350 lines
11 KiB
C
350 lines
11 KiB
C
/*
|
|
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 "various/chprintf.h"
|
|
#include "various/shell.h" //otherwise will comcflict with elua
|
|
#include "lis302dl.h"
|
|
|
|
#include "usbcfg.h"
|
|
|
|
/* Virtual serial port over USB.*/
|
|
SerialUSBDriver SDU1;
|
|
|
|
BaseSequentialStream *eLuaSDriver;
|
|
/*===========================================================================*/
|
|
/* 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);
|
|
}
|
|
|
|
static const ShellCommand commands[] = {
|
|
{"mem", cmd_mem},
|
|
{"threads", cmd_threads},
|
|
{"test", cmd_test},
|
|
{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));
|
|
}
|
|
}
|
|
|
|
static WORKING_AREA(waUSB_THREAD, 512);
|
|
static msg_t USB_THREAD(void *arg) {
|
|
(void)arg;
|
|
Thread *shelltp = NULL;
|
|
|
|
/*
|
|
* 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);
|
|
}
|
|
|
|
}
|
|
/*===========================================================================*/
|
|
/* Initialization and main thread. */
|
|
/*===========================================================================*/
|
|
|
|
/*
|
|
* 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();
|
|
|
|
/*
|
|
* 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));
|
|
|
|
/*
|
|
* 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);
|
|
|
|
#if !defined(CHIBILUA_USBSERIAL) && !defined(CHIBILUA_SERIAL)
|
|
#error "please chose CHIBILUA_USBSERIAL or CHIBILUA_SERIAL in halconf.h"
|
|
#elif defined(CHIBILUA_USBSERIAL) && !defined(CHIBILUA_SERIAL)
|
|
eLuaSDriver=(BaseSequentialStream *)&SDU1; //elua shell on USB serial
|
|
#elif defined(CHIBILUA_SERIAL) && !defined(CHIBILUA_USBSERIAL)
|
|
eLuaSDriver=(BaseSequentialStream *)&SD2; //elua shell on uart serial
|
|
chThdCreateStatic(waUSB_THREAD, sizeof(waUSB_THREAD), NORMALPRIO, USB_THREAD, NULL);
|
|
#else
|
|
#error "can't use CHIBILUA_USBSERIAL and CHIBILUA_SERIAL in same time"
|
|
#endif
|
|
|
|
main_lua();//while(1) !!! but could exit
|
|
|
|
while (TRUE) {
|
|
chThdSleepMilliseconds(500);
|
|
}
|
|
}
|