From 544f6d3cb2f423aa353fb4ec40e12cb465a135b0 Mon Sep 17 00:00:00 2001
From: Christopher Durand <christopher.durand@rwth-aachen.de>
Date: Sat, 10 Nov 2018 20:45:17 +0100
Subject: [PATCH] [stm32] Add example for L3GD20 gyroscope on NUCLEO-L432KC

---
 examples/nucleo_l432kc/gyroscope/main.cpp    | 105 +++++++++++++++++++
 examples/nucleo_l432kc/gyroscope/project.xml |  14 +++
 2 files changed, 119 insertions(+)
 create mode 100644 examples/nucleo_l432kc/gyroscope/main.cpp
 create mode 100644 examples/nucleo_l432kc/gyroscope/project.xml

diff --git a/examples/nucleo_l432kc/gyroscope/main.cpp b/examples/nucleo_l432kc/gyroscope/main.cpp
new file mode 100644
index 0000000000..846b3f8610
--- /dev/null
+++ b/examples/nucleo_l432kc/gyroscope/main.cpp
@@ -0,0 +1,105 @@
+/*
+ * Copyright (c) 2014-2018, Niklas Hauser
+ * Copyright (c) 2015, Kevin Läufer
+ * Copyright (c) 2015, Martin Esser
+ * Copyright (c) 2018, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/driver/inertial/l3gd20.hpp>
+#include <modm/processing.hpp>
+#include <modm/math/filter.hpp>
+
+// Example for L3gd20 gyroscope connected to SPI USART interface
+
+struct UartSpi
+{
+	using Ck = GpioA8;
+	using Tx = GpioA9;
+	using Rx = GpioA10;
+	using Cs = GpioA11;
+
+	using Master = UartSpiMaster1;
+};
+
+using Transport = modm::Lis3TransportSpi<UartSpi::Master, UartSpi::Cs>;
+
+namespace
+{
+	modm::l3gd20::Data data;
+	modm::L3gd20<Transport> gyro{data};
+}
+
+class ReaderThread : public modm::pt::Protothread
+{
+public:
+	bool
+	update()
+	{
+		PT_BEGIN();
+
+		// ping the device until it responds
+		while(true)
+		{
+			// we wait until the task started
+			if (PT_CALL(gyro.ping()))
+				break;
+			// otherwise, try again in 100ms
+			this->timeout.restart(100);
+			Board::LedD13::set();
+			PT_WAIT_UNTIL(this->timeout.isExpired());
+			Board::LedD13::reset();
+		}
+
+		PT_CALL(gyro.configure(gyro.Scale::Dps250, gyro.MeasurementRate::Hz380));
+
+		while (true)
+		{
+			PT_CALL(gyro.readRotation());
+
+			averageX.update(gyro.getData().getX());
+			averageY.update(gyro.getData().getY());
+			averageZ.update(gyro.getData().getZ());
+
+			MODM_LOG_INFO.printf("x: %.2f, y: %.2f, z: %.2f \n",
+								 averageX.getValue(),
+								 averageY.getValue(),
+								 averageZ.getValue());
+
+			this->timeout.restart(50);
+			PT_WAIT_UNTIL(this->timeout.isExpired());
+		}
+
+		PT_END();
+	}
+
+private:
+	modm::ShortTimeout timeout;
+	modm::filter::MovingAverage<float, 10> averageX;
+	modm::filter::MovingAverage<float, 10> averageY;
+	modm::filter::MovingAverage<float, 10> averageZ;
+};
+
+ReaderThread reader;
+
+int
+main()
+{
+	Board::initialize();
+
+	UartSpi::Master::connect<UartSpi::Ck::Ck, UartSpi::Tx::Tx, UartSpi::Rx::Rx>();
+	UartSpi::Master::initialize<Board::systemClock, 8'000'000, modm::Tolerance::Exact>();
+
+	while (1) {
+		reader.update();
+	}
+
+	return 0;
+}
diff --git a/examples/nucleo_l432kc/gyroscope/project.xml b/examples/nucleo_l432kc/gyroscope/project.xml
new file mode 100644
index 0000000000..67de897f31
--- /dev/null
+++ b/examples/nucleo_l432kc/gyroscope/project.xml
@@ -0,0 +1,14 @@
+<library>
+  <extends>modm:board:nucleo-l432kc</extends>
+  <options>
+    <option name=":build:build.path">../../../build/nucleo_l432kc/gyroscope</option>
+  </options>
+  <modules>
+    <module>:driver:l3gd20</module>
+    <module>:math:filter</module>
+    <module>:platform:uart.spi:1</module>
+    <module>:processing:timer</module>
+    <module>:processing:protothread</module>
+    <module>:build:scons</module>
+  </modules>
+</library>