部分驱动代码完成，待测试
This commit is contained in:
@ -212,6 +212,42 @@ void write_gsensor_data_handle(void)
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}
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}
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// 临时的设备扫描诊断函数
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void i2c_scanner_probe(void)
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{
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printf("Starting I2C bus scan...\n");
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int devices_found = 0;
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// I2C地址范围是 0x08 到 0x77
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for (uint8_t addr_7bit = 0x00; addr_7bit < 0x7F; addr_7bit++)
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{
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// 构建8位的写地址
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uint8_t write_addr_8bit = (addr_7bit << 1);
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iic_start(gSensor_info->iic_hdl);
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// 尝试发送写地址，并检查返回值
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// iic_tx_byte 返回 1 表示收到了 ACK
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if (iic_tx_byte(gSensor_info->iic_hdl, write_addr_8bit))
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{
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printf("=====================================================================\n");
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printf("I2C device found at 7-bit address: 0x%02X\n", addr_7bit);
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printf("I2C device found at 8-bit address: 0x%02X\n", write_addr_8bit);
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printf("=====================================================================\n");
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devices_found++;
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}
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iic_stop(gSensor_info->iic_hdl);
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delay(gSensor_info->iic_delay); // 短暂延时
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}
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if (devices_found == 0) {
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printf("Scan finished. No I2C devices found.\n");
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} else {
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printf("Scan finished. Found %d device(s).\n", devices_found);
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}
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}
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char w_log_buffer_1[100];
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char w_log_buffer_2[100];
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char w_log_buffer_3[100];
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@ -222,7 +258,10 @@ u8 gravity_sensor_command(u8 w_chip_id, u8 register_address, u8 function_command
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// spin_lock(&sensor_iic);
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/* os_mutex_pend(&SENSOR_IIC_MUTEX,0); */
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u8 ret = 1;
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// xlog("iic_start\n");
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iic_start(gSensor_info->iic_hdl);
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// xlog("iic_tx_byte id\n");
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if (0 == iic_tx_byte(gSensor_info->iic_hdl, w_chip_id)) {
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ret = 0;
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xlog("\n gsen iic wr err 0\n");
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@ -230,8 +269,10 @@ u8 gravity_sensor_command(u8 w_chip_id, u8 register_address, u8 function_command
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goto __gcend;
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}
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// xlog("iic delay\n");
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delay(gSensor_info->iic_delay);
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// xlog("iic_tx_byte: address\n");
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if (0 == iic_tx_byte(gSensor_info->iic_hdl, register_address)) {
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ret = 0;
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xlog("\n gsen iic wr err 1\n");
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@ -241,6 +282,7 @@ u8 gravity_sensor_command(u8 w_chip_id, u8 register_address, u8 function_command
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delay(gSensor_info->iic_delay);
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// xlog("iic_tx_byte: command\n");
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if (0 == iic_tx_byte(gSensor_info->iic_hdl, function_command)) {
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ret = 0;
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xlog("\n gsen iic wr err 2\n");
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@ -249,6 +291,7 @@ u8 gravity_sensor_command(u8 w_chip_id, u8 register_address, u8 function_command
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}
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strcpy(&w_log_buffer_4, "gsen iic wr sucess\n");
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// xlog("\n gsen iic wr sucess\n");
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__gcend:
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iic_stop(gSensor_info->iic_hdl);
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@ -304,6 +347,7 @@ u8 _gravity_sensor_get_ndata(u8 r_chip_id, u8 register_address, u8 *buf, u8 data
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*buf = iic_rx_byte(gSensor_info->iic_hdl, 0);
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read_len ++;
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strcpy(&sen_log_buffer_4, "gsen iic rd success\n");
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// xlog("\n gsen iic rd success\n");
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__gdend:
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@ -1,8 +1,12 @@
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/*
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发送数据给上位机的,需要将log打印出口关闭
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*/
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#include "ano_protocol.h"
