STM32F3 and Gyroscope

Post by **Giovanni** » Fri May 24, 2013 7:15 pm

You need to enable it in halconf.h AND enable the peripheral in mcuconf.h.

Giovanni

Post by **RoccoMarco** » Fri May 24, 2013 8:10 pm

Agree

halconf.h

/*
    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

/**
 * @file    templates/halconf.h
 * @brief   HAL configuration header.
 * @details HAL configuration file, this file allows to enable or disable the
 *          various device drivers from your application. You may also use
 *          this file in order to override the device drivers default settings.
 *
 * @addtogroup HAL_CONF
 * @{
 */

#ifndef _HALCONF_H_
#define _HALCONF_H_

#include "mcuconf.h"

/**
 * @brief   Enables the TM subsystem.
 */
#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
#define HAL_USE_TM                  TRUE
#endif

/**
 * @brief   Enables the PAL subsystem.
 */
#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
#define HAL_USE_PAL                 TRUE
#endif

/**
 * @brief   Enables the ADC subsystem.
 */
#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
#define HAL_USE_ADC                 FALSE
#endif

/**
 * @brief   Enables the CAN subsystem.
 */
#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
#define HAL_USE_CAN                 FALSE
#endif

/**
 * @brief   Enables the EXT subsystem.
 */
#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
#define HAL_USE_EXT                 FALSE
#endif

/**
 * @brief   Enables the GPT subsystem.
 */
#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
#define HAL_USE_GPT                 FALSE
#endif

/**
 * @brief   Enables the I2C subsystem.
 */
#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
#define HAL_USE_I2C                 FALSE
#endif

/**
 * @brief   Enables the ICU subsystem.
 */
#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
#define HAL_USE_ICU                 FALSE
#endif

/**
 * @brief   Enables the MAC subsystem.
 */
#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
#define HAL_USE_MAC                 FALSE
#endif

/**
 * @brief   Enables the MMC_SPI subsystem.
 */
#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
#define HAL_USE_MMC_SPI             FALSE
#endif

/**
 * @brief   Enables the PWM subsystem.
 */
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
#define HAL_USE_PWM                 FALSE
#endif

/**
 * @brief   Enables the RTC subsystem.
 */
#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
#define HAL_USE_RTC                 FALSE
#endif

/**
 * @brief   Enables the SDC subsystem.
 */
#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
#define HAL_USE_SDC                 FALSE
#endif

/**
 * @brief   Enables the SERIAL subsystem.
 */
#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
#define HAL_USE_SERIAL              FALSE
#endif

/**
 * @brief   Enables the SERIAL over USB subsystem.
 */
#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
#define HAL_USE_SERIAL_USB          FALSE
#endif

/**
 * @brief   Enables the SPI subsystem.
 */
#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
#define HAL_USE_SPI                 TRUE
#endif

/**
 * @brief   Enables the UART subsystem.
 */
#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
#define HAL_USE_UART                FALSE
#endif

/**
 * @brief   Enables the USB subsystem.
 */
#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
#define HAL_USE_USB                 FALSE
#endif

/*===========================================================================*/
/* ADC driver related settings.                                              */
/*===========================================================================*/

/**
 * @brief   Enables synchronous APIs.
 * @note    Disabling this option saves both code and data space.
 */
#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
#define ADC_USE_WAIT                TRUE
#endif

/**
 * @brief   Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
 * @note    Disabling this option saves both code and data space.
 */
#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define ADC_USE_MUTUAL_EXCLUSION    TRUE
#endif

/*===========================================================================*/
/* CAN driver related settings.                                              */
/*===========================================================================*/

/**
 * @brief   Sleep mode related APIs inclusion switch.
 */
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
#define CAN_USE_SLEEP_MODE          TRUE
#endif

/*===========================================================================*/
/* I2C driver related settings.                                              */
/*===========================================================================*/

/**
 * @brief   Enables the mutual exclusion APIs on the I2C bus.
 */
#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define I2C_USE_MUTUAL_EXCLUSION    TRUE
#endif

/*===========================================================================*/
/* MAC driver related settings.                                              */
/*===========================================================================*/

/**
 * @brief   Enables an event sources for incoming packets.
 */
#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
#define MAC_USE_ZERO_COPY           FALSE
#endif

/**
 * @brief   Enables an event sources for incoming packets.
 */
#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
#define MAC_USE_EVENTS              TRUE
#endif

/*===========================================================================*/
/* MMC_SPI driver related settings.                                          */
/*===========================================================================*/

