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diff --git a/lib/chibios/testex/STM32/STM32F4xx/I2C-IKS01A2/main.c b/lib/chibios/testex/STM32/STM32F4xx/I2C-IKS01A2/main.c
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1/*
2 ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
3
4 Licensed under the Apache License, Version 2.0 (the "License");
5 you may not use this file except in compliance with the License.
6 You may obtain a copy of the License at
7
8 http://www.apache.org/licenses/LICENSE-2.0
9
10 Unless required by applicable law or agreed to in writing, software
11 distributed under the License is distributed on an "AS IS" BASIS,
12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 See the License for the specific language governing permissions and
14 limitations under the License.
15*/
16
17#include "ch.h"
18#include "hal.h"
19
20#include "chprintf.h"
21#include "hts221.h"
22#include "lps22hb.h"
23#include "lsm303agr.h"
24#include "lsm6dsl.h"
25
26#define cls(chp) chprintf(chp, "\033[2J\033[1;1H")
27#define MAX_AXIS_NUMBER 3U
28
29/* Array for data storage. */
30static float cooked[MAX_AXIS_NUMBER];
31/* Axis identifiers. */
32static char axis_id[MAX_AXIS_NUMBER] = {'X', 'Y', 'Z'};
33
34/* Generic I2C configuration for every MEMS. */
35static const I2CConfig i2ccfg = {
36 OPMODE_I2C,
37 400000,
38 FAST_DUTY_CYCLE_2,
39};
40
41static uint32_t i;
42static BaseSequentialStream* chp = (BaseSequentialStream*)&SD2;
43
44/*===========================================================================*/
45/* HTS221 related. */
46/*===========================================================================*/
47
48/* HTS221 Driver: This object represent an HTS221 instance */
49static HTS221Driver HTS221D1;
50
51static const HTS221Config hts221cfg = {
52 &I2CD1,
53 &i2ccfg,
54 NULL,
55 NULL,
56 NULL,
57 NULL,
58 HTS221_ODR_7HZ
59};
60
61/*===========================================================================*/
62/* LPS22HB related. */
63/*===========================================================================*/
64
65/* LPS22HB Driver: This object represent an LPS22HB instance */
66static LPS22HBDriver LPS22HBD1;
67
68static const LPS22HBConfig lps22hbcfg = {
69 &I2CD1,
70 &i2ccfg,
71 LPS22HB_SAD_VCC,
72 NULL,
73 NULL,
74 NULL,
75 NULL,
76 LPS22HB_ODR_10HZ,
77};
78
79/*===========================================================================*/
80/* LSM303AGR related. */
81/*===========================================================================*/
82
83/* LSM303AGR Driver: This object represent an LSM303AGR instance */
84static LSM303AGRDriver LSM303AGRD1;
85
86static const LSM303AGRConfig lsm303agrcfg = {
87 &I2CD1,
88 &i2ccfg,
89 NULL,
90 NULL,
91 LSM303AGR_ACC_FS_4G,
92 LSM303AGR_ACC_ODR_100Hz,
93 NULL,
94 NULL,
95 LSM303AGR_COMP_ODR_50HZ,
96};
97
98/*===========================================================================*/
99/* LSM6DSL related. */
100/*===========================================================================*/
101
102/* LSM6DSL Driver: This object represent an LSM6DSL instance */
103static LSM6DSLDriver LSM6DSLD1;
104
105static const LSM6DSLConfig lsm6dslcfg = {
106 &I2CD1,
107 &i2ccfg,
108 LSM6DSL_SAD_VCC,
109 NULL,
110 NULL,
111 LSM6DSL_ACC_FS_2G,
112 LSM6DSL_ACC_ODR_52Hz,
113 NULL,
114 NULL,
115 LSM6DSL_GYRO_FS_250DPS,
116 LSM6DSL_GYRO_ODR_104Hz
117};
118
119/*===========================================================================*/
120/* Generic code. */
121/*===========================================================================*/
122
123/*
124 * Green LED blinker thread, times are in milliseconds.
125 */
126static THD_WORKING_AREA(waThread1, 128);
127static THD_FUNCTION(Thread1, arg) {
128
129 (void)arg;
130 chRegSetThreadName("blinker");
131 while (true) {
132 palClearPad(GPIOA, GPIOA_LED_GREEN);
133 chThdSleepMilliseconds(500);
134 palSetPad(GPIOA, GPIOA_LED_GREEN);
135 chThdSleepMilliseconds(500);
136 }
137}
138
139/*
140 * Application entry point.