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#include "asm/uart_dev.h"
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#include "app_config.h" // 需要包含这个头文件来获取 TCFG_ONLINE_TX_PORT 等宏定义
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#include "app_config.h"
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// 定义匿名协议常量
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// 定义协议常量
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#define ANO_FRAME_HEADER 0xAA
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#define ANO_TO_COMPUTER_ADDR 0xFF
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@ -10,7 +14,7 @@
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static const uart_bus_t *ano_uart_dev = NULL;
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/**
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* @brief 计算并填充匿名协议的校验和
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* @brief 计算并填充协议的校验和
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* @param frame_buffer 指向数据帧缓冲区的指针
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*/
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static void ano_calculate_checksum(u8 *frame_buffer) {
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@ -35,7 +39,7 @@ static void ano_calculate_checksum(u8 *frame_buffer) {
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}
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/**
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* @brief 初始化用于匿名上位机通信的串口
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* @brief 初始化用于上位机通信的串口
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*/
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int ano_protocol_init(u32 baudrate) {
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#if TCFG_UART0_ENABLE==0
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@ -47,7 +51,6 @@ int ano_protocol_init(u32 baudrate) {
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struct uart_platform_data_t ut_arg = {0};
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// TCFG_ONLINE_TX_PORT 和 TCFG_ONLINE_RX_PORT 通常在 app_config.h 中定义
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// 请确保您的 app_config.h 中有正确的引脚配置
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ut_arg.tx_pin = TCFG_ONLINE_TX_PORT;
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ut_arg.rx_pin = (u8)-1; // -1 表示不使用该引脚，因为我们只发送数据
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ut_arg.baud = baudrate;
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@ -21,6 +21,8 @@
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#include "calculate/skiing_tracker.h"
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#include "xtell.h"
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#include "./ano/ano_protocol.h"
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#include "./sensor/MMC56.h"
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#include "./sensor/BMP280.h"
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///////////////////////////////////////////////////////////////////////////////////////////////////
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//宏定义
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#define ENABLE_XLOG 1
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@ -460,56 +462,66 @@ void xt_hw_iic_test(){
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void sensor_measure(void){
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// xlog("=======sensor_read_data START\n");
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static signed short combined_raw_data[6];
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static int initialized = 0;
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static int calibration_done = 0;
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char status = 0;
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// static signed short combined_raw_data[6];
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// static int initialized = 0;
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// static int calibration_done = 0;
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// char status = 0;
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if(count_test1 >= 100){
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count_test1 = 0;
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xlog("count_test1\n");
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}
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count_test1++;
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// if(count_test1 >= 100){
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// count_test1 = 0;
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// xlog("count_test1\n");
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// }
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// count_test1++;
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static sensor_data_t tmp;
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SL_SC7U22_RawData_Read(tmp.acc_data,tmp.gyr_data);
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// xlog("=======sensor_read_data middle 1\n");
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memcpy(&combined_raw_data[0], tmp.acc_data, 3 * sizeof(signed short));
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memcpy(&combined_raw_data[3], tmp.gyr_data, 3 * sizeof(signed short));
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// static sensor_data_t tmp;
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// SL_SC7U22_RawData_Read(tmp.acc_data,tmp.gyr_data);
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// // xlog("=======sensor_read_data middle 1\n");
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// memcpy(&combined_raw_data[0], tmp.acc_data, 3 * sizeof(signed short));
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// memcpy(&combined_raw_data[3], tmp.gyr_data, 3 * sizeof(signed short));
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if (!calibration_done) { //第1次启动，开启零漂检测
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// status = SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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// status = SIX_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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// status = Original_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0, tmp.quaternion_output);
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// if (!calibration_done) { //第1次启动，开启零漂检测
