mirror of https://github.com/rusefi/ChibiOS.git
ChibiOS/HAL: improved hal_compass.h,
ChibiOS/EX: ultimated lis3mdl support Added STM32L4xx/I2C-LIS3MLD demo git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9382 35acf78f-673a-0410-8e92-d51de3d6d3f4
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/*
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ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file lis3mdl.c
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* @brief LIS3MDL MEMS interface module code.
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*
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* @addtogroup lis3mdl
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* @{
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*/
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#include "ch.h"
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#include "hal.h"
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#include "lis3mdl.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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#define LIS3MDL_SENS_4GA ((float)6842.0f)
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#define LIS3MDL_SENS_8GA ((float)3421.0f)
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#define LIS3MDL_SENS_12GA ((float)2281.0f)
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#define LIS3MDL_SENS_16GA ((float)1711.0f)
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#define LIS3MDL_TEMP_SENS ((float)8.0f)
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#define LIS3MDL_DI ((uint8_t)0xFF)
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#define LIS3MDL_DI_0 ((uint8_t)0x01)
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#define LIS3MDL_DI_1 ((uint8_t)0x02)
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#define LIS3MDL_DI_2 ((uint8_t)0x04)
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#define LIS3MDL_DI_3 ((uint8_t)0x08)
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#define LIS3MDL_DI_4 ((uint8_t)0x10)
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#define LIS3MDL_DI_5 ((uint8_t)0x20)
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#define LIS3MDL_DI_6 ((uint8_t)0x40)
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#define LIS3MDL_DI_7 ((uint8_t)0x80)
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#define LIS3MDL_AD ((uint8_t)0x3F)
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#define LIS3MDL_AD_0 ((uint8_t)0x01)
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#define LIS3MDL_AD_1 ((uint8_t)0x02)
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#define LIS3MDL_AD_2 ((uint8_t)0x04)
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#define LIS3MDL_AD_3 ((uint8_t)0x08)
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#define LIS3MDL_AD_4 ((uint8_t)0x10)
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#define LIS3MDL_AD_5 ((uint8_t)0x20)
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#define LIS3MDL_AD_6 ((uint8_t)0x40)
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#define LIS3MDL_RW ((uint8_t)0x80)
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#define LIS3MDL_AD_WHO_AM_I ((uint8_t)0x0F)
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#define LIS3MDL_AD_CTRL_REG1 ((uint8_t)0x20)
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#define LIS3MDL_AD_CTRL_REG2 ((uint8_t)0x21)
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#define LIS3MDL_AD_CTRL_REG3 ((uint8_t)0x22)
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#define LIS3MDL_AD_CTRL_REG4 ((uint8_t)0x23)
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#define LIS3MDL_AD_CTRL_REG5 ((uint8_t)0x24)
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#define LIS3MDL_AD_STATUS_REG ((uint8_t)0x27)
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#define LIS3MDL_AD_OUT_X_L ((uint8_t)0x28)
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#define LIS3MDL_AD_OUT_X_H ((uint8_t)0x29)
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#define LIS3MDL_AD_OUT_Y_L ((uint8_t)0x2A)
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#define LIS3MDL_AD_OUT_Y_H ((uint8_t)0x2B)
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#define LIS3MDL_AD_OUT_Z_L ((uint8_t)0x2C)
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#define LIS3MDL_AD_OUT_Z_H ((uint8_t)0x2D)
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#define LIS3MDL_AD_TEMP_OUT_L ((uint8_t)0x2E)
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#define LIS3MDL_AD_TEMP_OUT_H ((uint8_t)0x2F)
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#define LIS3MDL_AD_INT_CFG ((uint8_t)0x30)
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#define LIS3MDL_AD_INT_SOURCE ((uint8_t)0x31)
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#define LIS3MDL_AD_INT_THS_L ((uint8_t)0x32)
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#define LIS3MDL_AD_INT_THS_H ((uint8_t)0x33)
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#define LIS3MDL_CTRL_REG2_FS_MASK ((uint8_t)0x60)
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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#if (LIS3MDL_USE_I2C) || defined(__DOXYGEN__)
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/**
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* @brief Reads registers value using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] reg first sub-register address
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* @return the read value.
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*/
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uint8_t lis3mdlI2CReadRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
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msg_t* msgp) {
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msg_t msg;
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#if defined(STM32F103_MCUCONF)
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uint8_t rxbuf[2];
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msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
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TIME_INFINITE);
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if(msgp != NULL){
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*msgp = msg;
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}
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return rxbuf[0];
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#else
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uint8_t txbuf, rxbuf;
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txbuf = reg;
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msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
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TIME_INFINITE);
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if(msgp != NULL){
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*msgp = msg;
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}
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return rxbuf;
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#endif
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}
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/**
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* @brief Writes a value into a register using I2C.
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* @pre The I2C interface must be initialized and the driver started.
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*
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* @param[in] i2cp pointer to the I2C interface
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* @param[in] sad slave address without R bit
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* @param[in] sub sub-register address
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* @param[in] value the value to be written
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* @return the operation status.
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*/
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msg_t lis3mdlI2CWriteRegister(I2CDriver *i2cp, lis3mdl_sad_t sad, uint8_t reg,
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uint8_t value) {
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uint8_t rxbuf;
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uint8_t txbuf[2];
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switch (reg) {
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default:
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/* Reserved register must not be written, according to the datasheet
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* this could permanently damage the device.
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*/
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chDbgAssert(FALSE, "lis3mdlI2CWriteRegister(), reserved register");
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case LIS3MDL_AD_WHO_AM_I:
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case LIS3MDL_AD_STATUS_REG:
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case LIS3MDL_AD_OUT_X_L:
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case LIS3MDL_AD_OUT_X_H:
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case LIS3MDL_AD_OUT_Y_L:
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case LIS3MDL_AD_OUT_Y_H:
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case LIS3MDL_AD_OUT_Z_L:
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case LIS3MDL_AD_OUT_Z_H:
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case LIS3MDL_AD_TEMP_OUT_L:
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case LIS3MDL_AD_TEMP_OUT_H:
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case LIS3MDL_AD_INT_SOURCE:
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case LIS3MDL_AD_INT_THS_L:
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case LIS3MDL_AD_INT_THS_H:
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/* Read only registers cannot be written, the command is ignored.*/
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return MSG_RESET;
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case LIS3MDL_AD_CTRL_REG1:
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case LIS3MDL_AD_CTRL_REG2:
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case LIS3MDL_AD_CTRL_REG3:
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case LIS3MDL_AD_CTRL_REG4:
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case LIS3MDL_AD_CTRL_REG5:
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case LIS3MDL_AD_INT_CFG:
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txbuf[0] = reg;
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txbuf[1] = value;
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return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
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break;
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}
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}
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#endif /* LIS3MDL_USE_I2C */
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/*
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* Interface implementation.
