Initial commit

git-svn-id: svn+ssh://thomaspietrzak.com/var/svn/rep@115 47cf9a05-e0a8-4ed5-9e9b-101a649bc004

diff --git a/multitouchglove.c b/multitouchglove.c
new file mode 100644 (file)
index 0000000..91ce6e2
--- /dev/null
+++ b/multitouchglove.c
@@ -0,0 +1,160 @@
+#include <FreeRTOS.h>
+#include <task.h>
+#include <stdio.h>
+#include <malloc_wrapper.h>
+
+//#include <BoardConsole.h>
+
+#include <stm32f10x.h>
+#include <stm32f10x_gpio.h>
+#include <stm32f10x_rcc.h>
+#include <stm32f10x_i2c.h>
+
+#include <spi.h>
+#include <L3Gx.h>
+
+#define LSM_I2C_Speed 400000
+
+#if 0//LSM303DLHC geomagnetic module is talking on I2C2
+void initMagneto()
+{
+  //enable GPIO clocks
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
+  RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
+
+  // SCL => PB10
+  // SDA => PB11
+  GPIO_InitTypeDef i2cpinsdef;
+  i2cpinsdef.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
+  i2cpinsdef.GPIO_Speed = GPIO_Speed_50MHz;
+  i2cpinsdef.GPIO_Mode = GPIO_Mode_AF_OD;
+  GPIO_Init(GPIOB, &i2cpinsdef);
+
+  // Connect I2C1 pins to AF  
+  GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);      // SCL
+  GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_I2C1); // SDA
+
+  I2C_InitTypeDef i2cdef;
+  i2cdef.I2C_ClockSpeed = LSM_I2C_Speed;
+  i2cdef.I2C_Mode = I2C_Mode_I2C;
+  i2cdef.I2C_DutyCycle = I2C_DutyCycle_2;
+  i2cdef.I2C_OwnAddress1 = 0x00;
+  i2cdef.I2C_Ack = I2C_Ack_Enable;
+  i2cdef.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
+  I2C_Init(I2Cx, &i2cdef);
+  I2C_Cmd(I2Cx, ENABLE);
+}
+#endif 
+
+void initLed()
+{
+  //set Pin22 (PA4) to output mode
+  GPIO_InitTypeDef pin22def;
+  pin22def.GPIO_Pin = GPIO_Pin_4;
+  pin22def.GPIO_Speed = GPIO_Speed_50MHz;
+  pin22def.GPIO_Mode = GPIO_Mode_Out_PP;
+  GPIO_Init(GPIOA, &pin22def);
+}
+
+void initGyro()
+{
+  L3GInit L3GInitStructure;
+
+  /* Fill the gyro structure */
+  L3GInitStructure.xPowerMode = L3G_NORMAL_SLEEP_MODE;
+  L3GInitStructure.xOutputDataRate = L3G_ODR_190_HZ_CUTOFF_12_5;
+  L3GInitStructure.xEnabledAxes = L3G_ALL_AXES_EN;
+  L3GInitStructure.xFullScale = L3G_FS_500_DPS;
+  L3GInitStructure.xDataUpdate = L3G_BLOCK_UPDATE;
+  L3GInitStructure.xEndianness = L3G_BIG_ENDIAN;
+
+  /* Configure the gyro main parameters */
+  L3gd20Config(&L3GInitStructure);
+}
+
+void getGyroInfo()
+{
+  L3GInit L3GInitStructure;
+
+  L3gd20GetInfo(&L3GInitStructure);
+
+  printf("Power mode: %02x\n", L3GInitStructure.xPowerMode);
+  printf("Output data rate: %02x\n", L3GInitStructure.xOutputDataRate);
+  printf("Enabled axes: %02x\n", L3GInitStructure.xEnabledAxes);
+  printf("Full scale: %02x\n", L3GInitStructure.xFullScale);
+  printf("Data update: %02x\n", L3GInitStructure.xDataUpdate);
+  printf("Endianness: %02x\n", L3GInitStructure.xEndianness);
+}
+
+void setLed()
+{
+  GPIO_WriteBit(GPIOA, GPIO_Pin_4, Bit_SET);
+}
+
+void resetLed()
+{
+  GPIO_WriteBit(GPIOA, GPIO_Pin_4, Bit_RESET);
+}
+
+static void blinkerTask(void *p) 
+{
+  printf("Start blinker task\n");
+  while (1) 
+  {
+     setLed();
+     vTaskDelay(1357);
+     resetLed(); 
+     vTaskDelay(1357);
+  }
+}
+
+static void gyroTask(void *p) 
+{
+  printf("Start gyro task\n");
+  float *values = (float *) malloc(3 * sizeof(float));
+  if (values == NULL)
+    return;
+  while (1) 
+  {
+//     printf("Read raw angles\n");
+     L3gxReadAngRate(values);
+     printf("x=%.4f y=%.4f z=%.4f\n", values[0], values[1], values[2]);
+//     printf("x=%d y=%d z=%d\r", (int)values[0], (int)values[1], (int)values[2]);
+     vTaskDelay(1000);
+  }
+  free(values);
+}
+
+int main() 
+{
+  init_malloc_wrapper();
+  printf("Init led\n");
+  initLed();
+  printf("Init SPI 2\n");
+  spi_init(2);
+  printf("Init Gyro\n");
+  initGyro();
+
+  getGyroInfo();
+
+  printf("Start blinkerTask\n");
+  //start a task
+  xTaskCreate(blinkerTask, (const signed char *)NULL, configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY, NULL);
+
+  printf("Start gyroTask\n");
+  //start a task
+  xTaskCreate(gyroTask, (const signed char *)NULL, configMINIMAL_STACK_SIZE, (void *)NULL, tskIDLE_PRIORITY, NULL);
+
+  //start task scheduler
+  vTaskStartScheduler();
+
+  return 0;
+}
+
+/*  while(1)
+  {
+        setLed();
+        sleep(1000);
+        resetLed();
+        sleep(1000);
+  }*/