107 lines
3.0 KiB
C
107 lines
3.0 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2015 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 "chprintf.h"
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#include "lis3mdl.h"
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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*) &SD2;
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/* LIS3MDL Driver: This object represent an LIS3MDL instance */
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static LIS3MDLDriver LIS3MDLD1;
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static int32_t rawdata[LIS3MDL_NUMBER_OF_AXES];
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static float cookeddata[LIS3MDL_NUMBER_OF_AXES];
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static char axesID[LIS3MDL_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 LIS3MDLConfig lis3mdlcfg = {
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&I2CD1,
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&i2ccfg,
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LIS3MDL_SAD_VCC,
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LIS3MDL_FS_4GA,
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LIS3MDL_ODR_40HZ,
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LIS3MDL_LP_DISABLED,
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LIS3MDL_MD_CONTINUOUS,
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LIS3MDL_OMXY_ULTRA,
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LIS3MDL_OMZ_ULTRA,
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LIS3MDL_TEMP_ENABLED,
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LIS3MDL_BDU_BLOCKED,
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LIS3MDL_END_LITTLE
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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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palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
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palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
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/*
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* Activates the serial driver 2 using the driver default configuration.
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*/
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sdStart(&SD2, NULL);
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/*
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* LIS3MDL Object Initialization
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*/
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lis3mdlObjectInit(&LIS3MDLD1);
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lis3mdlStart(&LIS3MDLD1, &lis3mdlcfg);
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while (TRUE) {
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palToggleLine(LINE_LED_GREEN);
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compassReadRaw(&LIS3MDLD1, rawdata);
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compassReadCooked(&LIS3MDLD1, cookeddata);
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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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chprintf(chp, "COMPASS DATA\r\n");
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
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chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);
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chprintf(chp, "\r\n");
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
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chprintf(chp, "COOKED-%c:%.3f Gauss\t", axesID[i], cookeddata[i]);
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chprintf(chp, "\r\n");
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chThdSleepMilliseconds(100);
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}
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}
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