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// // status = SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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// // status = SIX_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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// // status = Original_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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// status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0, tmp.quaternion_output);
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int count = 0;
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if(count > 100){
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count = 0;
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char log_buffer[100];
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// snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);
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// send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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xlog("status:%d\n", status);
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}
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count++;
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// int count = 0;
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// if(count > 100){
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// count = 0;
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// char log_buffer[100];
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// // snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);
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// // send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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// xlog("status:%d\n", status);
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// }
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// count++;
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if (status == 1) {
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calibration_done = 1;
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printf("Sensor calibration successful! Skiing mode is active.\n");
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}
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} else {
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// printf("Calculate the time interval =============== start\n");
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// status = SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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// status = SIX_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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// status = Original_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0, tmp.quaternion_output);
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memcpy(tmp.acc_data, &combined_raw_data[0], 3 * sizeof(signed short));
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memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short));
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BLE_send_data_t data_by_calculate = sensor_processing_task(tmp.acc_data, tmp.gyr_data,tmp.angle, tmp.quaternion_output);
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extern void ano_send_attitude_data(float rol, float pit, float yaw, uint8_t fusion_sta) ;
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ano_send_attitude_data(tmp.angle[0],tmp.angle[1],tmp.angle[2], 1);
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}
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// if (status == 1) {
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// calibration_done = 1;
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// printf("Sensor calibration successful! Skiing mode is active.\n");
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// }
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// } else {
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// // printf("Calculate the time interval =============== start\n");
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// // status = SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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// // status = SIX_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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// // status = Original_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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// status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0, tmp.quaternion_output);
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// memcpy(tmp.acc_data, &combined_raw_data[0], 3 * sizeof(signed short));
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// memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short));
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// BLE_send_data_t data_by_calculate = sensor_processing_task(tmp.acc_data, tmp.gyr_data,tmp.angle, tmp.quaternion_output);
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// extern void ano_send_attitude_data(float rol, float pit, float yaw, uint8_t fusion_sta) ;
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// ano_send_attitude_data(tmp.angle[0],tmp.angle[1],tmp.angle[2], 1);
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// }
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mmc5603nj_mag_data_t mag_data;
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// mmc5603nj_read_mag_data(&mag_data);
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// if(count_test2 > 100){
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// count_test2++;
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printf("Mag X: %.4f, Y: %.4f, Z: %.4f Gauss\n", mag_data.x, mag_data.y, mag_data.z);
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// }
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// count_test2++;
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// xlog("=======sensor_read_data END\n");
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}
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@ -539,8 +551,27 @@ void xtell_task_create(void){
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// delay_2ms(10);
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SL_SC7U22_Config();
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// extern u8 LIS2DH12_Config(void);
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// LIS2DH12_Config();
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// if (mmc5603nj_init() != 0) {
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// xlog("MMC5603NJ initialization failed!\n");
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// }
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// xlog("MMC5603NJ PID: 0x%02X\n", mmc5603nj_get_pid());
