XRange_Tag.git - Gitblit

			@@ -48,6 +48,120 @@
			// }
			//
			//}




			#define ARM_BIT_8 0

			#if ARM_BIT_8
			//如下数据类型是在8位机上定义的，在其它平台（比如32位）可能存在差别，需要根据实际情况修改。
			typedef unsigned char u8_m; /* 无符号8位整型变量*/
			typedef signed char s8_m; /* 有符号8位整型变量*/
			typedef unsigned int u16_m; /* 无符号16位整型变量*/
			typedef signed int s16_m; /* 有符号16位整型变量*/
			typedef unsigned long u32_m; /* 无符号32位整型变量*/
			typedef signed long s32_m; /* 有符号32位整型变量*/
			typedef float fp32_m; /* 单精度浮点数（32位长度）*/
			typedef double fp64_m; /* 双精度浮点数（64位长度）*/
			#else
			//如下数据类型是在32位机上定义的，在其它平台（比如8位）可能存在差别，需要根据实际情况修改。
			typedef unsigned char u8_m; /* 无符号8位整型变量*/
			typedef signed char s8_m; /* 有符号8位整型变量*/
			typedef unsigned short u16_m; /* 无符号16位整型变量*/
			typedef signed short s16_m; /* 有符号16位整型变量*/
			typedef unsigned int u32_m; /* 无符号32位整型变量*/
			typedef signed int s32_m; /* 有符号32位整型变量*/
			typedef float fp32_m; /* 单精度浮点数（32位长度）*/
			typedef double fp64_m; /* 双精度浮点数（64位长度）*/
			#endif

			/*******************************************************************************
			Macro definitions - Register define for Gsensor
			********************************************************************************/
			#define REG_SPI_CONFIG 0x00
			#define REG_CHIP_ID 0x01
			#define REG_ACC_X_LSB 0x02
			#define REG_ACC_X_MSB 0x03
			#define REG_ACC_Y_LSB 0x04
			#define REG_ACC_Y_MSB 0x05
			#define REG_ACC_Z_LSB 0x06
			#define REG_ACC_Z_MSB 0x07
			#define REG_FIFO_STATUS 0x08
			#define REG_MOTION_FLAG 0x09
			#define REG_NEWDATA_FLAG 0x0A
			#define REG_TAP_ACTIVE_STATUS 0x0B
			#define REG_ORIENT_STATUS 0x0C
			#define REG_STEPS_MSB 0x0D
			#define REG_STEPS_LSB 0x0E
			#define REG_RESOLUTION_RANGE 0x0F
			#define REG_ODR_AXIS 0x10
			#define REG_MODE_BW 0x11
			#define REG_SWAP_POLARITY 0x12
			#define REG_FIFO_CTRL 0x14
			#define REG_INT_SET0 0x15
			#define REG_INT_SET1 0x16
			#define REG_INT_SET2 0x17
			#define REG_INT_MAP1 0x19
			#define REG_INT_MAP2 0x1a
			#define REG_INT_MAP3 0x1b
			#define REG_INT_CONFIG 0x20
			#define REG_INT_LATCH 0x21
			#define REG_FREEFALL_DUR 0x22
			#define REG_FREEFALL_THS 0x23
			#define REG_FREEFALL_HYST 0x24
			#define REG_ACTIVE_DUR 0x27
			#define REG_ACTIVE_THS 0x28
			#define REG_TAP_DUR 0x2A
			#define REG_TAP_THS 0x2B
			#define REG_ORIENT_HYST 0x2C
			#define REG_Z_BLOCK 0x2D
			#define REG_RESET_STEP 0x2E
			#define REG_STEP_CONGIF1 0x2F
			#define REG_STEP_CONGIF2 0x30
			#define REG_STEP_CONGIF3 0x31
			#define REG_STEP_CONGIF4 0x32
			#define REG_STEP_FILTER 0x33
			#define REG_SM_THRESHOLD 0x34

			#define DIFF_CALIBRATION 1


			u8_m i2c_addr = 0x27;

			s16_m offset_x=0, offset_y=0, offset_z=0;

			u16_m f_step=0;


			s8_m mir3da_register_read(u8_m ReadAddr, u8_m *data_m, u8_m Len)
			{

			mir3da_ReadOneByte(ReadAddr);

