1 files changed, 158 insertions, 0 deletions

diff --git a/lib/chibios/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c b/lib/chibios/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
new file mode 100644
index 000000000..42b841660
--- /dev/null
+++ b/lib/chibios/testex/STM32/STM32F4xx/I2C-LSM6DS0/main.c
@@ -0,0 +1,158 @@
+/*
+    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 "lsm6ds0.h"
+
+#define cls(chp)  chprintf(chp, "\033[2J\033[1;1H")
+
+/*===========================================================================*/
+/* LSM6DS0 related.                                                          */
+/*===========================================================================*/
+
+/* LSM6DS0 Driver: This object represent an LSM6DS0 instance */
+static  LSM6DS0Driver LSM6DS0D1;
+
+static int32_t accraw[LSM6DS0_ACC_NUMBER_OF_AXES];
+static int32_t gyroraw[LSM6DS0_GYRO_NUMBER_OF_AXES];
+
+static float acccooked[LSM6DS0_ACC_NUMBER_OF_AXES];
+static float gyrocooked[LSM6DS0_GYRO_NUMBER_OF_AXES];
+
+static char axisID[LSM6DS0_ACC_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const I2CConfig i2ccfg = {
+  OPMODE_I2C,
+  400000,
+  FAST_DUTY_CYCLE_2,
+};
+
+static const LSM6DS0Config lsm6ds0cfg = {
+  &I2CD1,
+  &i2ccfg,
+  LSM6DS0_SAD_VCC,
+  NULL,
+  NULL,
+  LSM6DS0_ACC_FS_2G,
+  LSM6DS0_ACC_ODR_50Hz,
+#if LSM6DS0_USE_ADVANCED
+  LSM6DS0_ACC_DEC_X4,
+#endif
+  NULL,
+  NULL,
+  LSM6DS0_GYRO_FS_245DPS,
+  LSM6DS0_GYRO_ODR_119HZ_FC_31,
+#if LSM6DS0_USE_ADVANCED
+  LSM6DS0_GYRO_LP_DISABLED,
+  LSM6DS0_GYRO_OUT_SEL_0,
+  LSM6DS0_GYRO_HP_DISABLED,
+  LSM6DS0_GYRO_HPCF_0,
+#endif
+#if LSM6DS0_USE_ADVANCED
+  LSM6DS0_BDU_BLOCKED,
+  LSM6DS0_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);
+
+  /* LSM6DS0 Object Initialization.*/
+  lsm6ds0ObjectInit(&LSM6DS0D1);
+
+  /* Activates the LSM6DS0 driver.*/
+  lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);
+
+  lsm6ds0GyroscopeSampleBias(&LSM6DS0D1);
+
+  /* Normal main() thread activity, printing MEMS data on the SDU1.*/
+  while (true) {
+    lsm6ds0AccelerometerReadRaw(&LSM6DS0D1, accraw);
+    chprintf(chp, "LSM6DS0 Accelerometer raw data...\r\n");
+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], accraw[i]);
+    }
+
+    lsm6ds0GyroscopeReadRaw(&LSM6DS0D1, gyroraw);
+    chprintf(chp, "LSM6DS0 Gyroscope raw data...\r\n");
+    for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);
+    }
+
+    lsm6ds0AccelerometerReadCooked(&LSM6DS0D1, acccooked);
+    chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");
+    for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], acccooked[i]);
+    }
+
+    lsm6ds0GyroscopeReadCooked(&LSM6DS0D1, gyrocooked);
+    chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");
+    for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], gyrocooked[i]);
+    }
+    chThdSleepMilliseconds(100);
+    cls(chp);
+  }
+  lsm6ds0Stop(&LSM6DS0D1);
+}