152 lines
4.5 KiB
C
152 lines
4.5 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2016 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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#include "ch.h"
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#include "hal.h"
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#include "chprintf.h"
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#include "l3gd20.h"
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/* Enable use of special ANSI escape sequences */
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#define CHPRINTF_USE_ANSI_CODE TRUE
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static BaseSequentialStream * chp = (BaseSequentialStream*) &SD2;
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/* L3GD20 Driver: This object represent an L3GD20 instance */
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static L3GD20Driver L3GD20D1;
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static int32_t rawdata[L3GD20_NUMBER_OF_AXES];
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static float cookeddata[L3GD20_NUMBER_OF_AXES];
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static char axesID[L3GD20_NUMBER_OF_AXES] = {'X', 'Y', 'Z'};
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static uint32_t i;
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static const SPIConfig spicfg = {
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NULL,
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GPIOD, /* port of L3GD20 CS */
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GPIOD_GYRO_CS, /* pin of L3GD20 CS */
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SPI_CR1_BR | SPI_CR1_CPOL | SPI_CR1_CPHA, /* CR1 register */
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0 /* CR2 register */
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};
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static L3GD20Config l3gd20cfg = {
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&SPID2, /* Pointer to SPI Driver */
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&spicfg, /* Pointer to SPI Configuration */
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L3GD20_FS_250DPS, /* Full scale value */
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L3GD20_ODR_760HZ_FC_30, /* Output data rate */
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L3GD20_AE_XYZ, /* Enabled axes */
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L3GD20_BDU_BLOCKED, /* Block data update */
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L3GD20_END_LITTLE /* Endianness */
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};
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/*
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* LED blinker thread, times are in milliseconds.
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*/
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static THD_WORKING_AREA(waThread1, 128);
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static THD_FUNCTION(Thread1, arg) {
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(void)arg;
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chRegSetThreadName("blinker");
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while (true) {
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palToggleLine(LINE_LED_GREEN);
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chThdSleepMilliseconds(250);
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}
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}
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/*
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* Application entry point.
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*/
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int main(void) {
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/*
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* Activates the serial driver 2 using the driver default configuration.
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*/
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sdStart(&SD2, NULL);
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/*
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* Creates the blinker thread.
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*/
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chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
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/*
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* L3GD20 Object Initialization
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*/
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l3gd20ObjectInit(&L3GD20D1);
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/*
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* Activates the L3GD20 driver.
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*/
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l3gd20Start(&L3GD20D1, &l3gd20cfg);
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while(!palReadLine(LINE_JOY_CENTER)){
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palToggleLine(LINE_LED_RED);
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gyroscopeReadRaw(&L3GD20D1, rawdata);
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
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gyroscopeReadCooked(&L3GD20D1, cookeddata);
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
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chprintf(chp, "Press JOY to continue...\r\n");
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chThdSleepMilliseconds(150);
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#if CHPRINTF_USE_ANSI_CODE
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chprintf(chp, "\033[2J\033[1;1H");
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#endif
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}
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palClearLine(LINE_LED_RED);
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chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
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chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
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chThdSleepMilliseconds(3000);
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palSetLine(LINE_LED_RED);
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chThdSleepMilliseconds(1000);
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gyroscopeSampleBias(&L3GD20D1);
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palClearLine(LINE_LED_RED);
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#if CHPRINTF_USE_ANSI_CODE
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chprintf(chp, "\033[2J\033[1;1H");
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#endif
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while (TRUE) {
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palToggleLine(LINE_LED_RED);
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gyroscopeReadRaw(&L3GD20D1, rawdata);
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
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gyroscopeReadCooked(&L3GD20D1, cookeddata);
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for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
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chprintf(chp, "COOKED-%c:%f\r\n", axesID[i], cookeddata[i]);
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chThdSleepMilliseconds(150);
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#if CHPRINTF_USE_ANSI_CODE
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chprintf(chp, "\033[2J\033[1;1H");
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#endif
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}
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l3gd20Stop(&L3GD20D1);
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}
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