From 8106cdd481a025f62f7345f14c0a3ffdddfd2bd4 Mon Sep 17 00:00:00 2001
From: "Ettore L. Pane" <ettore.pane4@gmail.com>
Date: Sun, 22 Oct 2023 17:59:50 +0200
Subject: [PATCH] Commit buggato (test di creazione driver)
---
.vscode/c_cpp_properties.json | 5 +-
CMakeLists.txt | 5 +-
cmake/boardcore.cmake | 6 +
src/shared/drivers/ettore/SPIDriver.cpp | 114 ++++++++++++++++++
src/shared/drivers/ettore/SPIDriver.h | 30 +++++
src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp | 46 +++++++
src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h | 81 +++++++++++++
src/tests/sensors/test-ettore.cpp | 36 ++++++
src/tests/sensors/test-lis3dsh.cpp | 5 +-
src/tests/test-serial.cpp | 10 +-
10 files changed, 327 insertions(+), 11 deletions(-)
create mode 100644 src/shared/drivers/ettore/SPIDriver.cpp
create mode 100644 src/shared/drivers/ettore/SPIDriver.h
create mode 100644 src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp
create mode 100644 src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h
create mode 100644 src/tests/sensors/test-ettore.cpp
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 895903d93..54a6c9482 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -428,9 +428,10 @@
"${defaultIncludePaths}",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/common",
"${workspaceFolder}/libs/miosix-kernel/miosix/arch/cortexM7_stm32f7/stm32f769ni_discovery",
- "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f769ni_discovery"
+ "${workspaceFolder}/libs/miosix-kernel/miosix/config/arch/cortexM7_stm32f7/stm32f769ni_discovery",
+ "${workspaceFolder}/src/shared/sensors/LIS3DSH"
]
}
],
"version": 4
-}
+}
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index aaba63944..aeff2d1c8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,6 +33,9 @@ project(SkywardBoardcore)
# Entrypoints #
#-----------------------------------------------------------------------------#
+add_executable(test-ettore src/tests/sensors/test-ettore.cpp)
+sbs_target(test-ettore stm32f407vg_stm32f4discovery)
+
add_executable(bmx160-calibration-v2 src/entrypoints/bmx160-calibration-entry.cpp)
sbs_target(bmx160-calibration-v2 stm32f429zi_skyward_death_stack_x)
@@ -106,7 +109,7 @@ add_executable(test-sensormanager src/tests/test-sensormanager.cpp)
sbs_target(test-sensormanager stm32f429zi_skyward_death_stack_x)
add_executable(test-serial src/tests/test-serial.cpp)
-sbs_target(test-serial stm32f756zg_nucleo)
+sbs_target(test-serial stm32f407vg_stm32f4discovery)
add_executable(test-taskscheduler src/tests/scheduler/test-taskscheduler.cpp)
sbs_target(test-taskscheduler stm32f407vg_stm32f4discovery)
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 49c749382..e04b56c93 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -27,6 +27,12 @@ foreach(OPT_BOARD ${BOARDS})
set(BOARDCORE_LIBRARY boardcore-${OPT_BOARD})
add_library(${BOARDCORE_LIBRARY} STATIC EXCLUDE_FROM_ALL
+ # Ettore
+ ${SBS_BASE}/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp
+ ${SBS_BASE}/src/shared/drivers/ettore/SPIDriver.cpp
+
+
+
# Actuators
${SBS_BASE}/src/shared/actuators/HBridge/HBridge.cpp
${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp
diff --git a/src/shared/drivers/ettore/SPIDriver.cpp b/src/shared/drivers/ettore/SPIDriver.cpp
new file mode 100644
index 000000000..b153ae5a2
--- /dev/null
+++ b/src/shared/drivers/ettore/SPIDriver.cpp
@@ -0,0 +1,114 @@
+#include "SPIDriver.h"
+#include <utils/Debug.h>
+
+
+namespace Boardcore {
+
+SpiDriver::SpiDriver(){
+
+}
+
+void SpiDriver::config()
+{
+ // CS has to be configured as output and put to high state. This because the
+ // chip select, by design, is active low: when the master wants to communicate
+ // with a slave, it has to pull the corresponding CS line to low
+ cs::mode(miosix::Mode::OUTPUT);
+ cs::high();
+
+ // SCK, MISO and MOSI GPIOs have to be configured in alternate mode. In this
+ // mode they are controlled by the internal SPI peripheral and not by the
+ // GPIO control registers
+ sck::mode(miosix::Mode::ALTERNATE);
+ miso::mode(miosix::Mode::ALTERNATE);
+ mosi::mode(miosix::Mode::ALTERNATE);
+
+ // STM32F4 chips have many peripherals connected to the same pins. The selection
+ // of which peripheral is connected to the GPIO pins is done through this
+ // function.
