static void cmd_read(BaseSequentialStream *chp, int argc, char *argv[]) {
(void)argv;
if (argc != 1) {
chprintf(chp, "Usage: read [raw|cooked]\r\n");
return;
}
while (chnGetTimeout((BaseChannel *)chp, 150) == Q_TIMEOUT) {
if (!strcmp (argv[0], "raw")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
gyroscopeReadRaw(&L3GD20D1, rawdata);
chprintf(chp, "L3GD20 Gyroscope raw data...\r\n");
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %d\r\n", axisID[i], rawdata[i]);
}
}
else if (!strcmp (argv[0], "cooked")) {
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
gyroscopeReadCooked(&L3GD20D1, cookeddata);
chprintf(chp, "L3GD20 Gyroscope cooked data...\r\n");
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) {
chprintf(chp, "%c-axis: %.4f DPS\r\n", axisID[i], cookeddata[i]);
}
}
else {
chprintf(chp, "Usage: read [raw|cooked]\r\n");
return;
}
}
chprintf(chp, "Stopped\r\n");
}
/*
* 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);
/*
* L3GD20 Object Initialization
*/
l3gd20ObjectInit(&L3GD20D1);
/*
* Activates the L3GD20 driver.
*/
l3gd20Start(&L3GD20D1, &l3gd20cfg);
while(!palReadLine(LINE_BUTTON)){
chprintf(chp, "Press BTN to calibrate gyroscope...\r\n");
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
chprintf(chp, "Calibrating Gyroscope sampling bias...\r\n");
chprintf(chp, "Keep it in the rest position while red LED is on\r\n");
chThdSleepMilliseconds(3000);
palSetLine(LINE_LED10_RED);
chThdSleepMilliseconds(1000);
gyroscopeSampleBias(&L3GD20D1);
palClearLine(LINE_LED10_RED);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
while (TRUE) {
palToggleLine(LINE_LED10_RED);
gyroscopeReadRaw(&L3GD20D1, rawdata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "RAW-%c:%d\r\n", axesID[i], rawdata[i]);
gyroscopeReadCooked(&L3GD20D1, cookeddata);
for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++)
chprintf(chp, "COOKED-%c:%.3f\r\n", axesID[i], cookeddata[i]);
gyroscopeGetTemp(&L3GD20D1, &temperature);
chprintf(chp, "TEMP:%.1f C°\r\n", temperature);
chThdSleepMilliseconds(150);
#if CHPRINTF_USE_ANSI_CODE
chprintf(chp, "\033[2J\033[1;1H");
#endif
}
l3gd20Stop(&L3GD20D1);
}
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");
}
