diff --git a/Core/Inc/LIS302DL.h b/Core/Inc/LIS302DL.h
new file mode 100644
index 0000000..b4bfb0a
--- /dev/null
+++ b/Core/Inc/LIS302DL.h
@@ -0,0 +1,7 @@
+#ifndef __LIS302DL
+#define __LIS302DL
+
+void LIS302DL_run_test(void);
+void LIS302DL_run_test_dynamic(void);
+
+#endif
diff --git a/Core/Src/LIS302DL.c b/Core/Src/LIS302DL.c
new file mode 100644
index 0000000..71cc240
--- /dev/null
+++ b/Core/Src/LIS302DL.c
@@ -0,0 +1,164 @@
+#include "main.h"
+#include "lcd.h"
+#include "LIS302DL.h"
+
+#define FAILSAFE_PRE_OP for (size_t t = 0; t < 5; t++) {
+#define FAILSAFE_POST_OP(prefix) if (op_result) print_error_message(op_result, err_count, t, prefix, postfix); else break; }
+
+extern I2C_HandleTypeDef hi2c1;
+
+static char convert_char_at(uint8_t value, size_t position)
+{
+ char d = (value >> (4 * position)) % 16;
+
+ if (d > 9)
+ d += 7;
+
+ return '0' + d;
+}
+
+static void print_at(uint8_t value, size_t offset)
+{
+ DISPLAY_SET_CURSOR(1, offset);
+
+ // most significant digit
+ display_write_data_byte(convert_char_at(value, 1));
+
+ // least significant digit
+ display_write_data_byte(convert_char_at(value, 0));
+}
+
+static void print_error_message(HAL_StatusTypeDef result, size_t *err_count, size_t t, char *prefix, char *postfix)
+{
+ DISPLAY_CLEAR;
+ display_write_data_seq("LIS302DL Accel ");
+ display_write_data_seq(postfix);
+ DISPLAY_SET_CURSOR(1, 0);
+ display_write_data_seq(prefix);
+ display_write_data_byte(' ');
+
+ (*err_count)++;
+
+ display_write_data_byte('1' + t);
+ display_write_data_seq("/5 ");
+
+ switch (result) {
+ case HAL_ERROR:
+ display_write_data_seq("ERROR");
+ break;
+ case HAL_BUSY:
+ display_write_data_seq("BUSY");
+ break;
+ case HAL_TIMEOUT:
+ display_write_data_seq("TIMEOUT");
+ break;
+ }
+
+ HAL_Delay(2000);
+}
+
+static void retrieve_data(size_t *err_count, uint8_t *data_xyz, char *postfix)
+{
+ HAL_StatusTypeDef op_result;
+ uint8_t data_buffer[2];
+
+ // enable device
+ data_buffer[0] = 0x20;
+ data_buffer[1] = 0x47;
+ FAILSAFE_PRE_OP;
+ op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6, data_buffer, 2, 2000);
+ FAILSAFE_POST_OP("E");
+
+ // select OutX register
+ data_buffer[0] = 0x29;
+ FAILSAFE_PRE_OP;
+ op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6 | 0x1, data_buffer, 1, 2000);
+ FAILSAFE_POST_OP("SX");
+
+ // receive data from it
+ FAILSAFE_PRE_OP;
+ op_result = HAL_I2C_Master_Receive(&hi2c1, 0xD6 | 0x1, data_xyz, 1, 2000);
+ FAILSAFE_POST_OP("RX");
+
+ // select OutY register
+ data_buffer[0] = 0x2B;
+ FAILSAFE_PRE_OP;
+ op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6 | 0x1, data_buffer, 1, 2000);
+ FAILSAFE_POST_OP("SY");
+
+ // receive data from it
+ FAILSAFE_PRE_OP;
+ op_result = HAL_I2C_Master_Receive(&hi2c1, 0xD6 | 0x1, &(data_xyz[1]), 1, 2000);
+ FAILSAFE_POST_OP("RY");
+
+ // select OutZ register
+ data_buffer[0] = 0x2D;
+ FAILSAFE_PRE_OP;
+ op_result = HAL_I2C_Master_Transmit(&hi2c1, 0xD6 | 0x1, data_buffer, 1, 2000);
+ FAILSAFE_POST_OP("SZ");
+
+ // receive data from it
+ FAILSAFE_PRE_OP;
+ op_result = HAL_I2C_Master_Receive(&hi2c1, 0xD6 | 0x1, &(data_xyz[2]), 1, 2000);
