From 0e91bca2aaebc14a6ea8ef97433d4a7953876ffa Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 29 三月 2023 15:08:23 +0800
Subject: [PATCH] Merge branch '防撞' of http://47.108.70.204:60062/r/XRange_Tag into 防撞
---
Drivers/ExternlDrivers/lis3dh_driver.c | 362 ++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 351 insertions(+), 11 deletions(-)
diff --git a/Drivers/ExternlDrivers/lis3dh_driver.c b/Drivers/ExternlDrivers/lis3dh_driver.c
index 7f92a91..74d425d 100644
--- a/Drivers/ExternlDrivers/lis3dh_driver.c
+++ b/Drivers/ExternlDrivers/lis3dh_driver.c
@@ -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: 16*2(FS) 0x20: 32*16(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: 16*2(FS) 0x20: 32*16(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
@@ -118,8 +305,8 @@
{
//uint8_t buffer[26];
- uint8_t lisid,response;
- uint8_t lisidtemp;
+ uint8_t response;
+ uint8_t lisidtemp;
//set ODR (turn ON device)
LIS3DH_SetODR(LIS3DH_ODR_10Hz);
//set PowerMode
@@ -153,15 +340,99 @@
// }
}
+
+
+//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 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 lisidtemp;
+ uint8_t i;
+ uint8_t response;
+ uint8_t lisidtemp;
//set ODR (turn ON device)
LIS3DH_SetODR(LIS3DH_ODR_100Hz);
//set PowerMode
@@ -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
--
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