+ // To have a list of all the peripherals and their corresponding alternate
+ // function number, see device's datasheet in the section "Alternate function
+ // mapping".
+ // For the STM32F407VG the SPI1 is on alternate function number 5
+ sck::alternateFunction(5);
+ miso::alternateFunction(5);
+ mosi::alternateFunction(5);
+
+ TRACE("[SpiDriver] GPIOs configured \n");
+
+ {
+ // Disable interrupts
+ miosix::FastInterruptDisableLock dLock;
+ // Now enable the SPI peripheral by setting to 1 the corresponding bit into
+ // the clock gating register. This gives clock to peripheral's hardware
+ // allowing to read and write hardware. This operation must be done before
+ // accessing any of the peripheral's registers, otherwise reading and/or
+ // writing to them will have no effect.
+ RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
+ RCC_SYNC();
+ }
+
+ // Once clock has been enabled, configure the SPI peripheral writing to its
+ // registers.
+ // For detailed informations, see the reference manual for the STM32F407xx
+ // family at page 857 and following
+ SPI1->CR1 = SPI_CR1_SSM // Software slave management enabled, CS line
+ // is controlled by software and not by the peripheral
+
+ | SPI_CR1_SSI // Internal slave select, see above
+
+ | SPI_CR1_MSTR // Peripheral is an SPI master
+
+ | SPI_CR1_BR_2 // Division factor for SPI clock generation.
+ // SPI1 is connected to APB2 bus, which is clocked
+ // at 84MHz. Setting to 1 the third bit of division
+ // factor we obtain an SCK frequency of 84MHz / 32 = 2.625MHz
+
+ | SPI_CR1_SPE; // Finally enable the peripheral
+
+ TRACE("[SpiDriver] SPI1 configured \n");
+}
+
+uint8_t SpiDriver::sendRecv(uint8_t data)
+{
+ SPI1->DR = data;
+ waitBusy();
+ return SPI1->DR;
+}
+
+void SpiDriver::waitBusy()
+{
+ // Wait until the RX Not Empty flag in peripheral's status
+ // register (SPI1->SR) is set. This signals that the data transfer
+ // is completed and the data received from the slave device is
+ // into data register (SPI1->DR)
+ while((SPI1->SR & SPI_SR_RXNE) == 0)
+ {
+ }
+}
+
+void SpiDriver::write(uint8_t addr, uint8_t value)
+{
+ cs::low();
+
+ sendRecv(addr);
+ sendRecv(value);
+
+ cs::high();
+ miosix::delayUs(10); // wait 10 microseconds
+}
+
+uint8_t SpiDriver::read(uint8_t addr)
+{
+ cs::low();
+ sendRecv(0x80 | addr); // <--deeper
+ uint8_t data = sendRecv(0x00);
+
+ cs::high();
+ miosix::delayUs(10); // wait 10 microseconds
+ printf("returning\n");
+
+ return data;
+}
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/drivers/ettore/SPIDriver.h b/src/shared/drivers/ettore/SPIDriver.h
new file mode 100644
index 000000000..6fbba0077
--- /dev/null
+++ b/src/shared/drivers/ettore/SPIDriver.h