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*/
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static size_t get_axes_number(void *ip) {
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osalDbgCheck(ip != NULL);
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return LIS3MDL_NUMBER_OF_AXES;
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}
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static msg_t read_raw(void *ip, int32_t axes[LIS3MDL_NUMBER_OF_AXES]) {
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
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"read_raw(), invalid state");
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#if LIS3MDL_USE_I2C
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osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
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"read_raw(), channel not ready");
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#if LIS3MDL_SHARED_I2C
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i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
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i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->i2ccfg);
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#endif /* LIS3MDL_SHARED_I2C */
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axes[0] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->slaveaddress,
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LIS3MDL_AD_OUT_X_L, NULL));
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axes[0] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->slaveaddress,
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LIS3MDL_AD_OUT_X_H, NULL) << 8);
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axes[0] -= ((LIS3MDLDriver *)ip)->bias[0];
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axes[1] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->slaveaddress,
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LIS3MDL_AD_OUT_Y_L, NULL));
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axes[1] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->slaveaddress,
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LIS3MDL_AD_OUT_Y_H, NULL) << 8);
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axes[1] -= ((LIS3MDLDriver *)ip)->bias[1];
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axes[2] = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->slaveaddress,
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LIS3MDL_AD_OUT_Z_L, NULL));
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axes[2] += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->slaveaddress,
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LIS3MDL_AD_OUT_Z_H, NULL) << 8);
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axes[2] -= ((LIS3MDLDriver *)ip)->bias[2];
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#if LIS3MDL_SHARED_I2C
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i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
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#endif /* LIS3MDL_SHARED_I2C */
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#endif /* LIS3MDL_USE_I2C */
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return MSG_OK;
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}
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static msg_t read_cooked(void *ip, float axes[]) {
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uint32_t i;
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int32_t raw[LIS3MDL_NUMBER_OF_AXES];
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msg_t msg;
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osalDbgCheck((ip != NULL) && (axes != NULL));
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osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
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"read_cooked(), invalid state");
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msg = read_raw(ip, raw);
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES ; i++){
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axes[i] = raw[i] / ((LIS3MDLDriver *)ip)->sensitivity[i];
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}
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return msg;
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}
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static msg_t set_bias(void *ip, int32_t *bp) {
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uint32_t i;
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osalDbgCheck((ip != NULL) && (bp !=NULL));
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osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
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(((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
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"set_bias(), invalid state");
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
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((LIS3MDLDriver *)ip)->bias[i] = bp[i];
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}
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return MSG_OK;
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}
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static msg_t reset_bias(void *ip) {
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uint32_t i;
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY) ||
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(((LIS3MDLDriver *)ip)->state == LIS3MDL_STOP),
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"reset_bias(), invalid state");
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
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((LIS3MDLDriver *)ip)->bias[i] = 0;
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return MSG_OK;
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}
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static msg_t set_sensivity(void *ip, float *sp) {
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uint32_t i;
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osalDbgCheck((ip != NULL) && (sp !=NULL));
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osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
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"set_sensivity(), invalid state");
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++) {
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((LIS3MDLDriver *)ip)->sensitivity[i] = sp[i];
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}
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return MSG_OK;
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}
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static msg_t reset_sensivity(void *ip) {
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uint32_t i;
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osalDbgCheck(ip != NULL);
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osalDbgAssert((((LIS3MDLDriver *)ip)->state == LIS3MDL_READY),
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"reset_sensivity(), invalid state");
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if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_4GA)
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
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((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_4GA;
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else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_8GA)
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
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((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_8GA;
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else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_12GA)
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
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((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_12GA;
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else if(((LIS3MDLDriver *)ip)->config->fullscale == LIS3MDL_FS_16GA)
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
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((LIS3MDLDriver *)ip)->sensitivity[i] = LIS3MDL_SENS_16GA;
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else
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osalDbgAssert(FALSE, "reset_sensivity(), compass full scale issue");
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return MSG_OK;
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}
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static msg_t get_temperature(void *ip, float* tempp) {
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int16_t temp;
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#if LIS3MDL_USE_I2C
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osalDbgAssert((((LIS3MDLDriver *)ip)->config->i2cp->state == I2C_READY),
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"gyro_read_raw(), channel not ready");
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#if LIS3MDL_SHARED_I2C
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i2cAcquireBus(((LIS3MDLDriver *)ip)->config->i2cp);
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i2cStart(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->i2ccfg);
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#endif /* LIS3MDL_SHARED_I2C */
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temp = (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->slaveaddress,
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LIS3MDL_AD_TEMP_OUT_L, NULL));
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temp += (int16_t)(lis3mdlI2CReadRegister(((LIS3MDLDriver *)ip)->config->i2cp,
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((LIS3MDLDriver *)ip)->config->slaveaddress,
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LIS3MDL_AD_TEMP_OUT_H, NULL) << 8);
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#if LIS3MDL_SHARED_I2C
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i2cReleaseBus(((LIS3MDLDriver *)ip)->config->i2cp);
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#endif /* LIS3MDL_SHARED_I2C */
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#endif /* LIS3MDL_USE_I2C */
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*tempp = (float)temp / LIS3MDL_TEMP_SENS;
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return MSG_OK;
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}
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static const struct BaseSensorVMT vmt_basesensor = {
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get_axes_number, read_raw, read_cooked
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};
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static const struct BaseCompassVMT vmt_basecompass = {
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get_axes_number, read_raw, read_cooked,
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set_bias, reset_bias, set_sensivity, reset_sensivity
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};
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static const struct LIS3MDLVMT vmt_lis3mdl = {
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get_axes_number, read_raw, read_cooked,
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set_bias, reset_bias, set_sensivity, reset_sensivity,
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get_temperature
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};
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Initializes an instance.
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*
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* @param[out] devp pointer to the @p LIS3MDLDriver object
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*
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* @init
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*/
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void lis3mdlObjectInit(LIS3MDLDriver *devp) {
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uint32_t i;
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devp->vmt_basesensor = &vmt_basesensor;
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devp->vmt_basecompass = &vmt_basecompass;
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devp->vmt_lis3mdl = &vmt_lis3mdl;
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devp->config = NULL;
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for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
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devp->bias[i] = 0;
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devp->state = LIS3MDL_STOP;
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}
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/**
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* @brief Configures and activates LIS3MDL Complex Driver peripheral.
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*
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||||
* @param[in] devp pointer to the @p LIS3MDLDriver object
|
||||
* @param[in] config pointer to the @p LIS3MDLConfig object
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void lis3mdlStart(LIS3MDLDriver *devp, const LIS3MDLConfig *config) {
|
||||
uint32_t i;
|
||||
osalDbgCheck((devp != NULL) && (config != NULL));
|
||||
|
||||
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
|
||||
"lis3mdlStart(), invalid state");
|
||||
|
||||
devp->config = config;
|
||||
|
||||
#if LIS3MDL_USE_I2C
|
||||
#if LIS3MDL_SHARED_I2C
|
||||
i2cAcquireBus((devp)->config->i2cp);
|
||||
#endif /* LIS3MDL_SHARED_I2C */
|
||||
i2cStart((devp)->config->i2cp,
|
||||
(devp)->config->i2ccfg);
|
||||
lis3mdlI2CWriteRegister(devp->config->i2cp,
|
||||
devp->config->slaveaddress,
|
||||
LIS3MDL_AD_CTRL_REG1,
|
||||
devp->config->temperature |
|
||||
devp->config->outputdatarate |
|
||||
devp->config->operationmodexy);
|
||||
lis3mdlI2CWriteRegister(devp->config->i2cp,
|
||||
devp->config->slaveaddress,
|
||||
LIS3MDL_AD_CTRL_REG2,
|
||||
devp->config->fullscale);
|
||||
lis3mdlI2CWriteRegister(devp->config->i2cp,
|
||||
devp->config->slaveaddress,
|
||||
LIS3MDL_AD_CTRL_REG3,
|
||||
devp->config->conversionmode);
|
||||
lis3mdlI2CWriteRegister(devp->config->i2cp,
|
||||
devp->config->slaveaddress,
|
||||
LIS3MDL_AD_CTRL_REG4,
|
||||
devp->config->operationmodez |
|
||||
devp->config->endianness);
|
||||
lis3mdlI2CWriteRegister(devp->config->i2cp,
|
||||
devp->config->slaveaddress,
|
||||
LIS3MDL_AD_CTRL_REG5,
|
||||
devp->config->blockdataupdate);
|
||||
#if LIS3MDL_SHARED_I2C
|
||||
i2cReleaseBus((devp)->config->i2cp);
|
||||
#endif /* LIS3MDL_SHARED_I2C */
|
||||
#endif /* LIS3MDL_USE_I2C */
|
||||
/* Storing sensitivity information according to full scale value */
|
||||
if(devp->config->fullscale == LIS3MDL_FS_4GA)
|
||||
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
|
||||
devp->sensitivity[i] = LIS3MDL_SENS_4GA;
|
||||
else if(devp->config->fullscale == LIS3MDL_FS_8GA)
|
||||
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
|
||||
devp->sensitivity[i] = LIS3MDL_SENS_8GA;
|
||||
else if(devp->config->fullscale == LIS3MDL_FS_12GA)
|
||||
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
|
||||
devp->sensitivity[i] = LIS3MDL_SENS_12GA;
|
||||
else if(devp->config->fullscale == LIS3MDL_FS_16GA)
|
||||
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
|
||||
devp->sensitivity[i] = LIS3MDL_SENS_16GA;
|
||||
else
|
||||
osalDbgAssert(FALSE, "lis3mdlStart(), compass full scale issue");
|
||||
devp->state = LIS3MDL_READY;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Deactivates the LIS3MDL Complex Driver peripheral.
|
||||
*
|
||||
* @param[in] devp pointer to the @p LIS3MDLDriver object
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void lis3mdlStop(LIS3MDLDriver *devp) {
|
||||
|
||||
osalDbgCheck(devp != NULL);
|
||||
|
||||
osalDbgAssert((devp->state == LIS3MDL_STOP) || (devp->state == LIS3MDL_READY),
|
||||
"lis3mdlStop(), invalid state");
|
||||
|
||||
#if (LIS3MDL_USE_I2C)
|
||||
if (devp->state == LIS3MDL_STOP) {
|
||||
#if LIS3MDL_SHARED_I2C
|
||||
i2cAcquireBus((devp)->config->i2cp);
|
||||
i2cStart((devp)->config->i2cp,
|
||||
(devp)->config->i2ccfg);
|
||||
#endif /* LIS3MDL_SHARED_I2C */
|
||||
lis3mdlI2CWriteRegister(devp->config->i2cp,
|
||||
devp->config->slaveaddress,
|
||||
LIS3MDL_AD_CTRL_REG3,
|
||||
LIS3MDL_MD_POWER_DOWN);
|
||||
i2cStop((devp)->config->i2cp);
|
||||
#if LIS3MDL_SHARED_I2C
|
||||
i2cReleaseBus((devp)->config->i2cp);
|
||||
#endif /* LIS3MDL_SHARED_I2C */
|
||||
}
|
||||
#endif /* LIS3MDL_USE_I2C */
|
||||
devp->state = LIS3MDL_STOP;
|
||||
}
|
||||
/** @} */
|
|
@ -92,8 +92,8 @@
|
|||
#error "LIS3MDL_USE_I2C requires HAL_USE_I2C"
|
||||
#endif
|
||||
|
||||
#if LIS3MDL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
|
||||
#error "LIS3MDL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
|
||||
#if LIS3MDL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
|
||||
#error "LIS3MDL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
|
@ -173,6 +173,14 @@ typedef enum {
|
|||
LIS3MDL_OMZ_ULTRA = 0x0C /**< Z axis ultra performance mode */
|
||||
}lis3mdl_omz_t;
|
||||
|
||||
/**
|
||||
* @brief LIS3MDL temperature sensor enabling
|
||||
*/
|
||||
typedef enum {
|
||||
LIS3MDL_TEMP_DISABLED = 0x00, /**< Temperature sensor disabled. */
|
||||
LIS3MDL_TEMP_ENABLED = 0x80 /**< Temperature sensor enabled. */
|
||||
}lis3mdl_temp_t;
|
||||
|
||||
/**
|
||||
* @brief LIS3MDL block data update
|
||||
*/
|
||||
|
@ -251,6 +259,10 @@ typedef struct {
|
|||
* @brief LIS3MDL operation mode for Z axis
|
||||
*/
|
||||
lis3mdl_omz_t operationmodez;
|
||||
/**
|
||||
* @brief LIS3MDL temperature sensor enabling
|
||||
*/
|
||||
lis3mdl_temp_t temperature;
|
||||
/**
|
||||
* @brief LIS3MDL block data update
|
||||
*/
|
||||
|
@ -322,7 +334,8 @@ struct LIS3MDLDriver {
|
|||
|
||||
/**
|
||||
* @brief Get current MEMS temperature.
