/*
* 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();
palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
palSetLineMode(LINE_ARD_D15, PAL_MODE_ALTERNATE(4) | PAL_STM32_OSPEED_HIGH);
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD2, NULL);
/*
* L3GD20 Object Initialization
*/
lsm6ds0ObjectInit(&LSM6DS0D1);
lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);
while (TRUE) {
palToggleLine(LINE_LED_GREEN);
sensorReadRaw(&LSM6DS0D1, rawdata);
sensorReadCooked(&LSM6DS0D1, cookeddata);
gyroscopeGetTemp(&LSM6DS0D1, &temp);
chprintf(chp, "ACCELEROMETER DATA\r\n");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i]);
chprintf(chp, "\r\n");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f g\t", axesID[i], cookeddata[i]);
chprintf(chp, "\r\nGYROSCOPE DATA\r\n");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\t\t", axesID[i], rawdata[i + 3]);
chprintf(chp, "\r\n");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f dps\t", axesID[i], cookeddata[i + 3]);
chprintf(chp, "\r\n");
chprintf(chp, "TEMPERATURE DATA\r\n");
chprintf(chp, "LSM6DS0:%.3f C°\t", temp);
chprintf(chp, "\r\n");
chThdSleepMilliseconds(100);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
}
static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
(void)argv;
if (argc != 2) {
chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");
return;
}
while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
if (!strcmp (argv[0], "acc")) {
if (!strcmp (argv[1], "raw")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
accelerometerReadRaw(&LSM6DS0D1, rawdata);
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], rawdata[i]);
}
}
else if (!strcmp (argv[1], "cooked")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
accelerometerReadCooked(&LSM6DS0D1, cookeddata);
chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
}
}
else {
chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");
return;
}
}
else if (!strcmp (argv[0], "gyro")) {
if (!strcmp (argv[1], "raw")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
gyroscopeReadRaw(&LSM6DS0D1, rawdata);
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], rawdata[i]);
}
}
else if (!strcmp (argv[1], "cooked")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
gyroscopeReadCooked(&LSM6DS0D1, cookeddata);
chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]);
}
}
else {
chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");
return;
}
}
else if (!strcmp (argv[0], "both")) {
if (!strcmp (argv[1], "raw")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
sensorReadRaw(&LSM6DS0D1, rawdata);
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], rawdata[i]);
}
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],
rawdata[i + LSM6DS0_ACC_NUMBER_OF_AXES]);
}
}
else if (!strcmp (argv[1], "cooked")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
sensorReadCooked(&LSM6DS0D1, cookeddata);
chprintf(chp, "LSM6DS0 Accelerometer cooked data...\r\n");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.4f mG\r\n", axisID[i], cookeddata[i]);
}
chprintf(chp, "LSM6DS0 Gyroscope cooked data...\r\n");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i],
cookeddata[i + LSM6DS0_ACC_NUMBER_OF_AXES]);
}
}
else {
chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");
return;
}
}
else {
chprintf(chp, "Usage: read [acc|gyro|both] [raw|cooked]\r\n");
return;
}
}
chprintf(chp, "Stopped\r\n");
}
static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
(void)argv;
if (argc != 2) {
chprintf(chp, "Usage: read [baro|thermo|both] [raw|cooked]\r\n");
return;
}
while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
if (!strcmp (argv[0], "baro")) {
if (!strcmp (argv[1], "raw")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
barometerReadRaw(&BMP085D1, rawdata);
chprintf(chp, "BMP085 Barometer raw data...\r\n");
chprintf(chp, "Raw pressure: %d\r\n", *rawdata);
}
else if (!strcmp (argv[1], "cooked")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
barometerReadCooked(&BMP085D1, cookeddata);
chprintf(chp, "BMP085 Barometer cooked data...\r\n");
chprintf(chp, "Cooked pressure: %.2f %%\r\n", *cookeddata);
}
else {
chprintf(chp, "Usage: read [baro|thermo|both] [raw|cooked]\r\n");
return;
}
}
else if (!strcmp (argv[0], "thermo")) {
if (!strcmp (argv[1], "raw")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
thermometerReadRaw(&BMP085D1, rawdata);
chprintf(chp, "BMP085 Thermometer raw data...\r\n");
chprintf(chp, "Raw temperature: %d\r\n", *rawdata);
}
else if (!strcmp (argv[1], "cooked")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
thermometerReadCooked(&BMP085D1, cookeddata);
chprintf(chp, "BMP085 Thermometer cooked data...\r\n");
chprintf(chp, "Cooked temperature: %.2f °C\r\n", *cookeddata);
}
else {
chprintf(chp, "Usage: read [baro|thermo|both] [raw|cooked]\r\n");
return;
}
}
else if (!strcmp (argv[0], "both")) {
if (!strcmp (argv[1], "raw")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
sensorReadRaw(&BMP085D1, rawdata);
chprintf(chp, "BMP085 Barometer raw data...\r\n");
chprintf(chp, "Raw pressure: %d\r\n", rawdata[0]);
chprintf(chp, "BMP085 Thermometer raw data...\r\n");
chprintf(chp, "Raw temperature: %d\r\n", rawdata[1]);
}
else if (!strcmp (argv[1], "cooked")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
sensorReadCooked(&BMP085D1, cookeddata);
chprintf(chp, "BMP085 Barometer cooked data...\r\n");
chprintf(chp, "Cooked pressure: %.2f %%\r\n", cookeddata[0]);
chprintf(chp, "BMP085 Thermometer cooked data...\r\n");
chprintf(chp, "Cooked temperature: %.2f °C\r\n", cookeddata[1]);
}
else {
chprintf(chp, "Usage: read [baro|thermo|both] [raw|cooked]\r\n");
return;
}
}
else {
chprintf(chp, "Usage: read [baro|thermo|both] [raw|cooked]\r\n");
return;
}
}
chprintf(chp, "Stopped\r\n");
}
