159 lines
4.6 KiB
C
159 lines
4.6 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 gyroliance 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 "lsm6ds0.h"
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#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
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/*===========================================================================*/
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/* LSM6DS0 related. */
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/*===========================================================================*/
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/* LSM6DS0 Driver: This object represent an LSM6DS0 instance */
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static LSM6DS0Driver LSM6DS0D1;
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static int32_t accraw[LSM6DS0_ACC_NUMBER_OF_AXES];
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static int32_t gyroraw[LSM6DS0_GYRO_NUMBER_OF_AXES];
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static float acccooked[LSM6DS0_ACC_NUMBER_OF_AXES];
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static float gyrocooked[LSM6DS0_GYRO_NUMBER_OF_AXES];
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static char axisID[LSM6DS0_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
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static uint32_t i;
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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 const LSM6DS0Config lsm6ds0cfg = {
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&I2CD1,
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&i2ccfg,
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LSM6DS0_SAD_VCC,
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NULL,
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NULL,
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LSM6DS0_ACC_FS_2G,
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LSM6DS0_ACC_ODR_50Hz,
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#if LSM6DS0_USE_ADVANCED
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LSM6DS0_ACC_DEC_X4,
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#endif
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NULL,
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NULL,
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LSM6DS0_GYRO_FS_245DPS,
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LSM6DS0_GYRO_ODR_119HZ_FC_31,
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#if LSM6DS0_USE_ADVANCED
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LSM6DS0_GYRO_LP_DISABLED,
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LSM6DS0_GYRO_OUT_SEL_0,
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LSM6DS0_GYRO_HP_DISABLED,
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LSM6DS0_GYRO_HPCF_0,
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#endif
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#if LSM6DS0_USE_ADVANCED
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LSM6DS0_BDU_BLOCKED,
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LSM6DS0_END_LITTLE
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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*)&SD2;
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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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palToggleLine(LINE_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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/* Activates the serial driver 2 using the driver default configuration.*/
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sdStart(&SD2, NULL);
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/* Creates the blinker thread.*/
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
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/* LSM6DS0 Object Initialization.*/
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lsm6ds0ObjectInit(&LSM6DS0D1);
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/* Activates the LSM6DS0 driver.*/
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lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);
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lsm6ds0GyroscopeSampleBias(&LSM6DS0D1);
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/* Normal main() thread activity, printing MEMS data on the SDU1.*/
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while (true) {
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lsm6ds0AccelerometerReadRaw(&LSM6DS0D1, accraw);
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chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n");
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for(i = 0; i < LSM6DS0_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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lsm6ds0GyroscopeReadRaw(&LSM6DS0D1, gyroraw);
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chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n");
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for(i = 0; i < LSM6DS0_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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lsm6ds0AccelerometerReadCooked(&LSM6DS0D1, acccooked);
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chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");
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for(i = 0; i < LSM6DS0_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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lsm6ds0GyroscopeReadCooked(&LSM6DS0D1, gyrocooked);
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chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");
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for(i = 0; i < LSM6DS0_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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lsm6ds0Stop(&LSM6DS0D1);
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}
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