|
||||
* @detail This information is very useful especially for high accuracy IMU
|
||||
* @detail This information is very useful especially for high accuracy IMU.
|
||||
* @note Temperature sensor must be enabled using a proper configuration.
|
||||
*
|
||||
* @param[in] ip pointer to a @p BaseCompass class.
|
||||
* @param[out] temp the MEMS temperature as single precision floating.
|
||||
|
|
|
@ -46,7 +46,16 @@
|
|||
/**
|
||||
* @brief BaseCompass specific methods.
|
||||
*/
|
||||
#define _base_compass_methods_alone
|
||||
#define _base_compass_methods_alone \
|
||||
/* Invoke the set bias procedure.*/ \
|
||||
msg_t (*set_bias)(void *instance, int32_t biases[]); \
|
||||
/* Remove bias stored data.*/ \
|
||||
msg_t (*reset_bias)(void *instance); \
|
||||
/* Invoke the set sensitivity procedure.*/ \
|
||||
msg_t (*set_sensitivity)(void *instance, float sensitivities[]); \
|
||||
/* Restore sensitivity stored data to default.*/ \
|
||||
msg_t (*reset_sensitivity)(void *instance);
|
||||
|
||||
|
||||
/**
|
||||
* @brief BaseCompass specific methods with inherited ones.
|
||||
|
@ -125,6 +134,70 @@ typedef struct {
|
|||
*/
|
||||
#define compassReadCooked(ip, dp) \
|
||||
(ip)->vmt_basecompass->read_cooked(ip, dp)
|
||||
|
||||
/**
|
||||
* @brief Updates compass bias data from received buffer.
|
||||
* @note The bias buffer must have the same length of the
|
||||
* the compass axes number. Bias must be computed on
|
||||
* raw data and is a signed integer.
|
||||
*
|
||||
* @param[in] ip pointer to a @p BaseCompass class.
|
||||
* @param[in] bp pointer to a buffer of bias values.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET if one or more errors occurred.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define compassSetBias(ip, bp) \
|
||||
(ip)->vmt_basecompass->set_bias(ip, bp)
|
||||
|
||||
/**
|
||||
* @brief Reset compass bias data restoring it to zero.
|
||||
*
|
||||
* @param[in] ip pointer to a @p BaseCompass class.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET if one or more errors occurred.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define compassResetBias(ip) \
|
||||
(ip)->vmt_basecompass->reset_bias(ip)
|
||||
|
||||
/**
|
||||
* @brief Updates compass sensitivity data from received buffer.
|
||||
* @note The sensitivity buffer must have the same length of the
|
||||
* the compass axes number.
|
||||
*
|
||||
* @param[in] ip pointer to a @p BaseCompass class.
|
||||
* @param[in] sp pointer to a buffer of sensitivity values.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET if one or more errors occurred.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define compassSetSensitivity(ip, sp) \
|
||||
(ip)->vmt_basecompass->set_sensitivity(ip, sp)
|
||||
|
||||
/**
|
||||
* @brief Reset compass sensitivity data restoring it to its typical
|
||||
* value.
|
||||
*
|
||||
* @param[in] ip pointer to a @p BaseCompass class.
|
||||
*
|
||||
* @return The operation status.
|
||||
* @retval MSG_OK if the function succeeded.
|
||||
* @retval MSG_RESET if one or more errors occurred.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define compassResetSensitivity(ip) \
|
||||
(ip)->vmt_basecompass->reset_sensitivity(ip)
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
|
|
|
@ -0,0 +1,54 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="0.779783487">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.779783487" moduleId="org.eclipse.cdt.core.settings" name="Default">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" id="0.779783487" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
|
||||
<folderInfo id="0.779783487." name="/" resourcePath="">
|
||||
<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.504160665" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
|
||||
<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.504160665.1873829009" name=""/>
|
||||
<builder id="org.eclipse.cdt.build.core.settings.default.builder.1953095184" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="unlimited" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.libs.1380710080" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.1057984653" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1281924276" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.64347027" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.957995359" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
<tool id="org.eclipse.cdt.build.core.settings.holder.1884341384" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
|
||||
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1298055969" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="STM32F3xx-EXT.null.200370092" name="STM32F3xx-EXT"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
<scannerConfigBuildInfo instanceId="0.779783487">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
<storageModule moduleId="refreshScope" versionNumber="2">
|
||||
<configuration configurationName="Default">
|
||||
<resource resourceType="PROJECT" workspacePath="/STM32L4xx-I2C-LSM6DS0"/>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
</cproject>
|
|
@ -0,0 +1,90 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>STM32L4xx-I2C-LIS3MDL</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
<dictionary>
|
||||
<key>?name?</key>
|
||||
<value></value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.append_environment</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildArguments</key>
|
||||
<value>-j</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.buildCommand</key>
|
||||
<value>make</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
|
||||
<value>clean</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.contents</key>
|
||||
<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
|
||||
<value>false</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.enableFullBuild</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
|
||||
<value>all</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.stopOnError</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
<dictionary>
|
||||
<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
|
||||
<value>true</value>
|
||||
</dictionary>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
<linkedResources>
|
||||
<link>
|
||||
<name>board</name>
|
||||
<type>2</type>
|
||||
<locationURI>CHIBIOS/os/hal/boards/ST_NUCLEO64_L476RG</locationURI>
|
||||
</link>
|
||||
<link>
|
||||
<name>os</name>
|
||||
<type>2</type>
|
||||
<locationURI>CHIBIOS/os</locationURI>
|
||||
</link>
|
||||
</linkedResources>
|
||||
</projectDescription>
|
|
@ -0,0 +1,220 @@
|
|||
##############################################################################
|
||||
# Build global options
|
||||
# NOTE: Can be overridden externally.
|
||||
#
|
||||
|
||||
# Compiler options here.
|
||||
ifeq ($(USE_OPT),)
|
||||
USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16
|
||||
endif
|
||||
|
||||
# C specific options here (added to USE_OPT).
|
||||
ifeq ($(USE_COPT),)
|
||||
USE_COPT =
|
||||
endif
|
||||
|
||||
# C++ specific options here (added to USE_OPT).
|
||||
ifeq ($(USE_CPPOPT),)
|
||||
USE_CPPOPT = -fno-rtti
|
||||
endif
|
||||
|
||||
# Enable this if you want the linker to remove unused code and data
|
||||
ifeq ($(USE_LINK_GC),)
|
||||
USE_LINK_GC = yes
|
||||
endif
|
||||
|
||||
# Linker extra options here.
|
||||
ifeq ($(USE_LDOPT),)
|
||||
USE_LDOPT =
|
||||
endif
|
||||
|
||||
# Enable this if you want link time optimizations (LTO)
|
||||
ifeq ($(USE_LTO),)
|
||||
USE_LTO = yes
|
||||
endif
|
||||
|
||||
# If enabled, this option allows to compile the application in THUMB mode.
|
||||
ifeq ($(USE_THUMB),)
|
||||
USE_THUMB = yes
|
||||
endif
|
||||
|
||||
# Enable this if you want to see the full log while compiling.
|
||||
ifeq ($(USE_VERBOSE_COMPILE),)
|
||||
USE_VERBOSE_COMPILE = no
|
||||
endif
|
||||
|
||||
# If enabled, this option makes the build process faster by not compiling
|
||||
# modules not used in the current configuration.
|
||||
ifeq ($(USE_SMART_BUILD),)
|
||||
USE_SMART_BUILD = yes
|
||||
endif
|
||||
|
||||
#
|
||||
# Build global options
|
||||
##############################################################################
|
||||
|
||||
##############################################################################
|
||||
# Architecture or project specific options
|
||||
#
|
||||
|
||||
# Stack size to be allocated to the Cortex-M process stack. This stack is
|
||||
# the stack used by the main() thread.
|
||||
ifeq ($(USE_PROCESS_STACKSIZE),)
|
||||
USE_PROCESS_STACKSIZE = 0x400
|
||||
endif
|
||||
|
||||
# Stack size to the allocated to the Cortex-M main/exceptions stack. This
|
||||
# stack is used for processing interrupts and exceptions.
|
||||
ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
|
||||
USE_EXCEPTIONS_STACKSIZE = 0x400
|
||||
endif
|
||||
|
||||
# Enables the use of FPU (no, softfp, hard).
|
||||
ifeq ($(USE_FPU),)
|
||||
USE_FPU = hard
|
||||
endif
|
||||
|
||||
#
|
||||
# Architecture or project specific options
|
||||
##############################################################################
|
||||
|
||||
##############################################################################
|
||||
# Project, sources and paths
|
||||
#
|
||||
|
||||
# Define project name here
|
||||
PROJECT = ch
|
||||
|
||||
# Imported source files and paths
|
||||
CHIBIOS = ../../../..
|
||||
# Startup files.
|
||||
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32l4xx.mk
|
||||
# HAL-OSAL files (optional).
|
||||
include $(CHIBIOS)/os/hal/hal.mk
|
||||
include $(CHIBIOS)/os/hal/ports/STM32/STM32L4xx/platform.mk
|
||||
include $(CHIBIOS)/os/hal/boards/ST_NUCLEO64_L476RG/board.mk
|
||||
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).
