/*
* 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
}
}
/*
* 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_D15, PAL_MODE_ALTERNATE(4) |
PAL_STM32_OSPEED_HIGH);
palSetLineMode(LINE_ARD_D14, PAL_MODE_ALTERNATE(4) |
PAL_STM32_OSPEED_HIGH);
/*
* Activates the serial driver 2 using the driver default configuration.
*/
sdStart(&SD2, NULL);
/*
* Creates the blinker thread.
*/
chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO + 1, Thread1, NULL);
/*
* LSM6DS0 Object Initialization
*/
lsm6ds0ObjectInit(&LSM6DS0D1);
/*
* Activates the LSM6DS0 driver.
*/
lsm6ds0Start(&LSM6DS0D1, &lsm6ds0cfg);
/*
* Shell manager initialization.
*/
shellInit();
while(TRUE) {
thread_t *shelltp = chThdCreateFromHeap(NULL, SHELL_WA_SIZE,
"shell", NORMALPRIO + 1,
shellThread, (void *)&shell_cfg1);
chThdWait(shelltp); /* Waiting termination. */
chThdSleepMilliseconds(1000);
}
lsm6ds0Stop(&LSM6DS0D1);
return 0;
}
