116 lines
2.6 KiB
C
116 lines
2.6 KiB
C
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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Concepts and parts of this file have been contributed by Uladzimir Pylinsky
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aka barthess.
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*/
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/*
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This demo:
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1) turns LED on when you incline (~45 deg.) or shake the board;
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2) correctly handles absence of slave device on bus.
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*/
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#include <stdlib.h>
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#include <math.h>
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#include "ch.h"
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#include "hal.h"
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#include "lis3.h"
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#include "fake.h"
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/* measured acceleration components {x,y,z} */
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static float acc[3];
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/*
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* Accelerometer polling thread.
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*/
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static THD_WORKING_AREA(PollAccelThreadWA, 256);
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static THD_FUNCTION(PollAccelThread, arg) {
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chRegSetThreadName("PollAccel");
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(void)arg;
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while (TRUE) {
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osalThreadSleepMilliseconds(32);
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lis3GetAcc(acc);
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}
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return 0;
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}
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/*
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* Fake polling thread.
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*/
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static THD_WORKING_AREA(PollFakeThreadWA, 256);
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static THD_FUNCTION(PollFakeThread, arg) {
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chRegSetThreadName("PollFake");
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(void)arg;
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while (TRUE) {
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osalThreadSleepMilliseconds(16);
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request_fake();
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}
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return 0;
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}
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/*
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* I2C1 config.
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*/
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static const I2CConfig i2cfg1 = {
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OPMODE_I2C,
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400000,
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FAST_DUTY_CYCLE_2,
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};
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/*
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* Entry point, note, the main() function is already a thread in the system
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* on entry.
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*/
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int main(void) {
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halInit();
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chSysInit();
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i2cStart(&I2CD1, &i2cfg1);
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lis3Start();
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/* Create accelerometer thread. */
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chThdCreateStatic(PollAccelThreadWA,
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sizeof(PollAccelThreadWA),
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NORMALPRIO,
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PollAccelThread,
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NULL);
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/* Create not responding thread. */
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chThdCreateStatic(PollFakeThreadWA,
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sizeof(PollFakeThreadWA),
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NORMALPRIO,
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PollFakeThread,
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NULL);
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/* main loop handles LED */
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while (TRUE) {
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if (sqrtf(acc[0]*acc[0] + acc[1]*acc[1]) > 0.5)
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palClearPad(IOPORT3, GPIOC_LED); /* on */
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else
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palSetPad(IOPORT3, GPIOC_LED); /* off */
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osalThreadSleepMilliseconds(20);
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}
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return 0;
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}
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