|
||||
include $(CHIBIOS)/os/ex/ST/lis3mdl.mk
|
||||
include $(CHIBIOS)/os/hal/lib/streams/streams.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) \
|
||||
$(LIS3MDLSRC) \
|
||||
$(STREAMSSRC) \
|
||||
main.c
|
||||
|
||||
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
|
||||
# setting.
|
||||
CPPSRC =
|
||||
|
||||
# C sources to be compiled in ARM mode regardless of the global setting.
|
||||
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
|
||||
# option that results in lower performance and larger code size.
|
||||
ACSRC =
|
||||
|
||||
# C++ sources to be compiled in ARM mode regardless of the global setting.
|
||||
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
|
||||
# option that results in lower performance and larger code size.
|
||||
ACPPSRC =
|
||||
|
||||
# C sources to be compiled in THUMB mode regardless of the global setting.
|
||||
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
|
||||
# option that results in lower performance and larger code size.
|
||||
TCSRC =
|
||||
|
||||
# C sources to be compiled in THUMB mode regardless of the global setting.
|
||||
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
|
||||
# option that results in lower performance and larger code size.
|
||||
TCPPSRC =
|
||||
|
||||
# List ASM source files here
|
||||
ASMSRC =
|
||||
ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
|
||||
|
||||
INCDIR = $(CHIBIOS)/os/license \
|
||||
$(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
|
||||
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(LIS3MDLINC) \
|
||||
$(STREAMSINC) $(CHIBIOS)/os/various
|
||||
|
||||
#
|
||||
# Project, sources and paths
|
||||
##############################################################################
|
||||
|
||||
##############################################################################
|
||||
# Compiler settings
|
||||
#
|
||||
|
||||
MCU = cortex-m4
|
||||
|
||||
#TRGT = arm-elf-
|
||||
TRGT = arm-none-eabi-
|
||||
CC = $(TRGT)gcc
|
||||
CPPC = $(TRGT)g++
|
||||
# Enable loading with g++ only if you need C++ runtime support.
|
||||
# NOTE: You can use C++ even without C++ support if you are careful. C++
|
||||
# runtime support makes code size explode.
|
||||
LD = $(TRGT)gcc
|
||||
#LD = $(TRGT)g++
|
||||
CP = $(TRGT)objcopy
|
||||
AS = $(TRGT)gcc -x assembler-with-cpp
|
||||
AR = $(TRGT)ar
|
||||
OD = $(TRGT)objdump
|
||||
SZ = $(TRGT)size
|
||||
HEX = $(CP) -O ihex
|
||||
BIN = $(CP) -O binary
|
||||
|
||||
# ARM-specific options here
|
||||
AOPT =
|
||||
|
||||
# THUMB-specific options here
|
||||
TOPT = -mthumb -DTHUMB
|
||||
|
||||
# Define C warning options here
|
||||
CWARN = -Wall -Wextra -Wundef -Wstrict-prototypes
|
||||
|
||||
# Define C++ warning options here
|
||||
CPPWARN = -Wall -Wextra -Wundef
|
||||
|
||||
#
|
||||
# Compiler settings
|
||||
##############################################################################
|
||||
|
||||
##############################################################################
|
||||
# Start of user section
|
||||
#
|
||||
|
||||
# List all user C define here, like -D_DEBUG=1
|
||||
UDEFS = -DCHPRINTF_USE_FLOAT=1
|
||||
|
||||
# Define ASM defines here
|
||||
UADEFS =
|
||||
|
||||
# List all user directories here
|
||||
UINCDIR =
|
||||
|
||||
# List the user directory to look for the libraries here
|
||||
ULIBDIR =
|
||||
|
||||
# List all user libraries here
|
||||
ULIBS =
|
||||
|
||||
#
|
||||
# End of user defines
|
||||
##############################################################################
|
||||
|
||||
RULESPATH = $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC
|
||||
include $(RULESPATH)/rules.mk
|
|
@ -0,0 +1,529 @@
|
|||
/*
|
||||
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file templates/chconf.h
|
||||
* @brief Configuration file template.
|
||||
* @details A copy of this file must be placed in each project directory, it
|
||||
* contains the application specific kernel settings.
|
||||
*
|
||||
* @addtogroup config
|
||||
* @details Kernel related settings and hooks.
|
||||
* @{
|
||||
*/
|
||||
|
||||
#ifndef _CHCONF_H_
|
||||
#define _CHCONF_H_
|
||||
|
||||
#define _CHIBIOS_RT_CONF_
|
||||
|
||||
/*===========================================================================*/
|
||||
/**
|
||||
* @name System timers settings
|
||||
* @{
|
||||
*/
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief System time counter resolution.
|
||||
* @note Allowed values are 16 or 32 bits.
|
||||
*/
|
||||
#define CH_CFG_ST_RESOLUTION 32
|
||||
|
||||
/**
|
||||
* @brief System tick frequency.
|
||||
* @details Frequency of the system timer that drives the system ticks. This
|
||||
* setting also defines the system tick time unit.
|
||||
*/
|
||||
#define CH_CFG_ST_FREQUENCY 10000
|
||||
|
||||
/**
|
||||
* @brief Time delta constant for the tick-less mode.
|
||||
* @note If this value is zero then the system uses the classic
|
||||
* periodic tick. This value represents the minimum number
|
||||
* of ticks that is safe to specify in a timeout directive.
|
||||
* The value one is not valid, timeouts are rounded up to
|
||||
* this value.
|
||||
*/
|
||||
#define CH_CFG_ST_TIMEDELTA 2
|
||||
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/**
|
||||
* @name Kernel parameters and options
|
||||
* @{
|
||||
*/
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Round robin interval.
|
||||
* @details This constant is the number of system ticks allowed for the
|
||||
* threads before preemption occurs. Setting this value to zero
|
||||
* disables the preemption for threads with equal priority and the
|
||||
* round robin becomes cooperative. Note that higher priority
|
||||
* threads can still preempt, the kernel is always preemptive.
|
||||
* @note Disabling the round robin preemption makes the kernel more compact
|
||||
* and generally faster.
|
||||
* @note The round robin preemption is not supported in tickless mode and
|
||||
* must be set to zero in that case.
|
||||
*/
|
||||
#define CH_CFG_TIME_QUANTUM 0
|
||||
|
||||
/**
|
||||
* @brief Managed RAM size.
|
||||
* @details Size of the RAM area to be managed by the OS. If set to zero
|
||||
* then the whole available RAM is used. The core memory is made
|
||||
* available to the heap allocator and/or can be used directly through
|
||||
* the simplified core memory allocator.
|
||||
*
|
||||
* @note In order to let the OS manage the whole RAM the linker script must
|
||||
* provide the @p __heap_base__ and @p __heap_end__ symbols.
|
||||
* @note Requires @p CH_CFG_USE_MEMCORE.
|
||||
*/
|
||||
#define CH_CFG_MEMCORE_SIZE 0
|
||||
|
||||
/**
|
||||
* @brief Idle thread automatic spawn suppression.
|
||||
* @details When this option is activated the function @p chSysInit()
|
||||
* does not spawn the idle thread. The application @p main()
|
||||
* function becomes the idle thread and must implement an
|
||||
* infinite loop.
|
||||
*/
|
||||
#define CH_CFG_NO_IDLE_THREAD FALSE
|
||||
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/**
|
||||
* @name Performance options
|
||||
* @{
|
||||
*/
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief OS optimization.
|
||||
* @details If enabled then time efficient rather than space efficient code
|
||||
* is used when two possible implementations exist.
|
||||
*
|
||||
* @note This is not related to the compiler optimization options.
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_OPTIMIZE_SPEED TRUE
|
||||
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/**
|
||||
* @name Subsystem options
|
||||
* @{
|
||||
*/
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Time Measurement APIs.
|
||||
* @details If enabled then the time measurement APIs are included in
|
||||
* the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_TM TRUE
|
||||
|
||||
/**
|
||||
* @brief Threads registry APIs.
|
||||
* @details If enabled then the registry APIs are included in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_REGISTRY TRUE
|
||||
|
||||
/**
|
||||
* @brief Threads synchronization APIs.
|
||||
* @details If enabled then the @p chThdWait() function is included in
|
||||
* the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_WAITEXIT TRUE
|
||||
|
||||
/**
|
||||
* @brief Semaphores APIs.
|
||||
* @details If enabled then the Semaphores APIs are included in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_SEMAPHORES TRUE
|
||||
|
||||
/**
|
||||
* @brief Semaphores queuing mode.
|
||||
* @details If enabled then the threads are enqueued on semaphores by
|
||||
* priority rather than in FIFO order.
|
||||
*
|
||||
* @note The default is @p FALSE. Enable this if you have special
|
||||
* requirements.
|
||||
* @note Requires @p CH_CFG_USE_SEMAPHORES.
|
||||
*/
|
||||
#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
|
||||
|
||||
/**
|
||||
* @brief Mutexes APIs.
|
||||
* @details If enabled then the mutexes APIs are included in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_MUTEXES TRUE
|
||||
|
||||
/**
|
||||
* @brief Enables recursive behavior on mutexes.
|
||||
* @note Recursive mutexes are heavier and have an increased
|
||||
* memory footprint.
|
||||
*
|
||||
* @note The default is @p FALSE.
|
||||
* @note Requires @p CH_CFG_USE_MUTEXES.
|
||||
*/
|
||||
#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
|
||||
|
||||
/**
|
||||
* @brief Conditional Variables APIs.
