146 lines
4 KiB
C
146 lines
4 KiB
C
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/*
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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 "usbcfg.h"
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#include "chprintf.h"
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#include "l3gd20.h"
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#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
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/*===========================================================================*/
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/* L3GD20 related. */
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/*===========================================================================*/
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/* L3GD20 Driver: This object represent an L3GD20 instance.*/
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static L3GD20Driver L3GD20D1;
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static int32_t gyroraw[L3GD20_GYRO_NUMBER_OF_AXES];
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static float gyrocooked[L3GD20_GYRO_NUMBER_OF_AXES];
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static char axisID[L3GD20_GYRO_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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FALSE,
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NULL,
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GPIOE,
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GPIOE_L3GD20_CS,
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SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,
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0
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};
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static L3GD20Config l3gd20cfg = {
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&SPID1,
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&spicfg,
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NULL,
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NULL,
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L3GD20_FS_250DPS,
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L3GD20_ODR_760HZ,
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#if L3GD20_USE_ADVANCED
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L3GD20_BDU_CONTINUOUS,
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L3GD20_END_LITTLE,
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L3GD20_BW3,
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L3GD20_HPM_REFERENCE,
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L3GD20_HPCF_8,
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L3GD20_LP2M_ON,
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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*)&SDU1;
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/*
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* LED 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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systime_t time;
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time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
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palClearLine(LINE_LED5);
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chThdSleepMilliseconds(time);
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palSetLine(LINE_LED5);
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chThdSleepMilliseconds(time);
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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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/* Initializes a serial-over-USB CDC driver.*/
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sduObjectInit(&SDU1);
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sduStart(&SDU1, &serusbcfg);
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/*
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* Activates the USB driver and then the USB bus pull-up on D+.
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* Note, a delay is inserted in order to not have to disconnect the cable
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* after a reset.
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*/
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usbDisconnectBus(serusbcfg.usbp);
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chThdSleepMilliseconds(1500);
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usbStart(serusbcfg.usbp, &usbcfg);
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usbConnectBus(serusbcfg.usbp);
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/* Creates the blinker thread.*/
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
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/* L3GD20 Object Initialization.*/
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l3gd20ObjectInit(&L3GD20D1);
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/* Activates the L3GD20 driver.*/
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l3gd20Start(&L3GD20D1, &l3gd20cfg);
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/* Normal main() thread activity, printing MEMS data on the SDU1.*/
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while (true) {
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l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);
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chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);
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}
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l3gd20GyroscopeReadCooked(&L3GD20D1, gyrocooked);
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chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");
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for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], gyrocooked[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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l3gd20Stop(&L3GD20D1);
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}
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