/*
* 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);
/*
* Shell manager initialization.
*/
shellInit();
while(TRUE) {
if (SDU1.config->usbp->state == USB_ACTIVE) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp); /* Waiting termination. */
}
chThdSleepMilliseconds(1000);
}
lsm303dlhcStop(&LSM303DLHCD1);
return 0;
}
/*
* 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);
}
