mirror of https://github.com/rusefi/ChibiOS.git
152 lines
4.7 KiB
C
152 lines
4.7 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#include "ch.h"
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#include "hal.h"
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#include "chprintf.h"
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#include "adxl355.h"
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#define LINE_SPI1_MOSI PAL_LINE(GP0, 2U)
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#define LINE_SPI1_MISO PAL_LINE(GP0, 0U)
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#define LINE_SPI1_SCK PAL_LINE(GP0, 1U)
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#define LINE_SPI1_CS PAL_LINE(GP0, 3U)
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#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
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/*===========================================================================*/
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/* ADXL355 related. */
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/*===========================================================================*/
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/*
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* SPI TX and RX buffers.
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*/
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static uint8_t txbuf[32];
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static uint8_t rxbuf[32];
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/* ADXL355 Driver: This object represent an ADXL355 instance */
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static ADXL355Driver ADXL355D1;
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static int32_t accraw[ADXL355_ACC_NUMBER_OF_AXES];
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static float acccooked[ADXL355_ACC_NUMBER_OF_AXES];
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static char axisID[ADXL355_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
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static uint32_t i;
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static const SPIConfig spicfg = {
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NULL,
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LINE_SPI1_CS,
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0,
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ADUCM_SPI_DIV_2
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};
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static ADXL355Config adxl355cfg = {
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&SPID1,
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&spicfg,
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NULL,
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NULL,
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ADXL355_ACC_FS_2G,
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ADXL355_ACC_ODR_125HZ,
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#if ADXL355_USE_ADVANCED
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ADXL355_ACC_HP_LEV_3
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#endif
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};
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/*===========================================================================*/
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/* Generic code. */
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/*===========================================================================*/
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static BaseSequentialStream* chp = (BaseSequentialStream*)&SD0;
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/*
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* LEDs blinker thread, times are in milliseconds.
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*/
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static THD_WORKING_AREA(waThread1, 128);
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static THD_FUNCTION(Thread1, arg) {
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(void)arg;
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chRegSetThreadName("blinker");
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while (true) {
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palToggleLine(LINE_LED_BLUE);
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chThdSleepMilliseconds(250);
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}
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}
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/*
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* Application entry point.
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*/
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int main(void) {
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/* Creates the blinking thread. */
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
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/*
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* Activates the serial driver 0 using the driver default configuration.
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* P0.6(RX) and P0.2(TX) are routed to UART0. This requires S2 and S4 set to 0
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* in order to have any output on the User USB.
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*/
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sdStart(&SD0, NULL);
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palSetPadMode(GP0, 6, PAL_MODE_MULTIPLEXER(1) | PAL_ADUCM_PUL_PULLUP);
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palSetPadMode(GP0, 7, PAL_MODE_MULTIPLEXER(2) | PAL_ADUCM_PUL_PULLUP);
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/*
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* Configuring SPI GPIOs. This requires S1 set to 1 in order to have
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* the SPI PINs connected to the MCU.
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*/
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palSetLineMode(LINE_SPI1_CS, PAL_MODE_OUTPUT_PUSHPULL);
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palSetLineMode(LINE_SPI1_MISO, PAL_MODE_MULTIPLEXER(1) |
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PAL_ADUCM_PUL_PULLUP);
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palSetLineMode(LINE_SPI1_MOSI, PAL_MODE_MULTIPLEXER(1) |
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PAL_ADUCM_PUL_PULLUP);
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palSetLineMode(LINE_SPI1_SCK, PAL_MODE_MULTIPLEXER(1) |
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PAL_ADUCM_PUL_PULLUP);
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/* ADXL355 Object Initialization.*/
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adxl355ObjectInit(&ADXL355D1, txbuf, rxbuf);
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/* Activates the ADXL355 driver.*/
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adxl355Start(&ADXL355D1, &adxl355cfg);
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/* Normal main() thread activity, printing MEMS data on the SDU1.*/
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while (true) {
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adxl355AccelerometerReadRaw(&ADXL355D1, accraw);
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chprintf(chp, "ADXL355 Accelerometer raw data...\r\n");
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for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);
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}
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adxl355AccelerometerReadCooked(&ADXL355D1, acccooked);
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chprintf(chp, "ADXL355 Accelerometer cooked data...\r\n");
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for(i = 0; i < ADXL355_ACC_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
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}
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chThdSleepMilliseconds(100);
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cls(chp);
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}
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adxl355Stop(&ADXL355D1);
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}
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