diff --git a/demos/ARMCM4-STM32F407-DISCOVERY-MEMS/main_test.c b/demos/ARMCM4-STM32F407-DISCOVERY-MEMS/main_test.c new file mode 100644 index 000000000..656533fcb --- /dev/null +++ b/demos/ARMCM4-STM32F407-DISCOVERY-MEMS/main_test.c @@ -0,0 +1,368 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2013 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 "test.h" + +#include "chprintf.h" +#include "shell.h" +#include "lis302dl.h" + +#include "usbcfg.h" + +/* Virtual serial port over USB.*/ +SerialUSBDriver SDU1; + +/*===========================================================================*/ +/* Command line related. */ +/*===========================================================================*/ + +#define SHELL_WA_SIZE THD_WA_SIZE(2048) +#define TEST_WA_SIZE THD_WA_SIZE(256) + +static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) { + size_t n, size; + + (void)argv; + if (argc > 0) { + chprintf(chp, "Usage: mem\r\n"); + return; + } + n = chHeapStatus(NULL, &size); + chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus()); + chprintf(chp, "heap fragments : %u\r\n", n); + chprintf(chp, "heap free total : %u bytes\r\n", size); +} + +static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) { + static const char *states[] = {THD_STATE_NAMES}; + Thread *tp; + + (void)argv; + if (argc > 0) { + chprintf(chp, "Usage: threads\r\n"); + return; + } + chprintf(chp, " addr stack prio refs state time\r\n"); + tp = chRegFirstThread(); + do { + chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n", + (uint32_t)tp, (uint32_t)tp->p_ctx.r13, + (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1), + states[tp->p_state], (uint32_t)tp->p_time); + tp = chRegNextThread(tp); + } while (tp != NULL); +} + +static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) { + Thread *tp; + + (void)argv; + if (argc > 0) { + chprintf(chp, "Usage: test\r\n"); + return; + } + tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(), + TestThread, chp); + if (tp == NULL) { + chprintf(chp, "out of memory\r\n"); + return; + } + chThdWait(tp); +} + +void cmd_loop(BaseSequentialStream *chp, int argc, char *argv[]) { + VirtualTimer vt; + + void tmo(void *p) { + + (void)p; + palClearPad(GPIOD, GPIOD_LED4); + } + + (void)argv; + if (argc > 0) { + chprintf(chp, "Usage: loop\r\n"); + return; + } + + vt.vt_func = NULL; + unsigned i = 0; + while (RDY_TIMEOUT == chnGetTimeout((BaseAsynchronousChannel *)chp, + TIME_IMMEDIATE)) { + sdPut(&SD2, (uint8_t)('A' + (i % 10))); + chThdSleepMilliseconds(1); + msg_t msg = sdGetTimeout(&SD2, MS2ST(100)); + if (RDY_TIMEOUT == msg) { + chprintf(chp, "Timeout!\r\n"); + palSetPad(GPIOD, GPIOD_LED4); + chSysLock(); + if (chVTIsArmedI(&vt)) + chVTResetI(&vt); + chVTSetI(&vt, MS2ST(500), tmo, NULL); + chSysUnlock(); + } + else { + chprintf(chp, "Received %c\r\n", msg); + } + chThdSleepMilliseconds(50); + i++; + } +} + +static const ShellCommand commands[] = { + {"mem", cmd_mem}, + {"threads", cmd_threads}, + {"test", cmd_test}, + {"loop", cmd_loop}, + {NULL, NULL} +}; + +static const ShellConfig shell_cfg1 = { + (BaseSequentialStream *)&SDU1, + commands +}; + +/*===========================================================================*/ +/* Accelerometer related. */ +/*===========================================================================*/ + +/* + * PWM configuration structure. + * Cyclic callback enabled, channels 1 and 4 enabled without callbacks, + * the active state is a logic one. + */ +static const PWMConfig pwmcfg = { + 100000, /* 100kHz PWM clock frequency. */ + 128, /* PWM period is 128 cycles. */ + NULL, + { + {PWM_OUTPUT_ACTIVE_HIGH, NULL}, + {PWM_OUTPUT_ACTIVE_HIGH, NULL}, + {PWM_OUTPUT_ACTIVE_HIGH, NULL}, + {PWM_OUTPUT_ACTIVE_HIGH, NULL} + }, + /* HW dependent part.*/ + 0, + 0 +}; + +/* + * SPI1 configuration structure. + * Speed 5.25MHz, CPHA=1, CPOL=1, 8bits frames, MSb transmitted first. + * The slave select line is the pin GPIOE_CS_SPI on the port GPIOE. + */ +static const SPIConfig spi1cfg = { + NULL, + /* HW dependent part.*/ + GPIOE, + GPIOE_CS_SPI, + SPI_CR1_BR_0 | SPI_CR1_BR_1 | SPI_CR1_CPOL | SPI_CR1_CPHA +}; + +/* + * SPI2 configuration structure. + * Speed 21MHz, CPHA=0, CPOL=0, 8bits frames, MSb transmitted first. + * The slave select line is the pin 12 on the port GPIOA. + */ +static const SPIConfig spi2cfg = { + NULL, + /* HW dependent part.*/ + GPIOB, + 12, + 0 +}; + +/* + * This is a periodic thread that reads accelerometer and outputs + * result to SPI2 and PWM. + */ +static WORKING_AREA(waThread1, 128); +static msg_t Thread1(void *arg) { + static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/ + systime_t time; /* Next deadline.