373 lines
12 KiB
C
373 lines
12 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include "ch.h"
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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 "lsm303dlhc.h"
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/*===========================================================================*/
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/* LSM303DLHC related. */
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/*===========================================================================*/
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/* LSM303DLHC Driver: This object represent an LSM303DLHC instance */
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static LSM303DLHCDriver LSM303DLHCD1;
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static int32_t rawdata[LSM303DLHC_ACC_NUMBER_OF_AXES +
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LSM303DLHC_COMP_NUMBER_OF_AXES];
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static float cookeddata[LSM303DLHC_ACC_NUMBER_OF_AXES +
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LSM303DLHC_COMP_NUMBER_OF_AXES];
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static char axisID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
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static uint32_t i;
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static const I2CConfig i2ccfg = {
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STM32_TIMINGR_PRESC(15U) |
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STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |
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STM32_TIMINGR_SCLH(15U) | STM32_TIMINGR_SCLL(21U),
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0,
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0
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};
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static const LSM303DLHCAccConfig lsm303dlhcacccfg = {
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NULL, /* Use default sensitivity.*/
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NULL, /* Use default bias.*/
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LSM303DLHC_ACC_FS_4G, /* Full scale value 2g.*/
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LSM303DLHC_ACC_ODR_100Hz, /* Output data rate 100 Hz.*/
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#if LSM303DLHC_ACC_USE_ADVANCED || defined(__DOXYGEN__)
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LSM303DLHC_ACC_LP_DISABLED,
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LSM303DLHC_ACC_HR_DISABLED,
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LSM303DLHC_ACC_BDU_BLOCK,
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LSM303DLHC_ACC_END_LITTLE,
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#endif
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};
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static const LSM303DLHCCompConfig lsm303dlhccompcfg = {
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NULL, /* Use default sensitivity.*/
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NULL, /* Use default bias.*/
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LSM303DLHC_COMP_FS_1P3GA, /* Full scale value 1.3 Gauss.*/
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LSM303DLHC_COMP_ODR_30HZ, /* Output data rate 30 Hz.*/
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#if LSM303DLHC_COMP_USE_ADVANCED || defined(__DOXYGEN__)
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LSM303DLHC_COMP_MD_BLOCK
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#endif
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};
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static const LSM303DLHCConfig lsm303dlhccfg = {
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&I2CD1,
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&i2ccfg,
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&lsm303dlhcacccfg,
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&lsm303dlhccompcfg
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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_read(BaseSequentialStream *chp, int argc, char *argv[]) {
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(void)argv;
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if (argc != 2) {
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chprintf(chp, "Usage: read [acc|comp|both] [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], "acc")) {
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if (!strcmp (argv[1], "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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accelerometerReadRaw(&LSM303DLHCD1, rawdata);
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chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");
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for(i = 0; i < LSM303DLHC_ACC_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[1], "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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accelerometerReadCooked(&LSM303DLHCD1, cookeddata);
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chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
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for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
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}
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}
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else {
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chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
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return;
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}
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}
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else if (!strcmp (argv[0], "comp")) {
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if (!strcmp (argv[1], "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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compassReadRaw(&LSM303DLHCD1, rawdata);
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chprintf(chp, "LSM303DLHC Compass raw data...\r\n");
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for(i = 0; i < LSM303DLHC_COMP_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[1], "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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compassReadCooked(&LSM303DLHCD1, cookeddata);
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chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
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for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i], cookeddata[i]);
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}
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}
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else {
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chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\r\n");
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return;
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}
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}
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else if (!strcmp (argv[0], "both")) {
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if (!strcmp (argv[1], "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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sensorReadRaw(&LSM303DLHCD1, rawdata);
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chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");
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for(i = 0; i < LSM303DLHC_ACC_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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chprintf(chp, "LSM303DLHC Compass raw data...\r\n");
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for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %d\r\n", axisID[i],
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rawdata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);
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}
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}
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else if (!strcmp (argv[1], "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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sensorReadCooked(&LSM303DLHCD1, cookeddata);
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chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
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for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
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}
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chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
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for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.4f Gauss\r\n", axisID[i],
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cookeddata[i + LSM303DLHC_ACC_NUMBER_OF_AXES]);
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}
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}
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else {
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chprintf(chp, "Usage: read [acc|comp|both] [raw|cooked]\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: read [acc|comp|both] [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_fullscale(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: fullscale [acc|comp] [value]\r\n");