|
||||
* @details If enabled then the conditional variables APIs are included
|
||||
* in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
* @note Requires @p CH_CFG_USE_MUTEXES.
|
||||
*/
|
||||
#define CH_CFG_USE_CONDVARS TRUE
|
||||
|
||||
/**
|
||||
* @brief Conditional Variables APIs with timeout.
|
||||
* @details If enabled then the conditional variables APIs with timeout
|
||||
* specification are included in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
* @note Requires @p CH_CFG_USE_CONDVARS.
|
||||
*/
|
||||
#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
|
||||
|
||||
/**
|
||||
* @brief Events Flags APIs.
|
||||
* @details If enabled then the event flags APIs are included in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_EVENTS TRUE
|
||||
|
||||
/**
|
||||
* @brief Events Flags APIs with timeout.
|
||||
* @details If enabled then the events APIs with timeout specification
|
||||
* are included in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
* @note Requires @p CH_CFG_USE_EVENTS.
|
||||
*/
|
||||
#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
|
||||
|
||||
/**
|
||||
* @brief Synchronous Messages APIs.
|
||||
* @details If enabled then the synchronous messages APIs are included
|
||||
* in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_MESSAGES TRUE
|
||||
|
||||
/**
|
||||
* @brief Synchronous Messages queuing mode.
|
||||
* @details If enabled then messages are served by priority rather than in
|
||||
* FIFO order.
|
||||
*
|
||||
* @note The default is @p FALSE. Enable this if you have special
|
||||
* requirements.
|
||||
* @note Requires @p CH_CFG_USE_MESSAGES.
|
||||
*/
|
||||
#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
|
||||
|
||||
/**
|
||||
* @brief Mailboxes APIs.
|
||||
* @details If enabled then the asynchronous messages (mailboxes) APIs are
|
||||
* included in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
* @note Requires @p CH_CFG_USE_SEMAPHORES.
|
||||
*/
|
||||
#define CH_CFG_USE_MAILBOXES TRUE
|
||||
|
||||
/**
|
||||
* @brief I/O Queues APIs.
|
||||
* @details If enabled then the I/O queues APIs are included in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_QUEUES TRUE
|
||||
|
||||
/**
|
||||
* @brief Core Memory Manager APIs.
|
||||
* @details If enabled then the core memory manager APIs are included
|
||||
* in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_MEMCORE TRUE
|
||||
|
||||
/**
|
||||
* @brief Heap Allocator APIs.
|
||||
* @details If enabled then the memory heap allocator APIs are included
|
||||
* in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
* @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or
|
||||
* @p CH_CFG_USE_SEMAPHORES.
|
||||
* @note Mutexes are recommended.
|
||||
*/
|
||||
#define CH_CFG_USE_HEAP TRUE
|
||||
|
||||
/**
|
||||
* @brief Memory Pools Allocator APIs.
|
||||
* @details If enabled then the memory pools allocator APIs are included
|
||||
* in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
*/
|
||||
#define CH_CFG_USE_MEMPOOLS TRUE
|
||||
|
||||
/**
|
||||
* @brief Dynamic Threads APIs.
|
||||
* @details If enabled then the dynamic threads creation APIs are included
|
||||
* in the kernel.
|
||||
*
|
||||
* @note The default is @p TRUE.
|
||||
* @note Requires @p CH_CFG_USE_WAITEXIT.
|
||||
* @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
|
||||
*/
|
||||
#define CH_CFG_USE_DYNAMIC TRUE
|
||||
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/**
|
||||
* @name Debug options
|
||||
* @{
|
||||
*/
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Debug option, kernel statistics.
|
||||
*
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#define CH_DBG_STATISTICS FALSE
|
||||
|
||||
/**
|
||||
* @brief Debug option, system state check.
|
||||
* @details If enabled the correct call protocol for system APIs is checked
|
||||
* at runtime.
|
||||
*
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#define CH_DBG_SYSTEM_STATE_CHECK FALSE
|
||||
|
||||
/**
|
||||
* @brief Debug option, parameters checks.
|
||||
* @details If enabled then the checks on the API functions input
|
||||
* parameters are activated.
|
||||
*
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#define CH_DBG_ENABLE_CHECKS FALSE
|
||||
|
||||
/**
|
||||
* @brief Debug option, consistency checks.
|
||||
* @details If enabled then all the assertions in the kernel code are
|
||||
* activated. This includes consistency checks inside the kernel,
|
||||
* runtime anomalies and port-defined checks.
|
||||
*
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#define CH_DBG_ENABLE_ASSERTS FALSE
|
||||
|
||||
/**
|
||||
* @brief Debug option, trace buffer.
|
||||
* @details If enabled then the context switch circular trace buffer is
|
||||
* activated.
|
||||
*
|
||||
* @note The default is @p CH_DBG_TRACE_MASK_NONE.
|
||||
*/
|
||||
#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_NONE
|
||||
|
||||
/**
|
||||
* @brief Trace buffer entries.
|
||||
* @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
|
||||
* different from @p CH_DBG_TRACE_MASK_NONE.
|
||||
*/
|
||||
#define CH_DBG_TRACE_BUFFER_SIZE 128
|
||||
|
||||
/**
|
||||
* @brief Debug option, stack checks.
|
||||
* @details If enabled then a runtime stack check is performed.
|
||||
*
|
||||
* @note The default is @p FALSE.
|
||||
* @note The stack check is performed in a architecture/port dependent way.
|
||||
* It may not be implemented or some ports.
|
||||
* @note The default failure mode is to halt the system with the global
|
||||
* @p panic_msg variable set to @p NULL.
|
||||
*/
|
||||
#define CH_DBG_ENABLE_STACK_CHECK FALSE
|
||||
|
||||
/**
|
||||
* @brief Debug option, stacks initialization.
|
||||
* @details If enabled then the threads working area is filled with a byte
|
||||
* value when a thread is created. This can be useful for the
|
||||
* runtime measurement of the used stack.
|
||||
*
|
||||
* @note The default is @p FALSE.
|
||||
*/
|
||||
#define CH_DBG_FILL_THREADS FALSE
|
||||
|
||||
/**
|
||||
* @brief Debug option, threads profiling.
|
||||
* @details If enabled then a field is added to the @p thread_t structure that
|
||||
* counts the system ticks occurred while executing the thread.
|
||||
*
|
||||
* @note The default is @p FALSE.
|
||||
* @note This debug option is not currently compatible with the
|
||||
* tickless mode.
|
||||
*/
|
||||
#define CH_DBG_THREADS_PROFILING FALSE
|
||||
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/**
|
||||
* @name Kernel hooks
|
||||
* @{
|
||||
*/
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Threads descriptor structure extension.
|
||||
* @details User fields added to the end of the @p thread_t structure.
|
||||
*/
|
||||
#define CH_CFG_THREAD_EXTRA_FIELDS \
|
||||
/* Add threads custom fields here.*/
|
||||
|
||||
/**
|
||||
* @brief Threads initialization hook.
|
||||
* @details User initialization code added to the @p chThdInit() API.
|
||||
*
|
||||
* @note It is invoked from within @p chThdInit() and implicitly from all
|
||||
* the threads creation APIs.
|
||||
*/
|
||||
#define CH_CFG_THREAD_INIT_HOOK(tp) { \
|
||||
/* Add threads initialization code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Threads finalization hook.
|
||||
* @details User finalization code added to the @p chThdExit() API.
|
||||
*/
|
||||
#define CH_CFG_THREAD_EXIT_HOOK(tp) { \
|
||||
/* Add threads finalization code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Context switch hook.
|
||||
* @details This hook is invoked just before switching between threads.
|
||||
*/
|
||||
#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
|
||||
/* Context switch code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief ISR enter hook.
|
||||
*/
|
||||
#define CH_CFG_IRQ_PROLOGUE_HOOK() { \
|
||||
/* IRQ prologue code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief ISR exit hook.
|
||||
*/
|
||||
#define CH_CFG_IRQ_EPILOGUE_HOOK() { \
|
||||
/* IRQ epilogue code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Idle thread enter hook.
|
||||
* @note This hook is invoked within a critical zone, no OS functions
|
||||
* should be invoked from here.
|
||||
* @note This macro can be used to activate a power saving mode.
|
||||
*/
|
||||
#define CH_CFG_IDLE_ENTER_HOOK() { \
|
||||
/* Idle-enter code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Idle thread leave hook.
|
||||
* @note This hook is invoked within a critical zone, no OS functions
|
||||
* should be invoked from here.
|
||||
* @note This macro can be used to deactivate a power saving mode.
|
||||
*/
|
||||
#define CH_CFG_IDLE_LEAVE_HOOK() { \
|
||||
/* Idle-leave code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Idle Loop hook.
|
||||
* @details This hook is continuously invoked by the idle thread loop.
|
||||
*/
|
||||
#define CH_CFG_IDLE_LOOP_HOOK() { \
|
||||
/* Idle loop code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief System tick event hook.
|
||||
* @details This hook is invoked in the system tick handler immediately
|
||||
* after processing the virtual timers queue.
|
||||
*/
|
||||
#define CH_CFG_SYSTEM_TICK_HOOK() { \
|
||||
/* System tick event code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief System halt hook.
|
||||
* @details This hook is invoked in case to a system halting error before
|
||||
* the system is halted.
|
||||
*/
|
||||
#define CH_CFG_SYSTEM_HALT_HOOK(reason) { \
|
||||
/* System halt code here.*/ \
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Trace hook.
|
||||
* @details This hook is invoked each time a new record is written in the
|
||||
* trace buffer.