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// // 启用连续测量模式
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// mmc5603nj_enable_continuous_mode();
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// xlog("Continuous measurement mode enabled.\n");
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//iic总线设备扫描
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extern void i2c_scanner_probe(void);
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i2c_scanner_probe();
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if(bmp280_init() != 0){
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xlog("bmp280 init error\n");
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}
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float temp, press;
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bmp280_read_data(&temp, &press);
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xlog("get temp: %d, get press: %d\n",temp, press);
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xlog("xtell_task_create\n");
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// 初始化环形缓冲区
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@ -548,7 +579,7 @@ void xtell_task_create(void){
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ano_protocol_init(115200);
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create_process(&calculate_data_id, "calculate",NULL, sensor_measure, 10);
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create_process(&calculate_data_id, "calculate",NULL, sensor_measure, 2000);
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circle_buffer_init(&sensor_read, sensor_read_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(sensor_data_t));
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178
apps/earphone/xtell_Sensor/sensor/BMP280.c
Normal file
178
apps/earphone/xtell_Sensor/sensor/BMP280.c
Normal file
@ -0,0 +1,178 @@
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/*
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气压计
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*/
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#include "BMP280.h"
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#include <string.h>
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#include "os/os_api.h"
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#include "gSensor/gSensor_manage.h"
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/*==================================================================================*/
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/* BMP280 内部定义 */
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/*==================================================================================*/
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// 存储校准参数的静态全局变量
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static uint16_t t1;
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static int16_t t2, t3;
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static uint16_t p1;
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static int16_t p2, p3, p4, p5, p6, p7, p8, p9;
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static int32_t t_fine;
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/*==================================================================================*/
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/* 封装的底层I2C读写函数 */
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/*==================================================================================*/
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/**
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* @brief 写入单个字节到BMP280寄存器
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*/
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static uint8_t bmp280_write_reg(uint8_t reg, uint8_t data) {
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gravity_sensor_command(BMP_IIC_WRITE_ADDRESS, reg, data);
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return 0;
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}
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/**
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* @brief 从BMP280读取多个字节
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*/
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static uint8_t bmp280_read_regs(uint8_t reg, uint8_t *buf, uint16_t len) {
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return _gravity_sensor_get_ndata(BMP_IIC_READ_ADDRESS, reg, buf, len);
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}
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/*==================================================================================*/
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/* 核心算法 */
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/*==================================================================================*/
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/**
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* @brief 温度补偿计算
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* @param adc_T - 原始温度数据
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* @return 补偿后的温度值 (单位: °C)
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*/
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static float compensate_temperature(int32_t adc_T) {
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float var1, var2, temperature;
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var1 = (((float)adc_T) / 16384.0f - ((float)t1) / 1024.0f) * ((float)t2);
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var2 = ((((float)adc_T) / 131072.0f - ((float)t1) / 8192.0f) *
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(((float)adc_T) / 131072.0f - ((float)t1) / 8192.0f)) *
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((float)t3);
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t_fine = (int32_t)(var1 + var2);
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temperature = (var1 + var2) / 5120.0f;
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if (temperature < -40.0f) return -40.0f;
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if (temperature > 85.0f) return 85.0f;
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return temperature;
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}
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/**
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* @brief 气压补偿计算
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* @param adc_P - 原始气压数据
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* @return 补偿后的气压值 (单位: Pa)