			}

			s8_m mir3da_register_write(u8_m ReadAddr, u8_m data_m)
			{

			mir3da_WriteOneByte(ReadAddr,data_m);

			}

			s8_m mir3da_register_mask_write(u8_m ReadAddr, u8_m mask, u8_m data)
			{
			int res=0;
			unsigned char tmp_data=0;

			res = mir3da_register_read(ReadAddr, &tmp_data, 1);
			tmp_data &= ~mask;
			tmp_data \|= data & mask;
			res \|= mir3da_register_write(ReadAddr, tmp_data);

			return 0;
			}


			void delay_us(uint32_t nTimer)
			{
			uint32_t i=0;
			@@ -68,6 +182,7 @@
			{
			GPIO_InitTypeDef GPIO_InitStructure= {0};
			__HAL_RCC_GPIOA_CLK_ENABLE();

			GPIO_InitStructure.Pin = GPIO_PIN_2\|GPIO_PIN_3;
			GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD ; //推挽输出
			GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
			@@ -75,13 +190,81 @@
			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_2\|GPIO_PIN_3,GPIO_PIN_SET); //PB6,PB7 输出高
			}

			uint8_t lisid;
			static uint8_t lisidtemp;

			void Accelerometer_Init()
			{
			lisid = mir3da_ReadOneByte(REG_CHIP_ID);

			if(lisid == 0x13)
			{
			mir3da_init();
			}
			else
			{
			LIS3DH_GetWHO_AM_I(&lisidtemp);
			lisid=(uint16_t)lisidtemp;

			if(lisid == 0x33)
			{
			LIS3DH_Data_Init();
			}
			else
			{
			g_com_map[IMU_ENABLE]=0;
			}
			}
			}

			void mir3da_init()
			{
			u8_m data_m = 0;
			int i;
			int threshold = 0;


			//softreset
			mir3da_register_write(REG_SPI_CONFIG, 0x24);
			delay_us(20000);

			mir3da_register_write(REG_RESOLUTION_RANGE, 0x00); //0x0F; +/-2G,14bit
			mir3da_register_write(REG_ODR_AXIS, 0x05); //0x10; ODR=31.25hz(step counter minimum ODR)
			mir3da_register_write(REG_MODE_BW, 0x04); //0x11; suspend mode, osr=1x, bw=1/10odr, autosleep disable

			//load_offset_from_filesystem(offset_x, offset_y, offset_z); //pseudo-code

			//private register, just do it.
			mir3da_register_write(0x7F, 0x83);
			mir3da_register_write(0x7F, 0x69);
			mir3da_register_write(0x7F, 0xBD);

			//don't pull up sd0 pin
			if(i2c_addr == 0x26){
			mir3da_register_mask_write(0x8C, 0x40, 0x00);
			}

			mir3da_set_active_interrupt_enable(1);

			g_com_map[IMU_THRES]=0x14;
			// LIS3DH_WriteReg(LIS3DH_INT1_THS, (uint8_t)g_com_map[IMU_THRES]); /* INT1_THS(32h): ?????? 0x10: 162(FS) 0x20: 3216(FS) */
			mir3da_register_write(REG_ACTIVE_THS,(uint8_t)g_com_map[IMU_THRES]);

			delay_us(10);

			mir3da_set_enable(1);

			mir3da_set_step_counter_open(1);

			}


			void LIS3DH_Data_Init()
			{
			//uint8_t buffer[26];

			uint8_t lisid,response;
			uint8_t lisidtemp;
			uint8_t response;
			// uint8_t lisidtemp;