@@ -0,0 +1,30 @@
+#include <miosix.h>
+
+namespace Boardcore {
+
+ typedef miosix::Gpio<GPIOA_BASE, 5> sck;
+ typedef miosix::Gpio<GPIOA_BASE, 6> miso;
+ typedef miosix::Gpio<GPIOA_BASE, 7> mosi;
+
+ typedef miosix::Gpio<GPIOE_BASE, 3> cs;
+
+ class SpiDriver
+ {
+ public:
+
+ SpiDriver();
+
+ void config();
+
+ uint8_t read(uint8_t addr);
+
+ void write(uint8_t addr, uint8_t value);
+
+ private:
+
+ uint8_t sendRecv(uint8_t data);
+
+ void waitBusy();
+ };
+
+} // namespace BoardCore
diff --git a/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp b/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp
new file mode 100644
index 000000000..d4b3f6411
--- /dev/null
+++ b/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.cpp
@@ -0,0 +1,46 @@
+#include "LIS3DSH.h"
+
+namespace Boardcore {
+
+LIS3DSHettore::LIS3DSHettore(uint8_t odr, uint8_t bdu)
+ : odr(odr), bdu(bdu)
+{
+}
+
+bool LIS3DSHettore::checkWhoAmI()
+{
+ uint8_t who_am_i = spi_driver.read(WHO_AM_I_REG); // <-- we need to go deeper
+
+ if (who_am_i == WHO_AM_I_VALUE)
+ {
+
+ return true;
+ }
+
+ return false;
+}
+
+bool LIS3DSHettore::init()
+{
+ if (!checkWhoAmI()) // wrong who_am_i value
+ {
+ printf("init not okay");
+ return false;
+ }
+ // set the output data rate and the BDU in CTRL_REG4
+ uint8_t ctrl_reg4_value = (odr << 4) | (bdu << 3);
+ spi_driver.write(CTRL_REG4, ctrl_reg4_value);
+ return true; // correctly initialized
+}
+
+int8_t LIS3DSHettore::getTemperature()
+{
+ // the temperature is given as a 8-bits integer (in 2-complement)
+ // 1 LSB/deg - 8-bit resolution
+ // also, reading zero means 25 °C, so add the temperature reference
+ return spi_driver.read(OUT_T) + TEMPERATURE_REF;
+}
+
+}
+
+
diff --git a/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h b/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h
new file mode 100644
index 000000000..f13d5f688
--- /dev/null
+++ b/src/shared/sensors/LIS3DSH-ettore/LIS3DSH.h
@@ -0,0 +1,81 @@
+
+
+#pragma once
+
+#include "drivers/ettore/SPIDriver.h"
+
+namespace Boardcore
+{
+
+class LIS3DSHettore
+{
+
+public:
+ LIS3DSHettore(uint8_t odr, uint8_t bdu);
+
+ bool init();
+
+ bool checkWhoAmI();
+
+ int8_t getTemperature();
+
+ enum OutputDataRate : uint8_t
+ {
+ ODR_POWER_DOWN = 0, // default value
+ ODR_3_125_HZ = 1,
+ ODR_6_25_HZ = 2,
+ ODR_12_5_HZ = 3,
+ ODR_25_HZ = 4,
+ ODR_50_HZ = 5,
+ ODR_100_HZ = 6,
+ ODR_400_HZ = 7,
+ ODR_800_HZ = 8,
+ ODR_1600_HZ = 9
+ };
+
+ enum BlockDataUpdate : uint8_t
+ {
+ CONTINUOUS_UPDATE_MODE = 0,
+ UPDATE_AFTER_READ_MODE = 1 // values updated only when MSB and LSB are read
+ };
+
+ enum Registers : uint8_t
+ {
+ WHO_AM_I_REG = 0x0F,
+ CTRL_REG4 = 0x20, // control register to set ODR and BDU
