157 lines
4.6 KiB
C
157 lines
4.6 KiB
C
/*
|
|
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in gyroliance 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 "chprintf.h"
|
|
#include "lsm6dsl.h"
|
|
|
|
#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
|
|
|
|
/*===========================================================================*/
|
|
/* LSM6DSL related. */
|
|
/*===========================================================================*/
|
|
|
|
/* LSM6DSL Driver: This object represent an LSM6DSL instance */
|
|
static LSM6DSLDriver LSM6DSLD1;
|
|
|
|
static int32_t accraw[LSM6DSL_ACC_NUMBER_OF_AXES];
|
|
static int32_t gyroraw[LSM6DSL_GYRO_NUMBER_OF_AXES];
|
|
|
|
static float acccooked[LSM6DSL_ACC_NUMBER_OF_AXES];
|
|
static float gyrocooked[LSM6DSL_GYRO_NUMBER_OF_AXES];
|
|
|
|
static char axisID[LSM6DSL_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
|
|
static uint32_t i;
|
|
|
|
static const I2CConfig i2ccfg = {
|
|
OPMODE_I2C,
|
|
400000,
|
|
FAST_DUTY_CYCLE_2,
|
|
};
|
|
|
|
static const LSM6DSLConfig lsm6dslcfg = {
|
|
&I2CD1,
|
|
&i2ccfg,
|
|
LSM6DSL_SAD_VCC,
|
|
NULL,
|
|
NULL,
|
|
LSM6DSL_ACC_FS_2G,
|
|
LSM6DSL_GYRO_ODR_52Hz,
|
|
#if LSM6DSL_USE_ADVANCED
|
|
LSM6DSL_ACC_LP_ENABLED,
|
|
#endif
|
|
NULL,
|
|
NULL,
|
|
LSM6DSL_GYRO_FS_250DPS,
|
|
LSM6DSL_GYRO_ODR_104Hz,
|
|
#if LSM6DSL_USE_ADVANCED
|
|
LSM6DSL_GYRO_LP_ENABLED,
|
|
LSM6DSL_GYRO_LPF_FTYPE1,
|
|
#endif
|
|
#if LSM6DSL_USE_ADVANCED
|
|
LSM6DSL_BDU_BLOCKED,
|
|
LSM6DSL_END_LITTLE
|
|
#endif
|
|
};
|
|
|
|
/*===========================================================================*/
|
|
/* Generic code. */
|
|
/*===========================================================================*/
|
|
|
|
static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;
|
|
/*
|
|
* LED blinker thread, times are in milliseconds.
|
|
*/
|
|
static THD_WORKING_AREA(waThread1, 128);
|
|
static THD_FUNCTION(Thread1, arg) {
|
|
|
|
(void)arg;
|
|
chRegSetThreadName("blinker");
|
|
while (true) {
|
|
palToggleLine(LINE_LED_GREEN);
|
|
chThdSleepMilliseconds(500);
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
* 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();
|
|
|
|
/* Configuring I2C SCK and I2C SDA related GPIOs .*/
|
|
palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
|
|
PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
|
|
palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
|
|
PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
|
|
|
|
/* Activates the serial driver 2 using the driver default configuration.*/
|
|
sdStart(&SD2, NULL);
|
|
|
|
/* Creates the blinker thread.*/
|
|
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
|
|
|
|
/* LSM6DSL Object Initialization.*/
|
|
lsm6dslObjectInit(&LSM6DSLD1);
|
|
|
|
/* Activates the LSM6DSL driver.*/
|
|
lsm6dslStart(&LSM6DSLD1, &lsm6dslcfg);
|
|
|
|
lsm6dslGyroscopeSampleBias(&LSM6DSLD1);
|
|
|
|
/* Normal main() thread activity, printing MEMS data on the SDU1.*/
|
|
while (true) {
|
|
lsm6dslAccelerometerReadRaw(&LSM6DSLD1, accraw);
|
|
chprintf(chp, "LSM6DSL Accelerometer raw data...\r\n");
|
|
for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
|
|
chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);
|
|
}
|
|
|
|
lsm6dslGyroscopeReadRaw(&LSM6DSLD1, gyroraw);
|
|
chprintf(chp, "LSM6DSL Gyroscope raw data...\r\n");
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
|
|
chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);
|
|
}
|
|
|
|
lsm6dslAccelerometerReadCooked(&LSM6DSLD1, acccooked);
|
|
chprintf(chp, "LSM6DSL Accelerometer cooked data...\r\n");
|
|
for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
|
|
chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
|
|
}
|
|
|
|
lsm6dslGyroscopeReadCooked(&LSM6DSLD1, gyrocooked);
|
|
chprintf(chp, "LSM6DSL Gyroscope cooked data...\r\n");
|
|
for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
|
|
chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], gyrocooked[i]);
|
|
}
|
|
chThdSleepMilliseconds(100);
|
|
cls(chp);
|
|
}
|
|
lsm6dslStop(&LSM6DSLD1);
|
|
}
|