|
||||
*/
|
||||
#define CH_CFG_TRACE_HOOK(tep) { \
|
||||
/* Trace code here.*/ \
|
||||
}
|
||||
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Port-specific settings (override port settings defaulted in chcore.h). */
|
||||
/*===========================================================================*/
|
||||
|
||||
#endif /* _CHCONF_H_ */
|
||||
|
||||
/** @} */
|
|
@ -0,0 +1,52 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.debug.gdbjtag.launchConfigurationType">
|
||||
<stringAttribute key="bad_container_name" value="\STM32L4xx-I2C-LIS3MDL\debug"/>
|
||||
<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.delay" value="1"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="true"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageFileName" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.imageOffset" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value="set remotetimeout 20 monitor reset init monitor sleep 50 "/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDevice" value="Generic TCP/IP"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadImage" value="true"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.loadSymbols" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
|
||||
<intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="3333"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsFileName" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.symbolsOffset" value=""/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForImage" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useFileForSymbols" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForImage" value="true"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useProjBinaryForSymbols" value="true"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.useRemoteTarget" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.mi.core.DEBUG_NAME" value="arm-none-eabi-gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.mi.core.commandFactory" value="Standard"/>
|
||||
<stringAttribute key="org.eclipse.cdt.debug.mi.core.protocol" value="mi"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.debug.mi.core.verboseMode" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><contentList><content id="null-lis3mdlI2CReadRegister-(format)" val="4"/><content id="null-read_raw-(format)" val="1"/><content id="null-main-(format)" val="2"/><content id="null-lsm6ds0I2CReadRegister-(format)" val="0"/><content id="null-sens_get_temperature-(format)" val="2"/></contentList>"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <globalVariableList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?> <memoryBlockExpressionList/> "/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="STM32L4xx-I2C-LIS3MDL"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="0.603687198"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/STM32L4xx-I2C-LIS3MDL"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.ui.favoriteGroups">
|
||||
<listEntry value="org.eclipse.debug.ui.launchGroup.debug"/>
|
||||
</listAttribute>
|
||||
</launchConfiguration>
|
|
@ -0,0 +1,381 @@
|
|||
/*
|
||||
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file templates/halconf.h
|
||||
* @brief HAL configuration header.
|
||||
* @details HAL configuration file, this file allows to enable or disable the
|
||||
* various device drivers from your application. You may also use
|
||||
* this file in order to override the device drivers default settings.
|
||||
*
|
||||
* @addtogroup HAL_CONF
|
||||
* @{
|
||||
*/
|
||||
|
||||
#ifndef _HALCONF_H_
|
||||
#define _HALCONF_H_
|
||||
|
||||
#include "mcuconf.h"
|
||||
|
||||
/**
|
||||
* @brief Enables the PAL subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_PAL TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the ADC subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_ADC FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the CAN subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_CAN FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the DAC subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_DAC FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the EXT subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_EXT FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the GPT subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_GPT FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the I2C subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_I2C TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the I2S subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_I2S FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the ICU subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_ICU FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the MAC subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_MAC FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the MMC_SPI subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_MMC_SPI FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the PWM subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_PWM FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the RTC subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_RTC FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the SDC subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_SDC FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the SERIAL subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_SERIAL TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the SERIAL over USB subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_SERIAL_USB FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the SPI subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_SPI FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the UART subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_UART FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the USB subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_USB FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the WDG subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_WDG FALSE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* ADC driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Enables synchronous APIs.
|
||||
* @note Disabling this option saves both code and data space.
|
||||
*/
|
||||
#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
|
||||
#define ADC_USE_WAIT TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
|
||||
* @note Disabling this option saves both code and data space.
|
||||
*/
|
||||
#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
|
||||
#define ADC_USE_MUTUAL_EXCLUSION TRUE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* CAN driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Sleep mode related APIs inclusion switch.
|
||||
*/
|
||||
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
|
||||
#define CAN_USE_SLEEP_MODE TRUE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* I2C driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Enables the mutual exclusion APIs on the I2C bus.
|
||||
*/
|
||||
#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
|
||||
#define I2C_USE_MUTUAL_EXCLUSION TRUE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* MAC driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Enables an event sources for incoming packets.
|
||||
*/
|
||||
#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
|
||||
#define MAC_USE_ZERO_COPY FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables an event sources for incoming packets.
|
||||
*/
|
||||
#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
|
||||
#define MAC_USE_EVENTS TRUE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* MMC_SPI driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Delays insertions.
|
||||
* @details If enabled this options inserts delays into the MMC waiting
|
||||
* routines releasing some extra CPU time for the threads with
|
||||
* lower priority, this may slow down the driver a bit however.
|
||||
* This option is recommended also if the SPI driver does not
|
||||
* use a DMA channel and heavily loads the CPU.
|
||||
*/
|
||||
#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
|
||||
#define MMC_NICE_WAITING TRUE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* SDC driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Number of initialization attempts before rejecting the card.
|
||||
* @note Attempts are performed at 10mS intervals.
|
||||
*/
|
||||
#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
|
||||
#define SDC_INIT_RETRY 100
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Include support for MMC cards.
|
||||
* @note MMC support is not yet implemented so this option must be kept
|
||||
* at @p FALSE.
|
||||
*/
|
||||
#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
|
||||
#define SDC_MMC_SUPPORT FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Delays insertions.
|
||||
* @details If enabled this options inserts delays into the MMC waiting
|
||||
* routines releasing some extra CPU time for the threads with
|
||||
* lower priority, this may slow down the driver a bit however.
|
||||
*/
|
||||
#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
|
||||
#define SDC_NICE_WAITING TRUE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* SERIAL driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Default bit rate.
|
||||
* @details Configuration parameter, this is the baud rate selected for the
|
||||
* default configuration.
|
||||
*/
|
||||
#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
|
||||
#define SERIAL_DEFAULT_BITRATE 38400
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Serial buffers size.
|
||||
* @details Configuration parameter, you can change the depth of the queue
|
||||
* buffers depending on the requirements of your application.
|
||||
* @note The default is 16 bytes for both the transmission and receive
|
||||
* buffers.
|
||||
*/
|
||||
#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
|
||||
#define SERIAL_BUFFERS_SIZE 16
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* SERIAL_USB driver related setting. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Serial over USB buffers size.
|
||||
* @details Configuration parameter, the buffer size must be a multiple of
|
||||
* the USB data endpoint maximum packet size.
|
||||
* @note The default is 256 bytes for both the transmission and receive
|
||||
* buffers.
|
||||
*/
|
||||
#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
|
||||
#define SERIAL_USB_BUFFERS_SIZE 256
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Serial over USB number of buffers.
|
||||
* @note The default is 2 buffers.
|
||||
*/
|
||||
#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__)
|
||||
#define SERIAL_USB_BUFFERS_NUMBER 2
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* SPI driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Enables synchronous APIs.
|
||||
* @note Disabling this option saves both code and data space.
|
||||
*/
|
||||
#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
|
||||
#define SPI_USE_WAIT TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
|
||||
* @note Disabling this option saves both code and data space.
|
||||
*/
|
||||
#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
|
||||
#define SPI_USE_MUTUAL_EXCLUSION TRUE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* UART driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Enables synchronous APIs.
|
||||
* @note Disabling this option saves both code and data space.
|
||||
*/
|
||||
#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)
|
||||
#define UART_USE_WAIT FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables the @p uartAcquireBus() and @p uartReleaseBus() APIs.
|
||||
* @note Disabling this option saves both code and data space.
|
||||
*/
|
||||
#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
|
||||
#define UART_USE_MUTUAL_EXCLUSION FALSE
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* USB driver related settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Enables synchronous APIs.
|
||||
* @note Disabling this option saves both code and data space.
|
||||
*/
|
||||
#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__)
|
||||
#define USB_USE_WAIT FALSE
|
||||
#endif
|
||||
|
||||
#endif /* _HALCONF_H_ */
|
||||
|
||||
/** @} */
|
|
@ -0,0 +1,106 @@
|
|||
/*
|
||||
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
#include "ch.h"
|
||||
#include "hal.h"
|
||||
|
||||
#include "chprintf.h"
|
||||
#include "lis3mdl.h"
|
||||
|
||||
/* Enable use of special ANSI escape sequences */
|
||||
#define CHPRINTF_USE_ANSI_CODE TRUE
|
||||
|
||||
static BaseSequentialStream * chp = (BaseSequentialStream*) &SD2;
|
||||
|
||||
/* LIS3MDL Driver: This object represent an LIS3MDL instance */
|
||||
static LIS3MDLDriver LIS3MDLD1;
|
||||
|
||||
static int32_t rawdata[LIS3MDL_NUMBER_OF_AXES];
|
||||
static float cookeddata[LIS3MDL_NUMBER_OF_AXES];
|
||||
|
||||
static char axesID[LIS3MDL_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
|
||||
static uint32_t i;
|
||||
|
||||
static const I2CConfig i2ccfg = {
|
||||
STM32_TIMINGR_PRESC(15U) |
|
||||
STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |
|
||||
STM32_TIMINGR_SCLH(15U) | STM32_TIMINGR_SCLL(21U),
|
||||
0,
|
||||
0
|
||||
};
|
||||
|
||||
static const LIS3MDLConfig lis3mdlcfg = {
|
||||
&I2CD1,
|
||||
&i2ccfg,
|
||||
LIS3MDL_SAD_VCC,
|
||||
LIS3MDL_FS_4GA,
|
||||
LIS3MDL_ODR_40HZ,
|
||||
LIS3MDL_LP_DISABLED,
|
||||
LIS3MDL_MD_CONTINUOUS,
|
||||
LIS3MDL_OMXY_ULTRA,
|
||||
LIS3MDL_OMZ_ULTRA,
|
||||
LIS3MDL_TEMP_ENABLED,
|
||||
LIS3MDL_BDU_BLOCKED,
|
||||
LIS3MDL_END_LITTLE
|
||||
};
|
||||
|
||||
/*
|
||||
* Application entry point.