			LIS3DH_WriteReg(LIS3DH_CTRL_REG1, 0x37); /* CTRL_REG1(20h): ??sensor,???????? ODR 25HZ */
			LIS3DH_WriteReg(LIS3DH_CTRL_REG2, 0x03); /* CTRL_REG2(21h): IA1?IA2 ?????? bc */
			@@ -89,15 +272,19 @@
			LIS3DH_WriteReg(LIS3DH_CTRL_REG3, 0x40); /* CTRL_REG3(22h): 0x80 ???????INT_1 INT_2 */
			LIS3DH_WriteReg(LIS3DH_CTRL_REG4, 0x08); /* CTRL_REG4(23h): ???,????,???+/-2G,?????? */
			LIS3DH_WriteReg(LIS3DH_INT1_CFG, 0xaa); /* INT1_CFG(30h): ??,6D X/Y/Z???????? */
			g_com_map[IMU_THRES]=2;
			g_com_map[IMU_THRES]=1;
			LIS3DH_WriteReg(LIS3DH_INT1_THS, (uint8_t)g_com_map[IMU_THRES]); /* INT1_THS(32h): ?????? 0x10: 162(FS) 0x20: 3216(FS) */
			LIS3DH_WriteReg(LIS3DH_INT1_DURATION, 0x01); /* INT1_DURATION(33h): 1LSB=1/ODR ??ODR=100HZ ??1LSB=10ms ???? 1s,??100->0x64 */
			/* Start sensor */
			LIS3DH_WriteReg(0x20, 0x5f); /* CTRL_REG1(20h): Start sensor at ODR 100Hz Low-power mode */


			// Read ID
			LIS3DH_GetWHO_AM_I(&lisidtemp);
			// lisid=(uint16_t)lisidtemp;
			// printf("LIS3DH ID: %x \r\n",lisid);



			//get Acceleration Raw data
			// response=LIS3DH_GetAccAxesRaw(&data);
			//print data values
			@@ -118,7 +305,7 @@
			{
			//uint8_t buffer[26];

			uint8_t lisid,response;
			uint8_t response;
			uint8_t lisidtemp;
			//set ODR (turn ON device)
			LIS3DH_SetODR(LIS3DH_ODR_10Hz);
			@@ -153,14 +340,98 @@
			// }

			}


			//enable/disable the chip
			void mir3da_set_enable(int enable) //开启使能
			{
			if(enable)
			mir3da_register_mask_write(REG_MODE_BW, 0x80, 0x00); //power on
			else
			mir3da_register_mask_write(REG_MODE_BW, 0x80, 0x80);

			delay_us(100000);
			}

			//Read three axis data, 2g range, counting 12bit, 1G=1000mg=1024lsb
			void mir3da_read_raw_data(short x, short y, short *z)
			{
			u8_m tmp_data[6] = {0};

			mir3da_register_read(REG_ACC_X_LSB, tmp_data, 6);

			*x = ((short)(tmp_data[1] << 8 \| tmp_data[0]))>> 4;
			*y = ((short)(tmp_data[3] << 8 \| tmp_data[2]))>> 4;
			*z = ((short)(tmp_data[5] << 8 \| tmp_data[4]))>> 4;
			}

			void mir3da_read_data(short x, short y, short *z)
			{
			u8_m tmp_data[6] = {0};

			mir3da_register_read(REG_ACC_X_LSB, tmp_data, 6);

			*x = ((short)(tmp_data[1] << 8 \| tmp_data[0])) >> 4 - offset_x;
			*y = ((short)(tmp_data[3] << 8 \| tmp_data[2])) >> 4 - offset_y;
			*z = ((short)(tmp_data[5] << 8 \| tmp_data[4])) >> 4 - offset_z;
			}

			//open active interrupt
			void mir3da_set_active_interrupt_enable(int enable)
			{
			if(enable){
			mir3da_register_write(REG_ACTIVE_DUR, 0x00); //持续时间
			// mir3da_register_write(REG_ACTIVE_THS, 0x3); //阈值
			mir3da_register_write(REG_INT_MAP1, 0x04 );
			mir3da_register_write(REG_INT_SET1, 0x87);
			}
			else{
			mir3da_register_write(REG_INT_SET1,0x00 );
			mir3da_register_write(REG_INT_MAP1,0x00 );
			}
			}

			void mir3da_set_step_counter_open(int enable) //开启步数计数
			{
			if(enable){
			mir3da_register_write(REG_STEP_CONGIF1, 0x01);
			mir3da_register_write(REG_STEP_CONGIF2, 0x62);
			mir3da_register_write(REG_STEP_CONGIF3, 0x46);
			mir3da_register_write(REG_STEP_CONGIF4, 0x32);
			mir3da_register_write(REG_STEP_FILTER, 0xa2);
			}
			else{
			mir3da_register_write(REG_STEP_FILTER, 0x22);
			}
			}

			void mir3da_reset_step_counter(void)
			{
			mir3da_register_mask_write(REG_RESET_STEP, 0x80, 0x80);
			}


			u16_m mir3da_get_step() //获得运动步数
			{
			u8_m tmp_data[2] = {0};

			f_step = mir3da_ReadLenByte(REG_STEPS_MSB, 2);

			return f_step;