141 */
142int main(void) {
143
144 /*
145 * System initializations.
146 * - HAL initialization, this also initializes the configured device drivers
147 * and performs the board-specific initializations.
148 * - Kernel initialization, the main() function becomes a thread and the
149 * RTOS is active.
150 */
151 halInit();
152 chSysInit();
153
154 /* Configuring I2C SCK and I2C SDA related GPIOs .*/
155 palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) |
156 PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
157 palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
158 PAL_STM32_OSPEED_HIGHEST | PAL_STM32_OTYPE_OPENDRAIN);
159
160 /*
161 * Activates the serial driver 2 using the driver default configuration.
162 */
163 sdStart(&SD2, NULL);
164
165 /*
166 * Creates the blinker thread.
167 */
168 chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
169
170 /* MEMS Driver Objects Initialization.*/
171 hts221ObjectInit(&HTS221D1);
172 lps22hbObjectInit(&LPS22HBD1);
173 lsm303agrObjectInit(&LSM303AGRD1);
174 lsm6dslObjectInit(&LSM6DSLD1);
175
176 /* Activates all the MEMS related drivers.*/
177 hts221Start(&HTS221D1, &hts221cfg);
178 lps22hbStart(&LPS22HBD1, &lps22hbcfg);
179 lsm303agrStart(&LSM303AGRD1, &lsm303agrcfg);
180 lsm6dslStart(&LSM6DSLD1, &lsm6dslcfg);
181
182 /*
183 * Normal main() thread activity, in this demo it does nothing except
184 * sleeping in a loop and check the button state.
185 */
186 while (true) {
187 hts221HygrometerReadCooked(&HTS221D1, cooked);
188 chprintf(chp, "HTS221D1 Hygrometer cooked data...\r\n");
189 chprintf(chp, "Hum: %.2f\r\n", *cooked);
190
191 hts221ThermometerReadCooked(&HTS221D1, cooked);
192 chprintf(chp, "HTS221D1 Thermometer cooked data...\r\n");
193 chprintf(chp, "Temp: %.2f\r\n", *cooked);
194
195 lps22hbBarometerReadCooked(&LPS22HBD1, cooked);
196 chprintf(chp, "LPS22HBD1 Barometer cooked data...\r\n");
197 chprintf(chp, "Pres: %.2f\r\n", *cooked);
198
199 lps22hbThermometerReadCooked(&LPS22HBD1, cooked);
200 chprintf(chp, "LPS22HBD1 Thermometer cooked data...\r\n");
201 chprintf(chp, "Temp: %.2f\r\n", *cooked);
202
203 lsm303agrAccelerometerReadCooked(&LSM303AGRD1, cooked);
204 chprintf(chp, "LSM303AGR Accelerometer cooked data...\r\n");
205 for(i = 0; i < LSM303AGR_ACC_NUMBER_OF_AXES; i++) {
206 chprintf(chp, "%c-axis: %.3f\r\n", axis_id[i], cooked[i]);
207 }
208
209 lsm303agrCompassReadCooked(&LSM303AGRD1, cooked);
210 chprintf(chp, "LSM303AGR Compass cooked data...\r\n");
211 for(i = 0; i < LSM303AGR_COMP_NUMBER_OF_AXES; i++) {
212 chprintf(chp, "%c-axis: %.3f\r\n", axis_id[i], cooked[i]);
213 }
214
215 lsm6dslAccelerometerReadCooked(&LSM6DSLD1, cooked);
216 chprintf(chp, "LSM6DSL Accelerometer cooked data...\r\n");
217 for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
218 chprintf(chp, "%c-axis: %.3f\r\n", axis_id[i], cooked[i]);
219 }
220
221 lsm6dslGyroscopeReadCooked(&LSM6DSLD1, cooked);
222 chprintf(chp, "LSM6DSL Gyroscope cooked data...\r\n");
223 for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
224 chprintf(chp, "%c-axis: %.3f\r\n", axis_id[i], cooked[i]);
225 }
226
227 chThdSleepMilliseconds(500);
228 cls(chp);
229 }
230}
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