+ FAILSAFE_POST_OP("RZ");
+}
+
+void LIS302DL_run_test(void)
+{
+ DISPLAY_CLEAR;
+ display_write_data_seq("LIS302DL Accel");
+
+ size_t err_count = 0;
+ uint8_t data_xyz[3];
+
+ retrieve_data(&err_count, data_xyz, "");
+
+ DISPLAY_CLEAR;
+ display_write_data_seq("LIS302DL Accel");
+
+ // output retrieved values
+ print_at(data_xyz[2], 14);
+ print_at(data_xyz[1], 11);
+ print_at(data_xyz[0], 8);
+
+ // print the execution stats
+ if (err_count) {
+ DISPLAY_SET_CURSOR(1, 0);
+ display_write_data_byte('0' + err_count / 10 % 10);
+ display_write_data_byte('0' + err_count % 10);
+ display_write_data_seq(" errs");
+ } else {
+ DISPLAY_SET_CURSOR(1, 1);
+ display_write_data_seq("OK");
+ }
+}
+
+void LIS302DL_run_test_dynamic(void)
+{
+ DISPLAY_CLEAR;
+ display_write_data_seq("LIS302DL Accel D");
+
+ size_t err_count = 0;
+ uint8_t data_xyz[3];
+
+ retrieve_data(&err_count, data_xyz, "D");
+
+ DISPLAY_CLEAR;
+ display_write_data_seq("LIS302DL Accel D");
+
+ // output retrieved values
+ print_at(data_xyz[2], 14);
+ print_at(data_xyz[1], 11);
+ print_at(data_xyz[0], 8);
+
+ // print the execution stats
+ if (err_count) {
+ DISPLAY_SET_CURSOR(1, 0);
+ display_write_data_byte('0' + err_count / 10 % 10);
+ display_write_data_byte('0' + err_count % 10);
+ display_write_data_seq(" errs");
+ } else {
+ DISPLAY_SET_CURSOR(1, 1);
+ display_write_data_seq("OK");
+ }
+}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index d13016d..673b8ec 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -29,6 +29,7 @@
#include "24AA02E48.h"
#include "CS43L22.h"
#include "SST25VF016B.h"
+#include "LIS302DL.h"
/* USER CODE END Includes */
@@ -65,7 +66,9 @@ void ((*executors[])(void)) = {
PCA9685_run_test,
EEPROM_24AA02E48_run_test,
CS43L22_run_test,
- SST25VF016B_run_test
+ SST25VF016B_run_test,
+ LIS302DL_run_test,
+ LIS302DL_run_test_dynamic
};
void ((*cleanup_functions[])(void)) = {
@@ -74,10 +77,12 @@ void ((*cleanup_functions[])(void)) = {
PCA9685_cleanup,
NULL,
CS43L22_cleanup,
+ NULL,
+ NULL,
NULL
};
-int delay_between_runs[] = {250, 250, -1, -1, -1, -1};
+int delay_between_runs[] = {250, 250, -1, -1, -1, -1, -1, 200};
size_t current_executor_id = 0;
@@ -101,7 +106,7 @@ static void MX_SPI1_Init(void);
void switch_to_next_test(void)
{
current_executor_id += 1;
- current_executor_id %= 6;
+ current_executor_id %= 8;
}
void buttons_switch_to_interrupt(void)
@@ -283,11 +288,11 @@ int main(void)
if (delay_between_runs[current_executor_id] == -1) {
WAIT_UNTIL_CB_PRESSED;
HAL_Delay(150);
- GPIOD->ODR = 0x1000;
+ GPIOD->BSRR = 0x1000;
WAIT_UNTIL_CB_RELEASED;
HAL_Delay(150);
- GPIOD->ODR = 0x0000;
+ GPIOD->BSRR = 0x1000 << 16;
if (cleanup_functions[current_executor_id])
cleanup_functions[current_executor_id]();
diff --git a/Debug/Core/Src/subdir.mk b/Debug/Core/Src/subdir.mk
index 59dbd38..03c71dc 100644
--- a/Debug/Core/Src/subdir.mk
+++ b/Debug/Core/Src/subdir.mk
@@ -8,6 +8,7 @@ C_SRCS += \
../Core/Src/24AA02E48.c \
../Core/Src/CS43L22.c \
../Core/Src/DNI.c \
+../Core/Src/LIS302DL.c \
../Core/Src/PCA9685.c \
../Core/Src/SST25VF016B.c \