			}

			//获取数据

			float acc_g;

			float drv_lis2dh12_get_angle(void)
			{
			float acc_x, acc_y, acc_z, acc_g;
			float angle_x, angle_y, angle_z, angle_xyz;
			int8_t data[6];
			uint8_t i;
			uint8_t lisid,response;
			uint8_t response;
			uint8_t lisidtemp;
			//set ODR (turn ON device)
			LIS3DH_SetODR(LIS3DH_ODR_100Hz);
			@@ -172,7 +443,7 @@
			LIS3DH_SetAxis(LIS3DH_X_ENABLE \| LIS3DH_Y_ENABLE \| LIS3DH_Z_ENABLE);
			// Read ID
			LIS3DH_GetWHO_AM_I(&lisidtemp);
			lisid=(uint16_t)lisidtemp;
			// lisid=(uint16_t)lisidtemp;
			// printf("LIS3DH ID: %x \r\n",lisid);
			//get Acceleration Raw data
			response=LIS3DH_GetAccAxesRaw(&lis2dhdata);
			@@ -393,6 +664,75 @@
			return temp;
			}

			//在mir3da里面的指定地址开始读一字节数据
			//ReadAddr :读出的地址
			//返回值 :读出的数据
			uint8_t mir3da_ReadOneByte(uint16_t ReadAddr)
			{
			uint8_t temp=0;
			IIC2_Start();
			IIC2_Send_Byte(0X4e); //发送写命令
			IIC2_Wait_Ack();
			IIC2_Send_Byte(ReadAddr); //发送读地址
			IIC2_Wait_Ack();
			IIC2_Start();
			IIC2_Send_Byte(0X4f); //发送读命令，进入接收模式
			IIC2_Wait_Ack();
			temp=IIC2_Read_Byte(0);
			IIC2_Stop(); //产生一个停止条件
			return temp;
			}
			//在mir3da指定地址写入一个数据
			//WriteAddr :写入数据的目的地址
			//DataToWrite:要写入的数据
			void mir3da_WriteOneByte(uint16_t WriteAddr,uint8_t DataToWrite)
			{
			IIC2_Start();
			IIC2_Send_Byte(0X4e); //发送写命令
			IIC2_Wait_Ack();
			IIC2_Send_Byte(WriteAddr); //发送地址
			IIC2_Wait_Ack();
			IIC2_Send_Byte(DataToWrite); //发送字节
			IIC2_Wait_Ack();
			IIC2_Stop();//产生一个停止条件
			delay_us(10);

			}
			//在AT24CXX里面的指定地址开始写入长度为Len的数据
			//该函数用于写入16bit或者32bit的数据.
			//WriteAddr :开始写入的地址
			//DataToWrite:数据数组首地址
			//Len :要写入数据的长度2,4
			void mir3da_WriteLenByte(uint16_t WriteAddr,uint32_t DataToWrite,uint8_t Len)
			{
			uint8_t t;
			for(t=0;t<Len;t++)
			{
			mir3da_WriteOneByte(WriteAddr+t,(DataToWrite>>(8*t))&0xff);
			}
			}

			//在AT24CXX里面的指定地址开始读出长度为Len的数据
			//该函数用于读出16bit或者32bit的数据.
			//ReadAddr :开始读出的地址
			//返回值 :数据
			//Len :要读出数据的长度2,4
			uint32_t bu=0;
			uint32_t mir3da_ReadLenByte(uint16_t ReadAddr,int Len)
			{
			uint8_t t;
			u8_m data[Len];
			memset(data, 0, Len);
			for(t=0;t<Len;t++)
			{
			data[t] = mir3da_ReadOneByte(ReadAddr+t);
			}
			bu = (data[0] << 8 \| data[1])/2;

			return bu;
			}


			/*******************************************************************************
			* Function Name : LIS3DH_ReadReg
			* Description : Generic Reading function. It must be fullfilled with either