseconds(3000); thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
palSetLine(LINE_LED10_RED); shellThread, (void *)&shell_cfg1);
chThdSleepMilliseconds(1000); chThdWait(shelltp); /* Waiting termination. */
}
gyroscopeSampleBias(&L3GD20D1); chThdSleepMilliseconds(1000);
palClearLine(LINE_LED10_RED);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
while (TRUE) {
palToggleLine(LINE_LED10_RED);
gyroscopeReadRaw(&L3GD20D1, rawdata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
gyroscopeReadCooked(&L3GD20D1, cookeddata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
gyroscopeGetTemp(&L3GD20D1, &temperature);
chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
} }
l3gd20Stop(&L3GD20D1); l3gd20Stop(&L3GD20D1);
return 0;
} }