*/ + + (void)arg; + chRegSetThreadName("reader"); + + /* LIS302DL initialization.*/ + lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG1, 0x43); + lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG2, 0x00); + lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00); + + /* Reader thread loop.*/ + time = chTimeNow(); + while (TRUE) { + int32_t x, y; + unsigned i; + + /* Keeping an history of the latest four accelerometer readings.*/ + for (i = 3; i > 0; i--) { + xbuf[i] = xbuf[i - 1]; + ybuf[i] = ybuf[i - 1]; + } + + /* Reading MEMS accelerometer X and Y registers.*/ + xbuf[0] = (int8_t)lis302dlReadRegister(&SPID1, LIS302DL_OUTX); + ybuf[0] = (int8_t)lis302dlReadRegister(&SPID1, LIS302DL_OUTY); + + /* Transmitting accelerometer the data over SPI2.*/ + spiSelect(&SPID2); + spiSend(&SPID2, 4, xbuf); + spiSend(&SPID2, 4, ybuf); + spiUnselect(&SPID2); + + /* Calculating average of the latest four accelerometer readings.*/ + x = ((int32_t)xbuf[0] + (int32_t)xbuf[1] + + (int32_t)xbuf[2] + (int32_t)xbuf[3]) / 4; + y = ((int32_t)ybuf[0] + (int32_t)ybuf[1] + + (int32_t)ybuf[2] + (int32_t)ybuf[3]) / 4; + + /* Reprogramming the four PWM channels using the accelerometer data.*/ + if (y < 0) { + pwmEnableChannel(&PWMD4, 0, (pwmcnt_t)-y); + pwmEnableChannel(&PWMD4, 2, (pwmcnt_t)0); + } + else { + pwmEnableChannel(&PWMD4, 2, (pwmcnt_t)y); + pwmEnableChannel(&PWMD4, 0, (pwmcnt_t)0); + } + if (x < 0) { + pwmEnableChannel(&PWMD4, 1, (pwmcnt_t)-x); + pwmEnableChannel(&PWMD4, 3, (pwmcnt_t)0); + } + else { + pwmEnableChannel(&PWMD4, 3, (pwmcnt_t)x); + pwmEnableChannel(&PWMD4, 1, (pwmcnt_t)0); + } + + /* Waiting until the next 250 milliseconds time interval.*/ + chThdSleepUntil(time += MS2ST(100)); + } +} + +/*===========================================================================*/ +/* Initialization and main thread. */ +/*===========================================================================*/ + +/* + * Application entry point. + */ +int main(void) { + Thread *shelltp = NULL; + + /* + * 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(); + + /* + * Shell manager initialization. + */ + shellInit(); + + /* + * Initializes a serial-over-USB CDC driver. + */ + sduObjectInit(&SDU1); + sduStart(&SDU1, &serusbcfg); + + /* + * Activates the USB driver and then the USB bus pull-up on D+. + * Note, a delay is inserted in order to not have to disconnect the cable + * after a reset. + */ + usbDisconnectBus(serusbcfg.usbp); + chThdSleepMilliseconds(1000); + usbStart(serusbcfg.usbp, &usbcfg); + usbConnectBus(serusbcfg.usbp); + + /* + * Activates the serial driver 2 using the driver default configuration. + * PA2(TX) and PA3(RX) are routed to USART2. + */ + sdStart(&SD2, NULL); + palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7)); + palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7)); + +#if 0 + /* + * Initializes the SPI driver 1 in order to access the MEMS. The signals + * are already initialized in the board file. + */ + spiStart(&SPID1, &spi1cfg); + + /* + * Initializes the SPI driver 2. The SPI2 signals are routed as follow: + * PB12 - NSS. + * PB13 - SCK. + * PB14 - MISO. + * PB15 - MOSI. + */ + spiStart(&SPID2, &spi2cfg); + palSetPad(GPIOB, 12); + palSetPadMode(GPIOB, 12, PAL_MODE_OUTPUT_PUSHPULL | + PAL_STM32_OSPEED_HIGHEST); /* NSS. */ + palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(5) | + PAL_STM32_OSPEED_HIGHEST); /* SCK. */ + palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(5)); /* MISO. */ + palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(5) | + PAL_STM32_OSPEED_HIGHEST); /* MOSI. */ + + /* + * Initializes the PWM driver 4, routes the TIM4 outputs to the board LEDs. + */ + pwmStart(&PWMD4, &pwmcfg); + palSetPadMode(GPIOD, GPIOD_LED4, PAL_MODE_ALTERNATE(2)); /* Green. */ + palSetPadMode(GPIOD, GPIOD_LED3, PAL_MODE_ALTERNATE(2)); /* Orange. */ + palSetPadMode(GPIOD, GPIOD_LED5, PAL_MODE_ALTERNATE(2)); /* Red. */ + palSetPadMode(GPIOD, GPIOD_LED6, PAL_MODE_ALTERNATE(2)); /* Blue. */ + + /* + * Creates the example thread. + */ + chThdCreateStatic(waThread1, sizeof(waThread1), + NORMALPRIO + 10, Thread1, NULL); +#endif + + /* + * Normal main() thread activity, in this demo it just performs + * a shell respawn upon its termination. + */ + while (TRUE) { + if (!shelltp) { + if (SDU1.config->usbp->state == USB_ACTIVE) { + /* Spawns a new shell.*/ + shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO); + } + } + else { + /* If the previous shell exited.*/ + if (chThdTerminated(shelltp)) { + /* Recovers memory of the previous shell.*/ + chThdRelease(shelltp); + shelltp = NULL; + } + } + chThdSleepMilliseconds(500); + } +}