|
||||
*/
|
||||
int main(void) {
|
||||
|
||||
/*
|
||||
* System initializations.
|
||||
* - HAL initialization, this also initializes the configured device drivers
|
||||
* and performs the board-specific initializations.
|
||||
* - Kernel initialization, the main() function becomes a thread and the
|
||||
* RTOS is active.
|
||||
*/
|
||||
halInit();
|
||||
chSysInit();
|
||||
|
||||
palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
|
||||
palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
|
||||
|
||||
/*
|
||||
* Activates the serial driver 2 using the driver default configuration.
|
||||
*/
|
||||
sdStart(&SD2, NULL);
|
||||
|
||||
/*
|
||||
* LIS3MDL Object Initialization
|
||||
*/
|
||||
lis3mdlObjectInit(&LIS3MDLD1);
|
||||
|
||||
lis3mdlStart(&LIS3MDLD1, &lis3mdlcfg);
|
||||
|
||||
while (TRUE) {
|
||||
palToggleLine(LINE_LED_GREEN);
|
||||
compassReadRaw(&LIS3MDLD1, rawdata);
|
||||
compassReadCooked(&LIS3MDLD1, cookeddata);
|
||||
#if CHPRINTF_USE_ANSI_CODE
|
||||
chprintf(chp, "\033[2J\033[1;1H");
|
||||
#endif
|
||||
chprintf(chp, "COMPASS DATA\r\n");
|
||||
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
|
||||
chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);
|
||||
chprintf(chp, "\r\n");
|
||||
for(i = 0; i < LIS3MDL_NUMBER_OF_AXES; i++)
|
||||
chprintf(chp, "COOKED-%c:%.3f Gauss\t", axesID[i], cookeddata[i]);
|
||||
chprintf(chp, "\r\n");
|
||||
chThdSleepMilliseconds(100);
|
||||
}
|
||||
}
|
|
@ -0,0 +1,330 @@
|
|||
/*
|
||||
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
#ifndef _MCUCONF_H_
|
||||
#define _MCUCONF_H_
|
||||
|
||||
/*
|
||||
* STM32L1xx drivers configuration.
|
||||
* The following settings override the default settings present in
|
||||
* the various device driver implementation headers.
|
||||
* Note that the settings for each driver only have effect if the whole
|
||||
* driver is enabled in halconf.h.
|
||||
*
|
||||
* IRQ priorities:
|
||||
* 15...0 Lowest...Highest.
|
||||
*
|
||||
* DMA priorities:
|
||||
* 0...3 Lowest...Highest.
|
||||
*/
|
||||
|
||||
#define STM32L4xx_MCUCONF
|
||||
|
||||
/*
|
||||
* HAL driver system settings.
|
||||
*/
|
||||
#define STM32_NO_INIT FALSE
|
||||
#define STM32_VOS STM32_VOS_RANGE1
|
||||
#define STM32_PVD_ENABLE FALSE
|
||||
#define STM32_PLS STM32_PLS_LEV0
|
||||
#define STM32_HSI16_ENABLED FALSE
|
||||
#define STM32_LSI_ENABLED TRUE
|
||||
#define STM32_HSE_ENABLED FALSE
|
||||
#define STM32_LSE_ENABLED TRUE
|
||||
#define STM32_MSIPLL_ENABLED TRUE
|
||||
#define STM32_ADC_CLOCK_ENABLED TRUE
|
||||
#define STM32_USB_CLOCK_ENABLED TRUE
|
||||
#define STM32_SAI1_CLOCK_ENABLED TRUE
|
||||
#define STM32_SAI2_CLOCK_ENABLED TRUE
|
||||
#define STM32_MSIRANGE STM32_MSIRANGE_4M
|
||||
#define STM32_MSISRANGE STM32_MSISRANGE_4M
|
||||
#define STM32_SW STM32_SW_PLL
|
||||
#define STM32_PLLSRC STM32_PLLSRC_MSI
|
||||
#define STM32_PLLM_VALUE 1
|
||||
#define STM32_PLLN_VALUE 80
|
||||
#define STM32_PLLP_VALUE 7
|
||||
#define STM32_PLLQ_VALUE 6
|
||||
#define STM32_PLLR_VALUE 4
|
||||
#define STM32_HPRE STM32_HPRE_DIV1
|
||||
#define STM32_PPRE1 STM32_PPRE1_DIV1
|
||||
#define STM32_PPRE2 STM32_PPRE2_DIV1
|
||||
#define STM32_STOPWUCK STM32_STOPWUCK_MSI
|
||||
#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK
|
||||
#define STM32_MCOPRE STM32_MCOPRE_DIV1
|
||||
#define STM32_LSCOSEL STM32_LSCOSEL_NOCLOCK
|
||||
#define STM32_PLLSAI1N_VALUE 72
|
||||
#define STM32_PLLSAI1P_VALUE 7
|
||||
#define STM32_PLLSAI1Q_VALUE 6
|
||||
#define STM32_PLLSAI1R_VALUE 6
|
||||
#define STM32_PLLSAI2N_VALUE 72
|
||||
#define STM32_PLLSAI2P_VALUE 7
|
||||
#define STM32_PLLSAI2R_VALUE 6
|
||||
#define STM32_USART1SEL STM32_USART1SEL_SYSCLK
|
||||
#define STM32_USART2SEL STM32_USART2SEL_SYSCLK
|
||||
#define STM32_USART3SEL STM32_USART3SEL_SYSCLK
|
||||
#define STM32_UART4SEL STM32_UART4SEL_SYSCLK
|
||||
#define STM32_UART5SEL STM32_UART5SEL_SYSCLK
|
||||
#define STM32_LPUART1SEL STM32_LPUART1SEL_SYSCLK
|
||||
#define STM32_I2C1SEL STM32_I2C1SEL_SYSCLK
|
||||
#define STM32_I2C2SEL STM32_I2C2SEL_SYSCLK
|
||||
#define STM32_I2C3SEL STM32_I2C3SEL_SYSCLK
|
||||
#define STM32_LPTIM1SEL STM32_LPTIM1SEL_PCLK1
|
||||
#define STM32_LPTIM2SEL STM32_LPTIM2SEL_PCLK1
|
||||
#define STM32_SAI1SEL STM32_SAI1SEL_OFF
|
||||
#define STM32_SAI2SEL STM32_SAI2SEL_OFF
|
||||
#define STM32_CLK48SEL STM32_CLK48SEL_PLLSAI1
|
||||
#define STM32_ADCSEL STM32_ADCSEL_SYSCLK
|
||||
#define STM32_SWPMI1SEL STM32_SWPMI1SEL_PCLK1
|
||||
#define STM32_DFSDMSEL STM32_DFSDMSEL_PCLK1
|
||||
#define STM32_RTCSEL STM32_RTCSEL_LSI
|
||||
|
||||
/*
|
||||
* ADC driver system settings.
|
||||
*/
|
||||
#define STM32_ADC_DUAL_MODE FALSE
|
||||
#define STM32_ADC_COMPACT_SAMPLES FALSE
|
||||
#define STM32_ADC_USE_ADC1 FALSE
|
||||
#define STM32_ADC_USE_ADC2 FALSE
|
||||
#define STM32_ADC_USE_ADC3 FALSE
|
||||
#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
|
||||
#define STM32_ADC_ADC2_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
|
||||
#define STM32_ADC_ADC3_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
|
||||
#define STM32_ADC_ADC1_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC2_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC3_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC12_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC3_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC123_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1
|
||||
|
||||
/*
|
||||
* CAN driver system settings.
|
||||
*/
|
||||
#define STM32_CAN_USE_CAN1 FALSE
|
||||
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
|
||||
|
||||
/*
|
||||
* DAC driver system settings.
|
||||
*/
|
||||
#define STM32_DAC_DUAL_MODE FALSE
|
||||
#define STM32_DAC_USE_DAC1_CH1 FALSE
|
||||
#define STM32_DAC_USE_DAC1_CH2 FALSE
|
||||
#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY 10
|
||||
#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY 10
|
||||
#define STM32_DAC_DAC1_CH1_DMA_PRIORITY 2
|
||||
#define STM32_DAC_DAC1_CH2_DMA_PRIORITY 2
|
||||
#define STM32_DAC_DAC1_CH1_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
|
||||
#define STM32_DAC_DAC1_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
|
||||
|
||||
/*
|
||||
* EXT driver system settings.
|
||||
*/
|
||||
#define STM32_EXT_EXTI0_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI1_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI2_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI3_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI4_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI1635_38_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI18_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI19_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI20_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI2122_IRQ_PRIORITY 15
|
||||
|
||||
|
||||
/*
|
||||
* GPT driver system settings.