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*/
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static float compensate_pressure(int32_t adc_P) {
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float var1, var2, pressure;
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var1 = ((float)t_fine / 2.0f) - 64000.0f;
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var2 = var1 * var1 * ((float)p6) / 32768.0f;
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var2 = var2 + var1 * ((float)p5) * 2.0f;
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var2 = (var2 / 4.0f) + (((float)p4) * 65536.0f);
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var1 = (((float)p3) * var1 * var1 / 524288.0f + ((float)p2) * var1) / 524288.0f;
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var1 = (1.0f + var1 / 32768.0f) * ((float)p1);
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if (var1 == 0.0f) {
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return 0; // 避免除以零
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}
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pressure = 1048576.0f - (float)adc_P;
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pressure = (pressure - (var2 / 4096.0f)) * 6250.0f / var1;
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var1 = ((float)p9) * pressure * pressure / 2147483648.0f;
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var2 = pressure * ((float)p8) / 32768.0f;
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pressure = pressure + (var1 + var2 + ((float)p7)) / 16.0f;
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if (pressure < 30000.0f) return 30000.0f;
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if (pressure > 110000.0f) return 110000.0f;
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return pressure;
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}
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/*==================================================================================*/
|
||||
/* 外部接口函数实现 */
|
||||
/*==================================================================================*/
|
||||
|
||||
|
||||
|
||||
|
||||
uint8_t bmp280_init(void) {
|
||||
uint8_t id;
|
||||
uint8_t calib_data[24];
|
||||
|
||||
// 1. 检查芯片ID
|
||||
if (bmp280_read_regs(BMP280_REG_ID, &id, 1) == 0) {
|
||||
printf("bmp280 get id error:%d\n",id );
|
||||
return 1; // I2C读取失败
|
||||
}
|
||||
if (id != 0x58) {
|
||||
printf("bmp280 check diff:%d\n",id );
|
||||
return 1; // ID不匹配
|
||||
}
|
||||
|
||||
// 2. 软复位
|
||||
bmp280_write_reg(BMP280_REG_RESET, 0xB6);
|
||||
os_time_dly(10); // 等待复位完成
|
||||
|
||||
// 3. 一次性读取所有校准参数
|
||||
if (bmp280_read_regs(BMP280_REG_CALIB_START, calib_data, 24) != 0) {
|
||||
return 2; // 读取校准数据失败
|
||||
}
|
||||
|
||||
// 4. 解析校准参数
|
||||
t1 = (uint16_t)(((uint16_t)calib_data[1] << 8) | calib_data[0]);
|
||||
t2 = (int16_t)(((int16_t)calib_data[3] << 8) | calib_data[2]);
|
||||
t3 = (int16_t)(((int16_t)calib_data[5] << 8) | calib_data[4]);
|
||||
p1 = (uint16_t)(((uint16_t)calib_data[7] << 8) | calib_data[6]);
|
||||
p2 = (int16_t)(((int16_t)calib_data[9] << 8) | calib_data[8]);
|
||||
p3 = (int16_t)(((int16_t)calib_data[11] << 8) | calib_data[10]);
|
||||
p4 = (int16_t)(((int16_t)calib_data[13] << 8) | calib_data[12]);
|
||||
p5 = (int16_t)(((int16_t)calib_data[15] << 8) | calib_data[14]);
|
||||
p6 = (int16_t)(((int16_t)calib_data[17] << 8) | calib_data[16]);
|
||||
p7 = (int16_t)(((int16_t)calib_data[19] << 8) | calib_data[18]);
|
||||
p8 = (int16_t)(((int16_t)calib_data[21] << 8) | calib_data[20]);
|
||||
p9 = (int16_t)(((int16_t)calib_data[23] << 8) | calib_data[22]);
|
||||
|
||||
// 5. 配置传感器 (推荐设置: 正常模式，高精度)
|
||||
// t_standby=0.5ms, filter=16, spi_en=0
|
||||
uint8_t config_reg = (0 << 5) | (4 << 2) | (0 << 0);
|
||||
bmp280_write_reg(BMP280_REG_CONFIG, config_reg);
|
||||
|
||||
// osrs_t=x2, osrs_p=x16, mode=normal
|
||||
uint8_t ctrl_meas_reg = (2 << 5) | (5 << 2) | (3 << 0);
|
||||
bmp280_write_reg(BMP280_REG_CTRL_MEAS, ctrl_meas_reg);
|
||||
|
||||
os_time_dly(10); // 等待配置生效
|
||||
|
||||
return 0; // 初始化成功
|
||||
}
|
||||
|
||||
uint8_t bmp280_read_data(float *temperature, float *pressure) {
|
||||
uint8_t data[6];
|
||||
int32_t adc_P, adc_T;
|
||||
|
||||
// 一次性读取6个字节的温度和气压原始数据
|
||||
if (bmp280_read_regs(BMP280_REG_PRESS_MSB, data, 6) != 0) {
|
||||
return 1; // 读取失败
|
||||
}
|
||||
|
||||
// 组合原始数据 (20位)
|
||||
adc_P = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | (((uint32_t)(data[2])) >> 4));
|
||||
adc_T = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | (((uint32_t)(data[5])) >> 4));
|
||||
|
||||
// 如果没有数据，直接返回错误 (ADC读数为0x80000是未测量状态)
|
||||
if (adc_T == 0x80000 || adc_P == 0x80000) {
|
||||
*temperature = 0.0f;
|
||||
*pressure = 0.0f;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 进行补偿计算
|
||||
*temperature = compensate_temperature(adc_T);
|
||||
*pressure = compensate_pressure(adc_P);
|
||||
|
||||
return 0; // 成功
|
||||
}
|
||||
48
apps/earphone/xtell_Sensor/sensor/BMP280.h
Normal file
48
apps/earphone/xtell_Sensor/sensor/BMP280.h
Normal file
@ -0,0 +1,48 @@
|
||||
#ifndef BMP280_DRIVER_H
|
||||
#define BMP280_DRIVER_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
#define BMP_PULL_UP 0 //外部是否接的上拉
|
||||
|
||||
// I2C 从设备地址
|
||||
#if BMP_PULL_UP == 1 //外部接的高
|
||||
#define BMP_IIC_7BIT_ADDRESS 0x77 //7位,外部接高为0x77
|
||||
#define BMP_IIC_WRITE_ADDRESS (BMP_IIC_7BIT_ADDRESS<<1) //8位地址
|
||||
#define BMP_IIC_READ_ADDRESS (BMP_IIC_WRITE_ADDRESS | 0x01)
|
||||
#else
|
||||
#define BMP_IIC_7BIT_ADDRESS 0x76 //7位,外部接低为0x76
|
||||
#define BMP_IIC_WRITE_ADDRESS (BMP_IIC_7BIT_ADDRESS<<1) //8位地址
|
||||
#define BMP_IIC_READ_ADDRESS (BMP_IIC_WRITE_ADDRESS | 0x01)
|
||||
#endif
|
||||
|
||||
// BMP280 I2C 地址 (SDO/ADO 引脚接地)
|
||||
#define BMP280_I2C_ADDR_LOW (0x76*2)
|
||||
//7位地址:76, 8位地址:EC (接地)
|
||||
|
||||
// BMP280 寄存器地址
|
||||
#define BMP280_REG_CALIB_START 0x88
|
||||
#define BMP280_REG_ID 0xD0
|
||||
#define BMP280_REG_RESET 0xE0
|
||||
#define BMP280_REG_STATUS 0xF3
|
||||
#define BMP280_REG_CTRL_MEAS 0xF4
|
||||
#define BMP280_REG_CONFIG 0xF5
|
||||
#define BMP280_REG_PRESS_MSB 0xF7
|
||||
|
||||
/**
|
||||
* @brief 初始化BMP280传感器
|
||||
* @return 0: 成功, 1: 芯片ID错误, 2: 读取校准参数失败
|
||||
* @note 此函数会完成ID检查、软复位、读取校准参数，并设置传感器为连续测量模式。
|
||||
*/
|
||||
uint8_t bmp280_init(void);
|
||||
|
||||
/**
|
||||
* @brief 从BMP280读取温度和气压数据
|
||||
* @param[out] temperature - 指向浮点数变量的指针，用于存储温度值 (单位: °C)
|
||||
* @param[out] pressure - 指向浮点数变量的指针，用于存储气压值 (单位: Pa)
|
||||
* @return 0: 成功, 1: 读取数据失败
|
||||
*/
|
||||
uint8_t bmp280_read_data(float *temperature, float *pressure);
|
||||
|
||||
#endif // BMP280_DRIVER_H
|
||||
157
apps/earphone/xtell_Sensor/sensor/MMC56.c