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return;
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}
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if (!strcmp (argv[0], "acc")) {
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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(!strcmp (argv[1], "2G")) {
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accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_2G);
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chprintf(chp, "LSM303DLHC Accelerometer full scale set to 2G...\r\n");
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}
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else if(!strcmp (argv[1], "4G")) {
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accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_4G);
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chprintf(chp, "LSM303DLHC Accelerometer full scale set to 4G...\r\n");
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}
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else if(!strcmp (argv[1], "8G")) {
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accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_8G);
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chprintf(chp, "LSM303DLHC Accelerometer full scale set to 8G...\r\n");
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}
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else if(!strcmp (argv[1], "16G")) {
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accelerometerSetFullScale(&LSM303DLHCD1, LSM303DLHC_ACC_FS_16G);
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chprintf(chp, "LSM303DLHC Accelerometer full scale set to 16G...\r\n");
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}
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else {
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chprintf(chp, "Usage: fullscale acc [2G|4G|8G|16G]\r\n");
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return;
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}
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}
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else if (!strcmp (argv[0], "comp")) {
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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(!strcmp (argv[1], "1.3")) {
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compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P3GA);
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chprintf(chp, "LSM303DLHC Compass full scale set to 1.3 Gauss...\r\n");
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}
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else if(!strcmp (argv[1], "1.9")) {
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compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_1P9GA);
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chprintf(chp, "LSM303DLHC Compass full scale set to 1.9 Gauss...\r\n");
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}
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else if(!strcmp (argv[1], "2.5")) {
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compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_2P5GA);
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chprintf(chp, "LSM303DLHC Compass full scale set to 2.5 Gauss...\r\n");
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}
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else if(!strcmp (argv[1], "4.0")) {
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compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P0GA);
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chprintf(chp, "LSM303DLHC Compass full scale set to 4.0 Gauss...\r\n");
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}
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else if(!strcmp (argv[1], "4.7")) {
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compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_4P7GA);
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chprintf(chp, "LSM303DLHC Compass full scale set to 4.7 Gauss...\r\n");
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}
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else if(!strcmp (argv[1], "5.6")) {
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compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_5P6GA);
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chprintf(chp, "LSM303DLHC Compass full scale set to 5.6 Gauss...\r\n");
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}
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else if(!strcmp (argv[1], "8.1")) {
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compassSetFullScale(&LSM303DLHCD1, LSM303DLHC_COMP_FS_8P1GA);
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chprintf(chp, "LSM303DLHC Compass full scale set to 8.1 Gauss...\r\n");
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}
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else {
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chprintf(chp, "Usage: fullscale comp [1.3|1.9|2.5|4.0|4.7|5.6|8.1]\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: fullscale [acc|comp] [value]\r\n");
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return;
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}
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}
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static const ShellCommand commands[] = {
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{"read", cmd_read},
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{"fullscale", cmd_fullscale},
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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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/* Generic code. */
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/*===========================================================================*/
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/*
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* Red LED blinker thread, times are in milliseconds.
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*/
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static THD_WORKING_AREA(waThread1, 128);
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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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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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/*
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* Application entry point.
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*/
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int main(void) {
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/*
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* Initializes a serial-over-USB CDC driver.
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*/
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sduObjectInit(&SDU1);
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sduStart(&SDU1, &serusbcfg);
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/*
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* Activates the USB driver and then the USB bus pull-up on D+.
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* Note, a delay is inserted in order to not have to disconnect the cable
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* after a reset.
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*/
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usbDisconnectBus(serusbcfg.usbp);
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chThdSleepMilliseconds(1500);
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usbStart(serusbcfg.usbp, &usbcfg);
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usbConnectBus(serusbcfg.usbp);
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/*
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* Shell manager initialization.
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*/
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shellInit();
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/*
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* Creates the blinker thread.
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*/
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
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/*
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* LSM303DLHC Object Initialization
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*/
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lsm303dlhcObjectInit(&LSM303DLHCD1);
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/*
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* Activates the LSM303DLHC driver.
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*/
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lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg);
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/*
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* Normal main() thread activity, spawning shells.
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*/
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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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lsm303dlhcStop(&LSM303DLHCD1);
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}
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