1 files changed, 159 insertions, 0 deletions

diff --git a/lib/chibios/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c b/lib/chibios/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
new file mode 100644
index 000000000..97f1f7696
--- /dev/null
+++ b/lib/chibios/testex/STM32/STM32F4xx/I2C-LSM303DLHC/main.c
@@ -0,0 +1,159 @@
+/*
+    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 compliance 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 "usbcfg.h"
+#include "chprintf.h"
+#include "lsm303dlhc.h"
+
+#define cls(chp)  chprintf(chp, "\033[2J\033[1;1H")
+
+/*===========================================================================*/
+/* LSM303DLHC related.                                                       */
+/*===========================================================================*/
+
+/* LSM303DLHC Driver: This object represent an LSM303DLHC instance */
+static LSM303DLHCDriver LSM303DLHCD1;
+
+static int32_t accraw[LSM303DLHC_ACC_NUMBER_OF_AXES];
+static int32_t compraw[LSM303DLHC_COMP_NUMBER_OF_AXES];
+
+static float acccooked[LSM303DLHC_ACC_NUMBER_OF_AXES];
+static float compcooked[LSM303DLHC_COMP_NUMBER_OF_AXES];
+
+static char axisID[LSM303DLHC_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const I2CConfig i2ccfg = {
+  OPMODE_I2C,
+  400000,
+  FAST_DUTY_CYCLE_2,
+};
+
+static const LSM303DLHCConfig lsm303dlhccfg = {
+  &I2CD1,
+  &i2ccfg,
+  NULL,
+  NULL,
+  LSM303DLHC_ACC_FS_4G,
+  LSM303DLHC_ACC_ODR_100Hz,
+#if LSM303DLHC_USE_ADVANCED
+  LSM303DLHC_ACC_LP_DISABLED,
+  LSM303DLHC_ACC_HR_DISABLED,
+  LSM303DLHC_ACC_BDU_BLOCK,
+  LSM303DLHC_ACC_END_LITTLE,
+#endif
+  NULL,
+  NULL,
+  LSM303DLHC_COMP_FS_1P3GA,
+  LSM303DLHC_COMP_ODR_30HZ,
+#if LSM303DLHC_USE_ADVANCED
+  LSM303DLHC_COMP_MD_BLOCK
+#endif
+};
+
+/*===========================================================================*/
+/* Generic code.                                                             */
+/*===========================================================================*/
+
+static BaseSequentialStream* chp = (BaseSequentialStream*)&SDU1;
+/*
+ * LED blinker thread, times are in milliseconds.
+ */
+static THD_WORKING_AREA(waThread1, 128);
+static THD_FUNCTION(Thread1, arg) {
+
+  (void)arg;
+  chRegSetThreadName("blinker");
+  while (true) {
+    systime_t time;
+
+    time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
+    palToggleLine(LINE_LED5);
+    chThdSleepMilliseconds(time);
+  }
+}
+
+/*
+ * 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();
+
+  /* Initializes a serial-over-USB CDC driver.*/
+  sduObjectInit(&SDU1);
+  sduStart(&SDU1, &serusbcfg);
+
+  /*
+   * Activates the USB driver and then the USB bus pull-up on D+.
+   * Note, a delay is inserted in order to not have to disconnect the cable
+   * after a reset.
+   */
+  usbDisconnectBus(serusbcfg.usbp);
+  chThdSleepMilliseconds(1500);
+  usbStart(serusbcfg.usbp, &usbcfg);
+  usbConnectBus(serusbcfg.usbp);
+
+  /* Creates the blinker thread.*/
+  chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
+
+  /* LSM303DLHC Object Initialization.*/
+  lsm303dlhcObjectInit(&LSM303DLHCD1);
+
+  /* Activates the LSM303DLHC driver.*/
+  lsm303dlhcStart(&LSM303DLHCD1, &lsm303dlhccfg);
+
+  /* Normal main() thread activity, printing MEMS data on the SDU1.*/
+  while (true) {
+    lsm303dlhcAccelerometerReadRaw(&LSM303DLHCD1, accraw);
+    chprintf(chp, "LSM303DLHC Accelerometer raw data...\r\n");
+    for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);
+    }
+
+    lsm303dlhcCompassReadRaw(&LSM303DLHCD1, compraw);
+    chprintf(chp, "LSM303DLHC Compass raw data...\r\n");
+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], compraw[i]);
+    }
+
+    lsm303dlhcAccelerometerReadCooked(&LSM303DLHCD1, acccooked);
+    chprintf(chp, "LSM303DLHC Accelerometer cooked data...\r\n");
+    for(i = 0; i < LSM303DLHC_ACC_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
+    }
+
+    lsm303dlhcCompassReadCooked(&LSM303DLHCD1, compcooked);
+    chprintf(chp, "LSM303DLHC Compass cooked data...\r\n");
+    for(i = 0; i < LSM303DLHC_COMP_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], compcooked[i]);
+    }
+    chThdSleepMilliseconds(100);
+    cls(chp);
+  }
+  lsm303dlhcStop(&LSM303DLHCD1);
+}