../Core/Src/lcd.c \
@@ -22,6 +23,7 @@ OBJS += \
./Core/Src/24AA02E48.o \
./Core/Src/CS43L22.o \
./Core/Src/DNI.o \
+./Core/Src/LIS302DL.o \
./Core/Src/PCA9685.o \
./Core/Src/SST25VF016B.o \
./Core/Src/lcd.o \
@@ -36,6 +38,7 @@ C_DEPS += \
./Core/Src/24AA02E48.d \
./Core/Src/CS43L22.d \
./Core/Src/DNI.d \
+./Core/Src/LIS302DL.d \
./Core/Src/PCA9685.d \
./Core/Src/SST25VF016B.d \
./Core/Src/lcd.d \
@@ -54,7 +57,7 @@ Core/Src/%.o Core/Src/%.su Core/Src/%.cyclo: ../Core/Src/%.c Core/Src/subdir.mk
clean: clean-Core-2f-Src
clean-Core-2f-Src:
- -$(RM) ./Core/Src/24AA02E48.cyclo ./Core/Src/24AA02E48.d ./Core/Src/24AA02E48.o ./Core/Src/24AA02E48.su ./Core/Src/CS43L22.cyclo ./Core/Src/CS43L22.d ./Core/Src/CS43L22.o ./Core/Src/CS43L22.su ./Core/Src/DNI.cyclo ./Core/Src/DNI.d ./Core/Src/DNI.o ./Core/Src/DNI.su ./Core/Src/PCA9685.cyclo ./Core/Src/PCA9685.d ./Core/Src/PCA9685.o ./Core/Src/PCA9685.su ./Core/Src/SST25VF016B.cyclo ./Core/Src/SST25VF016B.d ./Core/Src/SST25VF016B.o ./Core/Src/SST25VF016B.su ./Core/Src/lcd.cyclo ./Core/Src/lcd.d ./Core/Src/lcd.o ./Core/Src/lcd.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/stm32f4xx_hal_msp.cyclo ./Core/Src/stm32f4xx_hal_msp.d ./Core/Src/stm32f4xx_hal_msp.o ./Core/Src/stm32f4xx_hal_msp.su ./Core/Src/stm32f4xx_it.cyclo ./Core/Src/stm32f4xx_it.d ./Core/Src/stm32f4xx_it.o ./Core/Src/stm32f4xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f4xx.cyclo ./Core/Src/system_stm32f4xx.d ./Core/Src/system_stm32f4xx.o ./Core/Src/system_stm32f4xx.su
+ -$(RM) ./Core/Src/24AA02E48.cyclo ./Core/Src/24AA02E48.d ./Core/Src/24AA02E48.o ./Core/Src/24AA02E48.su ./Core/Src/CS43L22.cyclo ./Core/Src/CS43L22.d ./Core/Src/CS43L22.o ./Core/Src/CS43L22.su ./Core/Src/DNI.cyclo ./Core/Src/DNI.d ./Core/Src/DNI.o ./Core/Src/DNI.su ./Core/Src/LIS302DL.cyclo ./Core/Src/LIS302DL.d ./Core/Src/LIS302DL.o ./Core/Src/LIS302DL.su ./Core/Src/PCA9685.cyclo ./Core/Src/PCA9685.d ./Core/Src/PCA9685.o ./Core/Src/PCA9685.su ./Core/Src/SST25VF016B.cyclo ./Core/Src/SST25VF016B.d ./Core/Src/SST25VF016B.o ./Core/Src/SST25VF016B.su ./Core/Src/lcd.cyclo ./Core/Src/lcd.d ./Core/Src/lcd.o ./Core/Src/lcd.su ./Core/Src/main.cyclo ./Core/Src/main.d ./Core/Src/main.o ./Core/Src/main.su ./Core/Src/stm32f4xx_hal_msp.cyclo ./Core/Src/stm32f4xx_hal_msp.d ./Core/Src/stm32f4xx_hal_msp.o ./Core/Src/stm32f4xx_hal_msp.su ./Core/Src/stm32f4xx_it.cyclo ./Core/Src/stm32f4xx_it.d ./Core/Src/stm32f4xx_it.o ./Core/Src/stm32f4xx_it.su ./Core/Src/syscalls.cyclo ./Core/Src/syscalls.d ./Core/Src/syscalls.o ./Core/Src/syscalls.su ./Core/Src/sysmem.cyclo ./Core/Src/sysmem.d ./Core/Src/sysmem.o ./Core/Src/sysmem.su ./Core/Src/system_stm32f4xx.cyclo ./Core/Src/system_stm32f4xx.d ./Core/Src/system_stm32f4xx.o ./Core/Src/system_stm32f4xx.su
.PHONY: clean-Core-2f-Src
diff --git a/Debug/objects.list b/Debug/objects.list
index 1ab18c6..fcf55b1 100644
--- a/Debug/objects.list
+++ b/Debug/objects.list
@@ -1,6 +1,7 @@
"./Core/Src/24AA02E48.o"
"./Core/Src/CS43L22.o"
"./Core/Src/DNI.o"
+"./Core/Src/LIS302DL.o"
"./Core/Src/PCA9685.o"
"./Core/Src/SST25VF016B.o"
"./Core/Src/lcd.o"