|
||||
*/
|
||||
#define STM32_GPT_USE_TIM1 FALSE
|
||||
#define STM32_GPT_USE_TIM2 FALSE
|
||||
#define STM32_GPT_USE_TIM3 FALSE
|
||||
#define STM32_GPT_USE_TIM4 FALSE
|
||||
#define STM32_GPT_USE_TIM5 FALSE
|
||||
#define STM32_GPT_USE_TIM6 FALSE
|
||||
#define STM32_GPT_USE_TIM7 FALSE
|
||||
#define STM32_GPT_USE_TIM8 FALSE
|
||||
#define STM32_GPT_USE_TIM15 FALSE
|
||||
#define STM32_GPT_USE_TIM16 FALSE
|
||||
#define STM32_GPT_USE_TIM17 FALSE
|
||||
#define STM32_GPT_TIM1_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM2_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM3_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM4_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM5_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM6_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM7_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM8_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM15_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM16_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM17_IRQ_PRIORITY 7
|
||||
|
||||
/*
|
||||
* I2C driver system settings.
|
||||
*/
|
||||
#define STM32_I2C_USE_I2C1 TRUE
|
||||
#define STM32_I2C_USE_I2C2 FALSE
|
||||
#define STM32_I2C_USE_I2C3 FALSE
|
||||
#define STM32_I2C_BUSY_TIMEOUT 50
|
||||
#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
|
||||
#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
|
||||
#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
|
||||
#define STM32_I2C_I2C2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
|
||||
#define STM32_I2C_I2C3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
|
||||
#define STM32_I2C_I2C3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
|
||||
#define STM32_I2C_I2C1_IRQ_PRIORITY 5
|
||||
#define STM32_I2C_I2C2_IRQ_PRIORITY 5
|
||||
#define STM32_I2C_I2C3_IRQ_PRIORITY 5
|
||||
#define STM32_I2C_I2C1_DMA_PRIORITY 3
|
||||
#define STM32_I2C_I2C2_DMA_PRIORITY 3
|
||||
#define STM32_I2C_I2C3_DMA_PRIORITY 3
|
||||
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
|
||||
|
||||
/*
|
||||
* ICU driver system settings.
|
||||
*/
|
||||
#define STM32_ICU_USE_TIM1 FALSE
|
||||
#define STM32_ICU_USE_TIM2 FALSE
|
||||
#define STM32_ICU_USE_TIM3 FALSE
|
||||
#define STM32_ICU_USE_TIM4 FALSE
|
||||
#define STM32_ICU_USE_TIM5 FALSE
|
||||
#define STM32_ICU_USE_TIM8 FALSE
|
||||
#define STM32_ICU_TIM1_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM2_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM3_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM4_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM5_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM8_IRQ_PRIORITY 7
|
||||
|
||||
/*
|
||||
* PWM driver system settings.
|
||||
*/
|
||||
#define STM32_PWM_USE_ADVANCED FALSE
|
||||
#define STM32_PWM_USE_TIM1 FALSE
|
||||
#define STM32_PWM_USE_TIM2 FALSE
|
||||
#define STM32_PWM_USE_TIM3 FALSE
|
||||
#define STM32_PWM_USE_TIM4 FALSE
|
||||
#define STM32_PWM_USE_TIM5 FALSE
|
||||
#define STM32_PWM_USE_TIM8 FALSE
|
||||
#define STM32_PWM_TIM1_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM2_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM3_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM4_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM5_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
|
||||
|
||||
/*
|
||||
* SDC driver system settings.
|
||||
*/
|
||||
#define STM32_SDC_USE_SDMMC1 FALSE
|
||||
#define STM32_SDC_SDMMC_UNALIGNED_SUPPORT TRUE
|
||||
#define STM32_SDC_SDMMC_WRITE_TIMEOUT 250
|
||||
#define STM32_SDC_SDMMC_READ_TIMEOUT 25
|
||||
#define STM32_SDC_SDMMC_CLOCK_DELAY 10
|
||||
#define STM32_SDC_SDMMC1_DMA_PRIORITY 3
|
||||
#define STM32_SDC_SDMMC1_IRQ_PRIORITY 9
|
||||
#define STM32_SDC_SDMMC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
|
||||
|
||||
/*
|
||||
* SERIAL driver system settings.
|
||||
*/
|
||||
#define STM32_SERIAL_USE_USART1 FALSE
|
||||
#define STM32_SERIAL_USE_USART2 TRUE
|
||||
#define STM32_SERIAL_USE_USART3 FALSE
|
||||
#define STM32_SERIAL_USE_LPUART1 FALSE
|
||||
#define STM32_SERIAL_USART1_PRIORITY 12
|
||||
#define STM32_SERIAL_USART2_PRIORITY 12
|
||||
#define STM32_SERIAL_USART3_PRIORITY 12
|
||||
#define STM32_SERIAL_LPUART1_PRIORITY 12
|
||||
|
||||
/*
|
||||
* SPI driver system settings.
|
||||
*/
|
||||
#define STM32_SPI_USE_SPI1 FALSE
|
||||
#define STM32_SPI_USE_SPI2 FALSE
|
||||
#define STM32_SPI_USE_SPI3 FALSE
|
||||
#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
|
||||
#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
|
||||
#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
|
||||
#define STM32_SPI_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
|
||||
#define STM32_SPI_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
|
||||
#define STM32_SPI_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
|
||||
#define STM32_SPI_SPI1_DMA_PRIORITY 1
|
||||
#define STM32_SPI_SPI2_DMA_PRIORITY 1
|
||||
#define STM32_SPI_SPI3_DMA_PRIORITY 1
|
||||
#define STM32_SPI_SPI1_IRQ_PRIORITY 10
|
||||
#define STM32_SPI_SPI2_IRQ_PRIORITY 10
|
||||
#define STM32_SPI_SPI3_IRQ_PRIORITY 10
|
||||
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
|
||||
|
||||
/*
|
||||
* ST driver system settings.
|
||||
*/
|
||||
#define STM32_ST_IRQ_PRIORITY 8
|
||||
#define STM32_ST_USE_TIMER 2
|
||||
|
||||
/*
|
||||
* UART driver system settings.
|
||||
*/
|
||||
#define STM32_UART_USE_USART1 FALSE
|
||||
#define STM32_UART_USE_USART2 TRUE
|
||||
#define STM32_UART_USE_USART3 FALSE
|
||||
#define STM32_UART_USE_UART4 FALSE
|
||||
#define STM32_UART_USE_UART5 FALSE
|
||||
#define STM32_UART_USE_LPUART1 FALSE
|
||||
#define STM32_UART_USART1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
|
||||
#define STM32_UART_USART1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
|
||||
#define STM32_UART_USART2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
|
||||
#define STM32_UART_USART2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
|
||||
#define STM32_UART_USART3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
|
||||
#define STM32_UART_USART3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
|
||||
#define STM32_UART_UART4_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
|
||||
#define STM32_UART_UART4_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
|
||||
#define STM32_UART_UART5_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
|
||||
#define STM32_UART_UART5_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
|
||||
#define STM32_UART_LPUART1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
|
||||
#define STM32_UART_LPUART1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
|
||||
#define STM32_UART_USART1_IRQ_PRIORITY 12
|
||||
#define STM32_UART_USART2_IRQ_PRIORITY 12
|
||||
#define STM32_UART_USART3_IRQ_PRIORITY 12
|
||||
#define STM32_UART_UART4_IRQ_PRIORITY 12
|
||||
#define STM32_UART_UART5_IRQ_PRIORITY 12
|
||||
#define STM32_UART_USART1_DMA_PRIORITY 0
|
||||
#define STM32_UART_USART2_DMA_PRIORITY 0
|
||||
#define STM32_UART_USART3_DMA_PRIORITY 0
|
||||
#define STM32_UART_UART4_DMA_PRIORITY 0
|
||||
#define STM32_UART_UART5_DMA_PRIORITY 0
|
||||
#define STM32_UART_LPUART1_DMA_PRIORITY 0
|
||||
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
|
||||
|
||||
/*
|
||||
* USB driver system settings.
|
||||
*/
|
||||
#define STM32_USB_USE_OTG1 FALSE
|
||||
#define STM32_USB_OTG1_IRQ_PRIORITY 14
|
||||
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
|
||||
#define STM32_USB_OTG_THREAD_PRIO LOWPRIO
|
||||
#define STM32_USB_OTG_THREAD_STACK_SIZE 128
|
||||
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
|
||||
|
||||
/*
|
||||
* WDG driver system settings.
|
||||
*/
|
||||
#define STM32_WDG_USE_IWDG FALSE
|
||||
|
||||
#endif /* _MCUCONF_H_ */
|
|
@ -0,0 +1,31 @@
|
|||
*****************************************************************************
|
||||
** ChibiOS/HAL + ChibiOS/EX - I2C + LIS3MDL demo for STM32L4xx. **
|
||||
*****************************************************************************
|
||||
|
||||
** TARGET **
|
||||
|
||||
The demo runs on an STMicroelectronics STM32L4-Nucleo board. It has been
|
||||
tested with the X-NUCLEO-IKS01A1 shield.
|
||||
|
||||
** The Demo **
|
||||
|
||||
The application demonstrates the use of the STM32L4xx EXT driver.
|
||||
|
||||
** Board Setup **
|
||||
|
||||
None required.
|
||||
|
||||
** Build Procedure **
|
||||
|
||||
The demo has been tested using the free Codesourcery GCC-based toolchain
|
||||
and YAGARTO.
|
||||
Just modify the TRGT line in the makefile in order to use different GCC ports.
|
||||
|
||||
** Notes **
|
||||
|
||||
Some files used by the demo are not part of ChibiOS/RT but are copyright of
|
||||
ST Microelectronics and are licensed under a different license.
|
||||
Also note that not all the files present in the ST library are distributed
|
||||
with ChibiOS/RT, you can find the whole library on the ST web site:
|
||||
|
||||
http://www.st.com
|
Loading…
Reference in New Issue