day4

applications/SConscript

@@ -2,7 +2,10 @@ from building import *
 import os
 
 cwd     = GetCurrentDir()
-src     = Glob('*.c')
+# src     = Glob('*.c')
+src     = [
+    'main.c',
+]
 CPPPATH = [cwd]
 
 if GetDepend(['PKG_USING_RTDUINO']) and not GetDepend(['RTDUINO_NO_SETUP_LOOP']):

applications/icm_20608_sample.c

@@ -0,0 +1,85 @@
+#include <rtthread.h>
+#include <rtdevice.h>
+#include <board.h>
+#include <icm20608.h>
+
+#define LOG_TAG     "icm.app"
+#define LOG_LVL     LOG_LVL_DBG
+#include <ulog.h>
+
+static void icm_thread_entry(void *parameter)
+{
+    icm20608_device_t dev = RT_NULL;
+    const char *i2c_bus_name = "i2c2";
+    int count = 0;
+    rt_err_t result;
+
+    /* 初始化 icm20608 传感器 */
+    dev = icm20608_init(i2c_bus_name);
+    if (dev == RT_NULL)
+    {
+        LOG_E("The sensor initializes failure");
+    }
+    else
+    {
+        LOG_D("The sensor initializes success");
+    }
+
+    /* 对 icm20608 进行零值校准：采样 10 次，求取平均值作为零值 */
+    result = icm20608_calib_level(dev, 10);
+    if (result == RT_EOK)
+    {
+        LOG_D("The sensor calibrates success");
+        LOG_D("accel_offset: X%6d  Y%6d  Z%6d", dev->accel_offset.x, dev->accel_offset.y, dev->accel_offset.z);
+        LOG_D("gyro_offset : X%6d  Y%6d  Z%6d", dev->gyro_offset.x, dev->gyro_offset.y, dev->gyro_offset.z);
+    }
+    else
+    {
+        LOG_E("The sensor calibrates failure");
+        icm20608_deinit(dev);
+    }
+
+    while (count++ < 100)
+    {
+        rt_int16_t accel_x, accel_y, accel_z;
+        rt_int16_t gyros_x, gyros_y, gyros_z;
+
+        /* 读取三轴加速度 */
+        result = icm20608_get_accel(dev, &accel_x, &accel_y, &accel_z);
+        if (result == RT_EOK)
+        {
+            LOG_D("current accelerometer: accel_x%6d, accel_y%6d, accel_z%6d", accel_x, accel_y, accel_z);
+        }
+        else
+        {
+            LOG_E("The sensor does not work");
+        }
+
+        /* 读取三轴陀螺仪 */
+        result = icm20608_get_gyro(dev, &gyros_x, &gyros_y, &gyros_z);
+        if (result == RT_EOK)
+        {
+            LOG_D("current gyroscope    : gyros_x%6d, gyros_y%6d, gyros_z%6d", gyros_x, gyros_y, gyros_z);
+        }
+        else
+        {
+            LOG_E("The sensor does not work");
+            break;
+        }
+        rt_thread_mdelay(1000);
+    }
+}
+
+static int icm_app(void)
+{
+    rt_thread_t res = rt_thread_create("icm", icm_thread_entry, RT_NULL, 1024, 20, 50);
+    if(res == RT_NULL)
+    {
+        return -RT_ERROR;
+    }
+
+    rt_thread_startup(res);
+    
+    return RT_EOK;
+}
+MSH_CMD_EXPORT(icm_app, icm_app);

applications/spi_example.c

@@ -0,0 +1,31 @@
+//未完成
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#include <drv_spi.h>
+#include <drv_gpio.h>
+
+
+static int spi_attach(void)
+{
+    return rt_hw_spi_device_attach("spi2", "spi20", GET_PIN(B,12));
+}
+// INIT_DEVICE_EXPORT(spi_attach);
+
+static int spi_transfer_one_data(void)
+{
+    rt_err_t ret =RT_EOK;
+    struct rt_spi_device *spi_d20 = (struct rt_spi_device *)rt_device_find("spi20");
+
+    struct rt_spi_configuration cfg;
+    cfg.data_width = 8;
+    cfg.mode = RT_SPI_MASTER | RT_SPI_MODE_0 | RT_SPI_MSB; 
+    cfg.max_hz =1 *1000 *1000;
+    rt_spi_configure(spi20,&cfg);
+
+    rt_uint8_t sendBuff = 0xDA;
+    rt_uint8_t recvBuff = 0xF1;
+    ret =rt_spi_transfer(spi20,&sendBuff,&recvBuff,1);
+    rt_kprintf("sret = %d\n",ret);
+}
+MSH_CMD_EXPORT(spi_transfer_one_data, spi transfer one data);

applications/test_dev_example.c

@@ -0,0 +1,19 @@
+#include <rtthread.h>
+#include <rtdevice.h>
+
+#define LOG_TAG "drv.test"
+#define LOG_LVL LOG_LVL_DBG
+#include <ulog.h>
+
+static int dev_test_app(void)
+[
+    rt_device_t test_dev = rt_device_find("test_dev");
+    if(test_dev == RT_NULL)
+    {
+        LOG_E("Cannot find test_dev");
+        return -RT_ERROR;
+    }
+
+    rt_device_open(test_dev, RT_DEVICE_OFLAG_RDWR);
+    rt_device_close(test_dev);
+]