/**
 * @brief   Delays insertions.
 * @details If enabled this options inserts delays into the MMC waiting
 *          routines releasing some extra CPU time for the threads with
 *          lower priority, this may slow down the driver a bit however.
 *          This option is recommended also if the SPI driver does not
 *          use a DMA channel and heavily loads the CPU.
 */
#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
#define MMC_NICE_WAITING            TRUE
#endif

/*===========================================================================*/
/* SDC driver related settings.                                              */
/*===========================================================================*/

/**
 * @brief   Number of initialization attempts before rejecting the card.
 * @note    Attempts are performed at 10mS intervals.
 */
#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
#define SDC_INIT_RETRY              100
#endif

/**
 * @brief   Include support for MMC cards.
 * @note    MMC support is not yet implemented so this option must be kept
 *          at @p FALSE.
 */
#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
#define SDC_MMC_SUPPORT             FALSE
#endif

/**
 * @brief   Delays insertions.
 * @details If enabled this options inserts delays into the MMC waiting
 *          routines releasing some extra CPU time for the threads with
 *          lower priority, this may slow down the driver a bit however.
 */
#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
#define SDC_NICE_WAITING            TRUE
#endif

/*===========================================================================*/
/* SERIAL driver related settings.                                           */
/*===========================================================================*/

/**
 * @brief   Default bit rate.
 * @details Configuration parameter, this is the baud rate selected for the
 *          default configuration.
 */
#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
#define SERIAL_DEFAULT_BITRATE      38400
#endif

/**
 * @brief   Serial buffers size.
 * @details Configuration parameter, you can change the depth of the queue
 *          buffers depending on the requirements of your application.
 * @note    The default is 64 bytes for both the transmission and receive
 *          buffers.
 */
#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_BUFFERS_SIZE         16
#endif

/*===========================================================================*/
/* SPI driver related settings.                                              */
/*===========================================================================*/

/**
 * @brief   Enables synchronous APIs.
 * @note    Disabling this option saves both code and data space.
 */
#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
#define SPI_USE_WAIT                TRUE
#endif

/**
 * @brief   Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
 * @note    Disabling this option saves both code and data space.
 */
#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define SPI_USE_MUTUAL_EXCLUSION    TRUE
#endif

#endif /* _HALCONF_H_ */

/** @} */

mcuconf.h

Code: Select all

/*
    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

/*
 * STM32F30x drivers configuration.
 * The following settings override the default settings present in
 * the various device driver implementation headers.
 * Note that the settings for each driver only have effect if the whole
 * driver is enabled in halconf.h.
 *
 * IRQ priorities:
 * 15...0       Lowest...Highest.
 *
 * DMA priorities:
 * 0...3        Lowest...Highest.
 */

#define STM32F30x_MCUCONF

/*
 * HAL driver system settings.
 */
#define STM32_NO_INIT                       FALSE
#define STM32_PVD_ENABLE                    FALSE
#define STM32_PLS                           STM32_PLS_LEV0
#define STM32_HSI_ENABLED                   TRUE
#define STM32_LSI_ENABLED                   TRUE
#define STM32_HSE_ENABLED                   TRUE
#define STM32_LSE_ENABLED                   FALSE
#define STM32_SW                            STM32_SW_PLL
#define STM32_PLLSRC                        STM32_PLLSRC_HSE
#define STM32_PREDIV_VALUE                  1
#define STM32_PLLMUL_VALUE                  9
#define STM32_HPRE                          STM32_HPRE_DIV1
#define STM32_PPRE1                         STM32_PPRE1_DIV2
#define STM32_PPRE2                         STM32_PPRE2_DIV2
#define STM32_MCOSEL                        STM32_MCOSEL_NOCLOCK
#define STM32_ADC12PRES                     STM32_ADC12PRES_DIV1
#define STM32_ADC34PRES                     STM32_ADC34PRES_DIV1
#define STM32_USART1SW                      STM32_USART1SW_PCLK
#define STM32_USART2SW                      STM32_USART2SW_PCLK
#define STM32_USART3SW                      STM32_USART3SW_PCLK
#define STM32_UART4SW                       STM32_UART4SW_PCLK
#define STM32_UART5SW                       STM32_UART5SW_PCLK
#define STM32_I2C1SW                        STM32_I2C1SW_SYSCLK
#define STM32_I2C2SW                        STM32_I2C2SW_SYSCLK
#define STM32_TIM1SW                        STM32_TIM1SW_PCLK2
#define STM32_TIM8SW                        STM32_TIM8SW_PCLK2
#define STM32_RTCSEL                        STM32_RTCSEL_LSI
#define STM32_USB_CLOCK_REQUIRED            TRUE
#define STM32_USBPRE                        STM32_USBPRE_DIV1P5