Normal file
157
apps/earphone/xtell_Sensor/sensor/MMC56.c
Normal file
@ -0,0 +1,157 @@
|
||||
/*
|
||||
三轴磁力计 - MMC5603NJ
|
||||
*/
|
||||
|
||||
#include "MMC56.h"
|
||||
#include "math.h"
|
||||
#include "os/os_api.h"
|
||||
#include "../xtell.h"
|
||||
#include "gSensor/gSensor_manage.h"
|
||||
#include "printf.h"
|
||||
|
||||
|
||||
#define ENABLE_XLOG 1
|
||||
#ifdef xlog
|
||||
#undef xlog
|
||||
#endif
|
||||
#if ENABLE_XLOG
|
||||
#define xlog(format, ...) printf("[XT:%s] " format, __func__, ##__VA_ARGS__)
|
||||
#else
|
||||
#define xlog(format, ...) ((void)0)
|
||||
#endif
|
||||
|
||||
/*==================================================================================*/
|
||||
/* MMC5603NJ 内部定义 */
|
||||
/*==================================================================================*/
|
||||
|
||||
// 用于跟踪当前是否处于连续测量模式
|
||||
static u8 g_continuous_mode_enabled = 0;
|
||||
|
||||
/*==================================================================================*/
|
||||
/* 封装的底层I2C读写函数 */
|
||||
/*==================================================================================*/
|
||||
|
||||
/**
|
||||
* @brief 写入单个字节到MMC5603NJ寄存器
|
||||
*/
|
||||
static void mmc5603nj_write_reg(uint8_t reg, uint8_t data) {
|
||||
gravity_sensor_command(MMC_IIC_WRITE_ADDRESS, reg, data);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 从MMC5603NJ读取多个字节
|
||||
*/
|
||||
static uint32_t mmc5603nj_read_regs(uint8_t reg, uint8_t *buf, uint8_t len) {
|
||||
return _gravity_sensor_get_ndata(MMC_IIC_READ_ADDRESS, reg, buf, len);
|
||||
}
|
||||
|
||||
/*==================================================================================*/
|
||||
/* 外部接口函数实现 */
|
||||
/*==================================================================================*/
|
||||
|
||||
uint8_t mmc5603nj_get_pid(void) {
|
||||
uint8_t pid = 0;
|
||||
mmc5603nj_read_regs(MMC_PID, &pid, 1);
|
||||
return pid;
|
||||
}
|
||||
|
||||
int mmc5603nj_init(void) {
|
||||
// 检查产品ID是否正确
|
||||
if (mmc5603nj_get_pid() != 0x10) {
|
||||
xlog("init error: check id error %d\n", mmc5603nj_get_pid());
|
||||
return -1; // 设备ID不匹配
|
||||
}
|
||||
|
||||
// 对传感器执行软件复位 (将 INCTRL0 寄存器的 Do_reset 位置1)
|
||||
mmc5603nj_write_reg(MMC_INCTRL0, 0x08);
|
||||
os_time_dly(20); // 等待复位完成
|
||||
|
||||
g_continuous_mode_enabled = 0;
|
||||
return 0; // 初始化成功
|
||||
}
|
||||
|
||||
void mmc5603nj_set_data_rate(uint8_t rate) {
|
||||
mmc5603nj_write_reg(MMC_ODR, rate);
|
||||
}
|
||||
|
||||
void mmc5603nj_enable_continuous_mode(void) {
|
||||
uint8_t reg_val;
|
||||
|
||||
// 启用连续模式需要设置 INCTRL0 和 INCTRL2 寄存器
|
||||
// 1. 设置 INCTRL0 的 Cmm_en 位 (bit 7)
|
||||
mmc5603nj_read_regs(MMC_INCTRL0, ®_val, 1);
|
||||
reg_val |= 0x80;
|
||||
mmc5603nj_write_reg(MMC_INCTRL0, reg_val);
|
||||
|
||||
// 2. 设置 INCTRL2 的 Cmm_freq_en 位 (bit 4)
|
||||
mmc5603nj_read_regs(MMC_INCTRL2, ®_val, 1);
|
||||
reg_val |= 0x10;
|
||||
mmc5603nj_write_reg(MMC_INCTRL2, reg_val);
|
||||
|
||||
g_continuous_mode_enabled = 1;
|
||||
}
|
||||
|
||||
void mmc5603nj_disable_continuous_mode(void) {
|
||||
uint8_t reg_val;
|
||||
|
||||
// 禁用连续模式只需要清除 INCTRL2 的 Cmm_freq_en 位
|
||||
mmc5603nj_read_regs(MMC_INCTRL2, ®_val, 1);
|
||||
reg_val &= ~0x10; // 清除 bit 4
|
||||
mmc5603nj_write_reg(MMC_INCTRL2, reg_val);
|
||||
|
||||
g_continuous_mode_enabled = 0;
|
||||
}
|
||||
|
||||
float mmc5603nj_get_temperature(void) {
|
||||
uint8_t status = 0;
|
||||
uint8_t temp_raw = 0;
|
||||
|
||||
// 1. 触发一次温度测量 (写入 0x02 到 INCTRL0 寄存器)
|
||||
mmc5603nj_write_reg(MMC_INCTRL0, 0x02);
|
||||
|
||||
// 2. 等待测量完成 (轮询 STATUS1 寄存器的 Meas_T_done 位)
|
||||
do {
|
||||
os_time_dly(10); // 等待一下，避免过于频繁的I2C读取
|
||||
mmc5603nj_read_regs(MMC_STATUS1, &status, 1);
|
||||
} while ((status & 0x80) == 0);
|
||||
|
||||
// 3. 读取温度原始值
|
||||
mmc5603nj_read_regs(MMC_TOUT, &temp_raw, 1);
|
||||
|
||||
// 4. 根据公式计算实际温度: Temp(°C) = -75 + 0.8 * TOUT
|
||||
return ((float)temp_raw * 0.8f) - 75.0f;
|
||||
}
|
||||
|
||||
void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data) {
|
||||
uint8_t buffer[9];
|
||||
|
||||
if (g_continuous_mode_enabled) {
|
||||
// 连续模式下，直接读取数据即可
|
||||
mmc5603nj_read_regs(MMC_XOUT0, buffer, 9);
|
||||
} else {
|
||||
// 单次测量模式
|
||||
uint8_t status = 0;
|
||||
// 1. 触发一次磁场测量 (写入 0x01 到 INCTRL0 寄存器)
|
||||
mmc5603nj_write_reg(MMC_INCTRL0, 0x01);
|
||||
|
||||
// 2. 等待测量完成 (轮询 STATUS1 寄存器的 Meas_M_done 位)
|
||||
do {
|
||||
os_time_dly(10); // 等待一下
|
||||
mmc5603nj_read_regs(MMC_STATUS1, &status, 1);
|
||||
} while ((status & 0x40) == 0);
|
||||
|
||||
// 3. 读取9个字节的原始数据
|
||||
mmc5603nj_read_regs(MMC_XOUT0, buffer, 9);
|
||||
}
|
||||
|
||||
// 解析数据 (20位分辨率)
|
||||
// 零点偏置: 2^19 = 524288, 灵敏度: 2^14 = 16384 LSB/Gauss
|
||||
int32_t raw_x = (buffer[0] << 12) | (buffer[1] << 4) | (buffer[6] >> 4);
|
||||
int32_t raw_y = (buffer[2] << 12) | (buffer[3] << 4) | (buffer[7] >> 4);
|
||||
int32_t raw_z = (buffer[4] << 12) | (buffer[5] << 4) | (buffer[8] >> 4);
|
||||
|
||||
// 应用偏置和灵敏度进行转换
|
||||
mag_data->x = ((float)raw_x - 524288.0f) / 16384.0f;
|
||||
mag_data->y = ((float)raw_y - 524288.0f) / 16384.0f;
|
||||
mag_data->z = ((float)raw_z - 524288.0f) / 16384.0f;
|
||||
}
|
||||
89
apps/earphone/xtell_Sensor/sensor/MMC56.h
Normal file
89
apps/earphone/xtell_Sensor/sensor/MMC56.h
Normal file
@ -0,0 +1,89 @@
|
||||
#ifndef MMC5603NJ_DRIVER_H
|
||||
#define MMC5603NJ_DRIVER_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
//该芯片的iic地址是固定的, 没法通过外部上下拉来改变
|
||||
#define BMP_IIC_7BIT_ADDRESS 0x30 //0110000 手册第12页
|
||||
//8位地址:
|
||||
#define MMC_IIC_WRITE_ADDRESS (BMP_IIC_7BIT_ADDRESS <<1) // 0x60 : 01100000
|
||||
#define MMC_IIC_READ_ADDRESS (MMC_IIC_WRITE_ADDRESS | 0x01) // 0x61 : 01100001
|
||||
|
||||
|
||||
|
||||
// 寄存器地址定义 -- 数据手册第6页
|
||||
#define MMC_XOUT0 0x00
|
||||
#define MMC_XOUT1 0x01
|
||||
#define MMC_YOUT0 0x02
|
||||
#define MMC_YOUT1 0x03
|
||||
#define MMC_ZOUT0 0x04
|
||||
#define MMC_ZOUT1 0x05
|
||||
#define MMC_XOUT2 0x06
|
||||
#define MMC_YOUT2 0x07
|
||||
#define MMC_ZOUT2 0x08
|
||||
#define MMC_TOUT 0x09
|
||||
#define MMC_STATUS1 0x18
|
||||
#define MMC_ODR 0x1A
|
||||
#define MMC_INCTRL0 0x1B
|
||||
#define MMC_INCTRL1 0x1C
|
||||
#define MMC_INCTRL2 0x1D
|
||||
#define MMC_ST_X_TH 0x1E
|
||||
#define MMC_ST_Y_TH 0x1F
|
||||
#define MMC_ST_Z_TH 0x20
|
||||
#define MMC_ST_X 0x27
|
||||
#define MMC_ST_Y 0x28
|
||||
#define MMC_ST_Z 0x29
|
||||
#define MMC_PID 0x39
|
||||
|
||||
// 定义一个结构体来存放三轴磁场数据（单位：高斯 Gauss）
|
||||
typedef struct {
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
} mmc5603nj_mag_data_t;
|
||||
|
||||
|
||||
/**
|
||||
* @brief 初始化MMC5603NJ传感器
|
||||
* 该函数会对传感器进行软件复位，并检查设备ID。
|
||||
* @return 0 表示成功, -1 表示失败 (设备ID不匹配).
