1 files changed, 145 insertions, 0 deletions

diff --git a/lib/chibios/testex/STM32/STM32F4xx/SPI-L3GD20/main.c b/lib/chibios/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
new file mode 100644
index 000000000..b671e5d4a
--- /dev/null
+++ b/lib/chibios/testex/STM32/STM32F4xx/SPI-L3GD20/main.c
@@ -0,0 +1,145 @@
+/*
+    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 "l3gd20.h"
+
+#define cls(chp)  chprintf(chp, "\033[2J\033[1;1H")
+
+/*===========================================================================*/
+/* L3GD20 related.                                                           */
+/*===========================================================================*/
+
+/* L3GD20 Driver: This object represent an L3GD20 instance.*/
+static L3GD20Driver L3GD20D1;
+
+static int32_t gyroraw[L3GD20_GYRO_NUMBER_OF_AXES];
+static float gyrocooked[L3GD20_GYRO_NUMBER_OF_AXES];
+
+static char axisID[L3GD20_GYRO_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
+static uint32_t i;
+
+static const SPIConfig spicfg = {
+  FALSE,
+  NULL,
+  GPIOE,
+  GPIOE_L3GD20_CS,
+  SPI_CR1_BR_0 | SPI_CR1_CPOL | SPI_CR1_CPHA,
+  0
+};
+
+static L3GD20Config l3gd20cfg = {
+  &SPID1,
+  &spicfg,
+  NULL,
+  NULL,
+  L3GD20_FS_250DPS,
+  L3GD20_ODR_760HZ,
+#if L3GD20_USE_ADVANCED
+  L3GD20_BDU_CONTINUOUS,
+  L3GD20_END_LITTLE,
+  L3GD20_BW3,
+  L3GD20_HPM_REFERENCE,
+  L3GD20_HPCF_8,
+  L3GD20_LP2M_ON,
+#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;
+    palClearLine(LINE_LED5);
+    chThdSleepMilliseconds(time);
+    palSetLine(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, Thread1, NULL);
+
+  /* L3GD20 Object Initialization.*/
+  l3gd20ObjectInit(&L3GD20D1);
+
+  /* Activates the L3GD20 driver.*/
+  l3gd20Start(&L3GD20D1, &l3gd20cfg);
+
+  /* Normal main() thread activity, printing MEMS data on the SDU1.*/
+  while (true) {
+    l3gd20GyroscopeReadRaw(&L3GD20D1, gyroraw);
+    chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
+    for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %d\r\n", axisID[i], gyroraw[i]);
+    }
+
+    l3gd20GyroscopeReadCooked(&L3GD20D1, gyrocooked);
+    chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");
+    for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
+      chprintf(chp, "%c-axis: %.3f\r\n", axisID[i], gyrocooked[i]);
+    }
+
+    chThdSleepMilliseconds(100);
+    cls(chp);
+  }
+  l3gd20Stop(&L3GD20D1);
+}