/*
 * ADC driver system settings.
 */
#define STM32_ADC_USE_ADC1                  FALSE
#define STM32_ADC_USE_ADC3                  FALSE
#define STM32_ADC_ADC12_DMA_PRIORITY        2
#define STM32_ADC_ADC34_DMA_PRIORITY        2
#define STM32_ADC_ADC12_IRQ_PRIORITY        5
#define STM32_ADC_ADC34_IRQ_PRIORITY        5
#define STM32_ADC_ADC12_DMA_IRQ_PRIORITY    5
#define STM32_ADC_ADC34_DMA_IRQ_PRIORITY    5
#define STM32_ADC_ADC12_CLOCK_MODE          ADC_CCR_CKMODE_AHB_DIV1
#define STM32_ADC_ADC34_CLOCK_MODE          ADC_CCR_CKMODE_AHB_DIV1
#define STM32_ADC_DUAL_MODE                 FALSE

/*
 * CAN driver system settings.
 */
#define STM32_CAN_USE_CAN1                  FALSE
#define STM32_CAN_CAN1_IRQ_PRIORITY         11

/*
 * EXT driver system settings.
 */
#define STM32_EXT_EXTI0_IRQ_PRIORITY        6
#define STM32_EXT_EXTI1_IRQ_PRIORITY        6
#define STM32_EXT_EXTI2_IRQ_PRIORITY        6
#define STM32_EXT_EXTI3_IRQ_PRIORITY        6
#define STM32_EXT_EXTI4_IRQ_PRIORITY        6
#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6
#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6
#define STM32_EXT_EXTI16_IRQ_PRIORITY       6
#define STM32_EXT_EXTI17_IRQ_PRIORITY       6
#define STM32_EXT_EXTI18_IRQ_PRIORITY       6
#define STM32_EXT_EXTI19_IRQ_PRIORITY       6
#define STM32_EXT_EXTI20_IRQ_PRIORITY       6
#define STM32_EXT_EXTI21_22_29_IRQ_PRIORITY 6
#define STM32_EXT_EXTI30_32_IRQ_PRIORITY    6
#define STM32_EXT_EXTI33_IRQ_PRIORITY       6

/*
 * GPT driver system settings.
 */
#define STM32_GPT_USE_TIM1                  FALSE
#define STM32_GPT_USE_TIM2                  FALSE
#define STM32_GPT_USE_TIM3                  FALSE
#define STM32_GPT_USE_TIM4                  FALSE
#define STM32_GPT_USE_TIM6                  FALSE
#define STM32_GPT_USE_TIM7                  FALSE
#define STM32_GPT_USE_TIM8                  FALSE
#define STM32_GPT_TIM1_IRQ_PRIORITY         7
#define STM32_GPT_TIM2_IRQ_PRIORITY         7
#define STM32_GPT_TIM3_IRQ_PRIORITY         7
#define STM32_GPT_TIM4_IRQ_PRIORITY         7
#define STM32_GPT_TIM6_IRQ_PRIORITY         7
#define STM32_GPT_TIM7_IRQ_PRIORITY         7
#define STM32_GPT_TIM8_IRQ_PRIORITY         7

/*
 * I2C driver system settings.
 */
#define STM32_I2C_USE_I2C1                  FALSE
#define STM32_I2C_USE_I2C2                  FALSE
#define STM32_I2C_I2C1_IRQ_PRIORITY         10
#define STM32_I2C_I2C2_IRQ_PRIORITY         10
#define STM32_I2C_I2C1_DMA_PRIORITY         1
#define STM32_I2C_I2C2_DMA_PRIORITY         1
#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      chSysHalt()

/*
 * ICU driver system settings.
 */
#define STM32_ICU_USE_TIM1                  FALSE
#define STM32_ICU_USE_TIM2                  FALSE
#define STM32_ICU_USE_TIM3                  FALSE
#define STM32_ICU_USE_TIM4                  FALSE
#define STM32_ICU_USE_TIM8                  FALSE
#define STM32_ICU_TIM1_IRQ_PRIORITY         7
#define STM32_ICU_TIM2_IRQ_PRIORITY         7
#define STM32_ICU_TIM3_IRQ_PRIORITY         7
#define STM32_ICU_TIM4_IRQ_PRIORITY         7
#define STM32_ICU_TIM8_IRQ_PRIORITY         7