|
||||
*/
|
||||
int mmc5603nj_init(void);
|
||||
|
||||
/**
|
||||
* @brief 设置传感器的数据输出速率 (ODR - Output Data Rate)
|
||||
* @param rate 速率值，具体含义请参考datasheet ODR寄存器说明。
|
||||
*/
|
||||
void mmc5603nj_set_data_rate(uint8_t rate);
|
||||
|
||||
/**
|
||||
* @brief 启用连续测量模式
|
||||
*/
|
||||
void mmc5603nj_enable_continuous_mode(void);
|
||||
|
||||
/**
|
||||
* @brief 禁用连续测量模式
|
||||
*/
|
||||
void mmc5603nj_disable_continuous_mode(void);
|
||||
|
||||
/**
|
||||
* @brief 获取产品ID
|
||||
* @return 产品的ID值，对于MMC5603NJ，应为0x10.
|
||||
*/
|
||||
uint8_t mmc5603nj_get_pid(void);
|
||||
|
||||
/**
|
||||
* @brief 读取传感器的温度
|
||||
* @return 温度值 (单位: 摄氏度 °C).
|
||||
*/
|
||||
float mmc5603nj_get_temperature(void);
|
||||
|
||||
/**
|
||||
* @brief 读取三轴磁场数据
|
||||
* 此函数会根据当前是连续模式还是单次模式来读取数据。
|
||||
* @param mag_data 指向 mmc5603nj_mag_data_t 结构体的指针，用于存放结果。
|
||||
*/
|
||||
void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data);
|
||||
|
||||
#endif // MMC5603NJ_DRIVER_H
|
||||
@ -1,4 +1,6 @@
|
||||
|
||||
/*
|
||||
六轴
|
||||
*/
|
||||
#include "SC7U22.h"
|
||||
#include "math.h"
|
||||
#include "os/os_api.h"
|
||||
@ -68,9 +70,12 @@ char iic_write_result;
|
||||
unsigned char SL_SC7U22_Check(void)
|
||||
{
|
||||
unsigned char reg_value=0;
|
||||
xlog("SL_SC7U22_Check\n");
|
||||
|
||||
iic_write_result = SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x7F, 0x00);//goto 0x00
|
||||
// xlog("SL_SC7U22_Check write: %d\n", iic_write_result);
|
||||
|
||||
iic_read_len = SL_SC7U22_I2c_Spi_Read(SL_SPI_IIC_INTERFACE, SC7U22_WHO_AM_I, 1, ®_value);
|
||||
// xlog("SL_SC7U22_Check read : %d\n", iic_write_result);
|
||||
xlog("0x%x=0x%x\r\n",SC7U22_WHO_AM_I,reg_value);
|
||||
if(reg_value==0x6A) //设备的id
|
||||
return 0x01;//SC7U22
|
||||
@ -1007,10 +1012,6 @@ unsigned char SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short
|
||||
/**
|
||||
* @brief 姿态角解算函数 (基于一阶互补滤波)
|
||||
* @details
|
||||
* 该函数主要完成两项工作：
|
||||
* 1. 静态校准：在初始阶段，检测传感器是否处于静止状态。如果是，则计算加速度计和陀螺仪的零点偏移（误差），用于后续的数据补偿。
|
||||
* 2. 姿态解算：使用一阶互补滤波器融合经过校准后的加速度计和陀螺仪数据，计算出物体的俯仰角（Pitch）、横滚角（Roll）和偏航角（Yaw）。
|
||||
*
|
||||
* @param calibration_en 传入：外部校准使能标志。如果为0，则强制认为已经校准完成。
|
||||
* @param acc_gyro_input 传入和传出：包含6轴原始数据的数组指针，顺序为 [ACC_X, ACC_Y, ACC_Z, GYR_X, GYR_Y, GYR_Z]。该函数会对其进行原地修改，填充为校准后的数据。
|
||||
* @param Angle_output 传出：滤波后的结果，顺序为 [Pitch, Roll, Yaw]。
|
||||
@ -1172,13 +1173,10 @@ unsigned char get_calibration_state(void){
|
||||
|
||||
|
||||
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
// 如果没有定义 PI，请取消下面的注释
|
||||
// #define PI 3.14159265358979323846f
|
||||
|
||||
// =================================================================================================
|
||||
// Mahony AHRS (Attitude and Heading Reference System) 相关变量定义
|
||||
// Mahony滤波器是一种高效的互补滤波器，它使用四元数来表示姿态，从而避免了万向节死锁问题。
|
||||
// 它通过一个PI控制器来校正陀ar螺仪的积分漂移。
|
||||
// 通过一个PI控制器来校正陀ar螺仪的积分漂移。
|
||||
// -------------------------------------------------------------------------------------------------
|
||||
// --- 滤波器参数 ---
|
||||
// Kp: 比例增益，决定了加速度计数据校正陀螺仪的权重。值越大，对加速度计的响应越快，但对运动加速度更敏感。
|
||||
@ -1204,7 +1202,7 @@ static float exInt = 0.0f, eyInt = 0.0f, ezInt = 0.0f;
|
||||
* 该函数主要完成两项工作：
|
||||
* 1. 静态校准：在初始阶段，检测传感器是否处于静止状态。如果是，则计算加速度计和陀螺仪的零点偏移（误差），用于后续的数据补偿。
|
||||
* 2. 姿态解算：使用基于四元数的Mahony互补滤波器融合经过校准后的加速度计和陀螺仪数据，计算出物体的俯仰角（Pitch）、横滚角（Roll）和偏航角（Yaw）。
|
||||
* 这种方法精度高，且能避免万向节死锁问题。
|
||||
* 能避免万向节死锁问题。
|
||||
*
|
||||
* @param calibration_en 传入：外部校准使能标志。如果为0，则强制认为已经校准完成。
|
||||
* @param acc_gyro_input 传入和传出：包含6轴原始数据的数组指针，顺序为 [ACC_X, ACC_Y, ACC_Z, GYR_X, GYR_Y, GYR_Z]。该函数会对其进行原地修改，填充为校准后的数据。
|
||||
|
||||
181
apps/earphone/xtell_Sensor/sensor/WF282A.c
Normal file
