231 lines
6.8 KiB
C
231 lines
6.8 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 "hts221.h"
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#include "lps22hb.h"
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#include "lsm303agr.h"
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#include "lsm6dsl.h"
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#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
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#define MAX_AXIS_NUMBER 3U
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/* Array for data storage. */
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static float cooked[MAX_AXIS_NUMBER];
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/* Axis identifiers. */
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static char axis_id[MAX_AXIS_NUMBER] = {'X', 'Y', 'Z'};
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/* Generic I2C configuration for every MEMS. */
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static const I2CConfig i2ccfg = {
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OPMODE_I2C,
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400000,
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FAST_DUTY_CYCLE_2,
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};
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static uint32_t i;
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static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;
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/*===========================================================================*/
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/* HTS221 related. */
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/*===========================================================================*/
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/* HTS221 Driver: This object represent an HTS221 instance */
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static HTS221Driver HTS221D1;
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static const HTS221Config hts221cfg = {
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&I2CD1,
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&i2ccfg,
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NULL,
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NULL,
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NULL,
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NULL,
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HTS221_ODR_7HZ
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};
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/*===========================================================================*/
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/* LPS22HB related. */
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/*===========================================================================*/
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/* LPS22HB Driver: This object represent an LPS22HB instance */
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static LPS22HBDriver LPS22HBD1;
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static const LPS22HBConfig lps22hbcfg = {
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&I2CD1,
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&i2ccfg,
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LPS22HB_SAD_VCC,
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NULL,
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NULL,
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NULL,
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NULL,
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LPS22HB_ODR_10HZ,
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};
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/*===========================================================================*/
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/* LSM303AGR related. */
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/*===========================================================================*/
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/* LSM303AGR Driver: This object represent an LSM303AGR instance */
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static LSM303AGRDriver LSM303AGRD1;
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static const LSM303AGRConfig lsm303agrcfg = {
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&I2CD1,
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&i2ccfg,
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NULL,
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NULL,
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LSM303AGR_ACC_FS_4G,
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LSM303AGR_ACC_ODR_100Hz,
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NULL,
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NULL,
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LSM303AGR_COMP_ODR_50HZ,
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};
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/*===========================================================================*/
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/* LSM6DSL related. */
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/*===========================================================================*/
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/* LSM6DSL Driver: This object represent an LSM6DSL instance */
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static LSM6DSLDriver LSM6DSLD1;
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static const LSM6DSLConfig lsm6dslcfg = {
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&I2CD1,
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&i2ccfg,
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LSM6DSL_SAD_VCC,
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NULL,
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NULL,
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LSM6DSL_ACC_FS_2G,
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LSM6DSL_GYRO_ODR_52Hz,
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NULL,
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NULL,
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LSM6DSL_GYRO_FS_250DPS,
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LSM6DSL_GYRO_ODR_104Hz
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};
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/*===========================================================================*/
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/* Generic code. */
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/*===========================================================================*/
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/*
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* Green 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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palClearPad(GPIOA, GPIOA_LED_GREEN);
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chThdSleepMilliseconds(500);
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palSetPad(GPIOA, GPIOA_LED_GREEN);
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chThdSleepMilliseconds(500);
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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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/* Configuring I2C SCK and I2C SDA related GPIOs .*/
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palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
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PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
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palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
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PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
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/*
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* Activates the serial driver 2 using the driver default configuration.
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*/
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sdStart(&SD2, NULL);
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/*
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* Creates the blinker thread.
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*/
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
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/* MEMS Driver Objects Initialization.*/
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hts221ObjectInit(&HTS221D1);
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lps22hbObjectInit(&LPS22HBD1);
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lsm303agrObjectInit(&LSM303AGRD1);
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lsm6dslObjectInit(&LSM6DSLD1);
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/* Activates all the MEMS related drivers.*/
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hts221Start(&HTS221D1, &hts221cfg);
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lps22hbStart(&LPS22HBD1, &lps22hbcfg);
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lsm303agrStart(&LSM303AGRD1, &lsm303agrcfg);
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lsm6dslStart(&LSM6DSLD1, &lsm6dslcfg);
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/*
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* Normal main() thread activity, in this demo it does nothing except
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* sleeping in a loop and check the button state.
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*/
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while (true) {
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hts221HygrometerReadCooked(&HTS221D1, cooked);
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chprintf(chp, "HTS221D1 Hygrometer cooked data...\r\n");
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chprintf(chp, "Hum: %.2f\r\n", *cooked);
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hts221ThermometerReadCooked(&HTS221D1, cooked);
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chprintf(chp, "HTS221D1 Thermometer cooked data...\r\n");
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chprintf(chp, "Temp: %.2f\r\n", *cooked);
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lps22hbBarometerReadCooked(&LPS22HBD1, cooked);
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chprintf(chp, "LPS22HBD1 Barometer cooked data...\r\n");
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chprintf(chp, "Pres: %.2f\r\n", *cooked);
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lps22hbThermometerReadCooked(&LPS22HBD1, cooked);
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chprintf(chp, "LPS22HBD1 Thermometer cooked data...\r\n");
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chprintf(chp, "Temp: %.2f\r\n", *cooked);
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lsm303agrAccelerometerReadCooked(&LSM303AGRD1, cooked);
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chprintf(chp, "LSM303AGR Accelerometer cooked data...\r\n");
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for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.3f\r\n", axis_id[i], cooked[i]);
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}
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lsm303agrCompassReadCooked(&LSM303AGRD1, cooked);
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chprintf(chp, "LSM303AGR Compass cooked data...\r\n");
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for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.3f\r\n", axis_id[i], cooked[i]);
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}
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lsm6dslAccelerometerReadCooked(&LSM6DSLD1, cooked);
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chprintf(chp, "LSM6DSL Accelerometer cooked data...\r\n");
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for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.3f\r\n", axis_id[i], cooked[i]);
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}
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lsm6dslGyroscopeReadCooked(&LSM6DSLD1, cooked);
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chprintf(chp, "LSM6DSL Gyroscope cooked data...\r\n");
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for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
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chprintf(chp, "%c-axis: %.3f\r\n", axis_id[i], cooked[i]);
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}
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chThdSleepMilliseconds(500);
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cls(chp);
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}
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}
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