/*
 * PWM driver system settings.
 */
#define STM32_PWM_USE_ADVANCED              FALSE
#define STM32_PWM_USE_TIM1                  FALSE
#define STM32_PWM_USE_TIM2                  FALSE
#define STM32_PWM_USE_TIM3                  FALSE
#define STM32_PWM_USE_TIM4                  FALSE
#define STM32_PWM_USE_TIM8                  FALSE
#define STM32_PWM_TIM1_IRQ_PRIORITY         7
#define STM32_PWM_TIM2_IRQ_PRIORITY         7
#define STM32_PWM_TIM3_IRQ_PRIORITY         7
#define STM32_PWM_TIM4_IRQ_PRIORITY         7
#define STM32_PWM_TIM8_IRQ_PRIORITY         7

/*
 * SERIAL driver system settings.
 */
#define STM32_SERIAL_USE_USART1             FALSE
#define STM32_SERIAL_USE_USART2             FALSE
#define STM32_SERIAL_USE_USART3             FALSE
#define STM32_SERIAL_USE_UART4              FALSE
#define STM32_SERIAL_USE_UART5              FALSE
#define STM32_SERIAL_USART1_PRIORITY        12
#define STM32_SERIAL_USART2_PRIORITY        12
#define STM32_SERIAL_USART3_PRIORITY        12
#define STM32_SERIAL_UART4_PRIORITY         12
#define STM32_SERIAL_UART5_PRIORITY         12

/*
 * SPI driver system settings.
 */
#define STM32_SPI_USE_SPI1                  TRUE
#define STM32_SPI_USE_SPI2                  TRUE
#define STM32_SPI_USE_SPI3                  TRUE
#define STM32_SPI_SPI1_DMA_PRIORITY         1
#define STM32_SPI_SPI2_DMA_PRIORITY         1
#define STM32_SPI_SPI3_DMA_PRIORITY         1
#define STM32_SPI_SPI1_IRQ_PRIORITY         10
#define STM32_SPI_SPI2_IRQ_PRIORITY         10
#define STM32_SPI_SPI3_IRQ_PRIORITY         10
#define STM32_SPI_DMA_ERROR_HOOK(spip)      chSysHalt()

/*
 * UART driver system settings.
 */
#define STM32_UART_USE_USART1               FALSE
#define STM32_UART_USE_USART2               FALSE
#define STM32_UART_USE_USART3               FALSE
#define STM32_UART_USART1_IRQ_PRIORITY      12
#define STM32_UART_USART2_IRQ_PRIORITY      12
#define STM32_UART_USART3_IRQ_PRIORITY      12
#define STM32_UART_USART1_DMA_PRIORITY      0
#define STM32_UART_USART2_DMA_PRIORITY      0
#define STM32_UART_USART3_DMA_PRIORITY      0
#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()

/*
 * USB driver system settings.
 */
#define STM32_USB_USE_USB1                  FALSE
#define STM32_USB_LOW_POWER_ON_SUSPEND      FALSE
#define STM32_USB_USB1_HP_IRQ_PRIORITY      13
#define STM32_USB_USB1_LP_IRQ_PRIORITY      14

and my second main().h using l3gd20

Code: Select all

/*
    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

#include "ch.h"
#include "hal.h"

#include "l3gd20.h"


static uint8_t ctrl_reg_values_buffer[14];
static uint8_t ctrl_reg1_config=0x0F;
static int16_t tmp_x[4],tmp_y[4],tmp_z[4];
static int16_t x_value[60],y_value[60],z_value[60];
unsigned i=0,j,lednumb;
static msg_t message=0;


/*
 *Configuration @ max frequency according to MEMS
 *Configuration (9 MHz, CPHA=1, CPOL=1, MSb first, 8bit word).
 */
static const SPIConfig std_spicfg = {
  NULL,
  GPIOE,                                                        /*  port of CS*/
  GPIOE_SPI1_CS,                                                /*   pin of CS*/
  SPI_CR1_BR_0|SPI_CR1_CPOL|SPI_CR1_CPHA,                       /*CR1 register*/
  SPI_CR2_DS_2 | SPI_CR2_DS_1 | SPI_CR2_DS_0                    /*CR2 register*/
};


/*
 * This Thread reads values from more than one register.
 */
static msg_t SPID1_Thread(void *arg) {
  (void)arg;
  chRegSetThreadName ("SPI Drive 1 thread");
  while (TRUE){


    /*
     * Cyclic implementation of data buffer
     */
    if (i==60){
      i=0;
    }


    /*
     * SPI bus acquiring and configuring
     */
    spiAcquireBus(&SPID1);
    spiStart(&SPID1, &std_spicfg);


    /*
     * Configuration of control register number 1 of L3GD20
     */
    l3gd20WriteRegister(&SPID1, L3GD20_SPI_AD_CTRL_REG1, ctrl_reg1_config);