+ OUT_T = 0x0C // temperature output register
+ };
+
+
+private:
+
+ SpiDriver spi_driver;
+ uint8_t odr;
+ uint8_t bdu;
+
+ const uint8_t WHO_AM_I_VALUE = 63;
+ const uint8_t TEMPERATURE_REF = 25;
+};
+
+} // namespace Boardcore
+
+enum OutputDataRate : uint8_t
+{
+ ODR_POWER_DOWN = 0, // default value
+ ODR_3_125_HZ = 1,
+ ODR_6_25_HZ = 2,
+ ODR_12_5_HZ = 3,
+ ODR_25_HZ = 4,
+ ODR_50_HZ = 5,
+ ODR_100_HZ = 6,
+ ODR_400_HZ = 7,
+ ODR_800_HZ = 8,
+ ODR_1600_HZ = 9
+};
+
+enum BlockDataUpdate : uint8_t
+{
+ CONTINUOUS_UPDATE_MODE = 0,
+ UPDATE_AFTER_READ_MODE = 1 // values updated only when MSB and LSB are read
+};
+
diff --git a/src/tests/sensors/test-ettore.cpp b/src/tests/sensors/test-ettore.cpp
new file mode 100644
index 000000000..c156c9b79
--- /dev/null
+++ b/src/tests/sensors/test-ettore.cpp
@@ -0,0 +1,36 @@
+#include <miosix.h>
+#include <utils/Debug.h>
+#include "sensors/LIS3DSH-ettore/LIS3DSH.h"
+
+using namespace miosix;
+using namespace Boardcore;
+
+int main()
+{
+ LIS3DSHettore driver(LIS3DSHettore::OutputDataRate::ODR_100_HZ,
+ LIS3DSHettore::BlockDataUpdate::UPDATE_AFTER_READ_MODE);
+
+
+ printf("Ciao\n");
+ if (driver.init())
+ {
+ while (true)
+ {
+ TRACE("Temp : %d °C \n", driver.getTemperature());
+ printf("Ciao\n");
+
+
+ Thread::sleep(2000);
+ }
+ } else {
+ while (true)
+ {
+ TRACE("error \n");
+ printf("Ciao\n");
+
+ Thread::sleep(2000);
+ }
+ }
+
+ return 0;
+}
diff --git a/src/tests/sensors/test-lis3dsh.cpp b/src/tests/sensors/test-lis3dsh.cpp
index 7588e9cca..4d64fedd0 100644
--- a/src/tests/sensors/test-lis3dsh.cpp
+++ b/src/tests/sensors/test-lis3dsh.cpp
@@ -38,6 +38,8 @@ GpioPin cs(GPIOE_BASE, 3);
int main()
{
+ Thread::sleep(500);
+
spiSck.mode(miosix::Mode::ALTERNATE);
spiSck.alternateFunction(5);
spiMiso.mode(miosix::Mode::ALTERNATE);
@@ -53,6 +55,7 @@ int main()
LIS3DSHData data;
+
// sensor not initialized, should give the error
sensor.sample();
if (sensor.getLastError() != SensorErrors::NOT_INIT)
@@ -85,7 +88,7 @@ int main()
Thread::sleep(500);
// sample some data from the sensor
- for (int i = 0; i < 5; i++)
+ for (int i = 0; i < 5000; i++)
{
// sensor intitialized, should return error if no new data exist
sensor.sample();
diff --git a/src/tests/test-serial.cpp b/src/tests/test-serial.cpp
index b1d27f597..91c558163 100644
--- a/src/tests/test-serial.cpp
+++ b/src/tests/test-serial.cpp
@@ -26,13 +26,9 @@ using namespace miosix;
int main()
{
- while (true)
- {
- ledOn();
- printf("Serial is working!\n");
- Thread::sleep(1000);
- ledOff();
- Thread::sleep(1000);
+ while (true) {
+ printf("Helo this is my test!\n");
+ Thread::sleep(500);
}
return 0;
--
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