    /*
     * Sequential read of all registers not reserved
     */
    for(j=0;j<14;j++){
      ctrl_reg_values_buffer[j]=l3gd20ReadRegister(&SPID1, L3GD20_SPI_AD_CTRL_REG1+j);
    }
    lednumb=8;


    /*
     * Reading of values from axis registers. This cycle reads 4 values per axis
     * in 1 second and puts they in a bi-dimensional buffer. It also turns on two LEDs for
     * each set of three values (one per axis) captured.
     */
    for(j=0;j<4;j++){
      tmp_x[j]=l3gd20ReadAxis (&SPID1, L3GD20_SPI_AD_OUT_X_L);
      tmp_y[j]=l3gd20ReadAxis (&SPID1, L3GD20_SPI_AD_OUT_Y_L);
      tmp_z[j]=l3gd20ReadAxis (&SPID1, L3GD20_SPI_AD_OUT_Z_L);
      palSetPad(GPIOE,lednumb);
      palSetPad(GPIOE,lednumb+4);
      chThdSleepMilliseconds(250);
      lednumb++;
    }


    /*
     * Turning off all LEDs
     */
    for(lednumb=8;lednumb<16;lednumb++){
      palClearPad(GPIOE,lednumb);
    }


    /*
     * Releasing SPI bus
     */
    spiReleaseBus (&SPID1);


    /*
     * Calculating the average from values previously acquired
     */
    x_value[i]=(tmp_x[0] + tmp_x[1] + tmp_x[2] + tmp_x[3])/4;
    y_value[i]=(tmp_y[0] + tmp_y[1] + tmp_y[2] + tmp_y[3])/4;
    z_value[i]=(tmp_z[0] + tmp_z[1] + tmp_z[2] + tmp_z[3])/4;
    i++;
  }
  return message;
}


/*
 * Declaration of the working areas of threads
 */
static WORKING_AREA(waSPID1_Thread, 512);


/*
 * 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();


  /*
   * SPID1 I/O pins setup.(It bypasses board.h configurations)
   */
  palSetPadMode(GPIOA, GPIOA_SPI1_SCK ,
                PAL_MODE_ALTERNATE(5)|PAL_STM32_OSPEED_HIGHEST);   /* New SCK */
  palSetPadMode(GPIOA, GPIOA_SPI1_MISO ,
                PAL_MODE_ALTERNATE(5)|PAL_STM32_OSPEED_HIGHEST);   /* New MISO*/
  palSetPadMode(GPIOA, GPIOA_SPI1_MOSI ,
                PAL_MODE_ALTERNATE(5)|PAL_STM32_OSPEED_HIGHEST);   /* New MOSI*/
  palSetPadMode(GPIOE, GPIOE_SPI1_CS ,
                PAL_MODE_OUTPUT_PUSHPULL|PAL_STM32_OSPEED_HIGHEST);/* New CS  */


  /*
   * Starting the transmitter-receiver thread.
   */
  chThdCreateStatic(waSPID1_Thread, sizeof(waSPID1_Thread),
                    NORMALPRIO+1, SPID1_Thread, NULL);


  /*
   * Normal main() thread activity, in this demo it does nothing.
   */
  while (TRUE) {
    chThdSleepMilliseconds(500);
  }
  return 0;
}

ready and waiting...
regards

toxygen · Post by **toxygen** » Thu Aug 11, 2016 11:13 pm

Giovanni wrote:You need to enable it in halconf.h AND enable the peripheral in mcuconf.h.

Giovanni

I hate to bring up this topic from the dead, but is there any proper documentation how to use SPI driver?
I.e. how to choose SPID1 vs SPID2? What options to enable in which files and so on?

Post by **RoccoMarco** » Fri Aug 12, 2016 3:26 pm

Dear,
the SPI number depends on physical wiring. You have to check on board schematic how the gyro and the MCU are interconnected (Take a look to the STM32F3 Discovery user manual). Once you have understood which pin are used by Gyro you can see on the MCU datasheet which SPI is internally connected on that PINs and which Alternate Function you should use.

Note that there are some new demos which use L3GD20 on trunk, under testhal/stm32/stm32f3xx.

Post by **Giovanni** » Fri Aug 12, 2016 7:14 pm

There is one general rule in HAL.

Drivers are enabled in halconf,h.
Individual units are enabled in mcuconf.h

Everything else in mcuconf.h is documented in the device Reference Manual and/or Data Sheet, knowledge of the manuals is not optional.

Giovanni

ChibiOS Free Embedded RTOS

STM32F3 and Gyroscope Topic is solved

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