181
apps/earphone/xtell_Sensor/sensor/WF282A.c
Normal file
@ -0,0 +1,181 @@
|
||||
/*
|
||||
气压计 - WF282A
|
||||
*/
|
||||
#include "wf282a.h"
|
||||
#include <math.h>
|
||||
#include <stdint.h> // 推荐使用标准类型
|
||||
#include "gSensor/gSensor_manage.h"
|
||||
|
||||
/*==================================================================================*/
|
||||
/* WF282A 内部定义 */
|
||||
/*==================================================================================*/
|
||||
|
||||
// 存储校准系数的静态全局变量
|
||||
static int16_t c0, c1, c01, c11, c20, c21, c30;
|
||||
static int32_t c00, c10;
|
||||
|
||||
/*==================================================================================*/
|
||||
/* 封装的底层I2C读写函数 */
|
||||
/*==================================================================================*/
|
||||
|
||||
/**
|
||||
* @brief 写入单个字节到WF282A寄存器
|
||||
*/
|
||||
static void wf282a_write_reg(uint8_t reg, uint8_t data) {
|
||||
gravity_sensor_command(WF_IIC_WRITE_ADDRESS, reg, data);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 从WF282A读取多个字节
|
||||
*/
|
||||
static uint32_t wf282a_read_regs(uint8_t reg, uint8_t *buf, uint8_t len) {
|
||||
return _gravity_sensor_get_ndata(WF_IIC_READ_ADDRESS, reg, buf, len);
|
||||
}
|
||||
|
||||
/*==================================================================================*/
|
||||
/* 内部辅助函数 */
|
||||
/*==================================================================================*/
|
||||
|
||||
/**
|
||||
* @brief 从缓冲区中解析所有校准系数
|
||||
* @param buf 包含从寄存器0x10开始读取的18个字节的校准数据
|
||||
*/
|
||||
static void parse_calibration_data(const uint8_t *buf) {
|
||||
// c0 (12-bit)
|
||||
c0 = ((int16_t)buf[0] << 4) | (buf[1] >> 4);
|
||||
if (c0 & (1 << 11)) c0 |= 0xF000;
|
||||
|
||||
// c1 (12-bit)
|
||||
c1 = (((int16_t)buf[1] & 0x0F) << 8) | buf[2];
|
||||
if (c1 & (1 << 11)) c1 |= 0xF000;
|
||||
|
||||
// c00 (20-bit)
|
||||
c00 = ((int32_t)buf[3] << 12) | ((int32_t)buf[4] << 4) | (buf[5] >> 4);
|
||||
if (c00 & (1 << 19)) c00 |= 0xFFF00000;
|
||||
|
||||
// c10 (20-bit)
|
||||
c10 = (((int32_t)buf[5] & 0x0F) << 16) | ((int32_t)buf[6] << 8) | buf[7];
|
||||
if (c10 & (1 << 19)) c10 |= 0xFFF00000;
|
||||
|
||||
// c01, c11, c20, c21, c30 (16-bit)
|
||||
c01 = (int16_t)((uint16_t)buf[8] << 8 | buf[9]);
|
||||
c11 = (int16_t)((uint16_t)buf[10] << 8 | buf[11]);
|
||||
c20 = (int16_t)((uint16_t)buf[12] << 8 | buf[13]);
|
||||
c21 = (int16_t)((uint16_t)buf[14] << 8 | buf[15]);
|
||||
c30 = (int16_t)((uint16_t)buf[16] << 8 | buf[17]);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 获取原始温度值 (ADC)
|
||||
*/
|
||||
static int32_t Get_Traw() {
|
||||
uint8_t buff[3];
|
||||
int32_t Traw;
|
||||
// 从 MSB 寄存器 WF_TMP_B2 (0x03) 开始连续读取3个字节
|
||||
wf282a_read_regs(WF_TMP_B2, buff, 3);
|
||||
// buff[0] = B2 (MSB), buff[1] = B1, buff[2] = B0 (LSB)
|
||||
Traw = (int32_t)buff[0] << 16 | (int32_t)buff[1] << 8 | (int32_t)buff[2];
|
||||
// 24位二进制补码转32位
|
||||
if (Traw & (1 << 23)) {
|
||||
Traw |= 0xFF000000;
|
||||
}
|
||||
return Traw;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 获取原始气压值 (ADC)
|
||||
*/
|
||||
static int32_t Get_Praw() {
|
||||
uint8_t buff[3];
|
||||
int32_t Praw;
|
||||
// 从 MSB 寄存器 WF_PRS_B2 (0x00) 开始连续读取3个字节
|
||||
wf282a_read_regs(WF_PRS_B2, buff, 3);
|
||||
// buff[0] = B2 (MSB), buff[1] = B1, buff[2] = B0 (LSB)
|
||||
Praw = (int32_t)buff[0] << 16 | (int32_t)buff[1] << 8 | (int32_t)buff[2];
|
||||
// 24位二进制补码转32位
|
||||
if (Praw & (1 << 23)) {
|
||||
Praw |= 0xFF000000;
|
||||
}
|
||||
return Praw;
|
||||
}
|
||||
|
||||
/*==================================================================================*/
|
||||
/* 4. 外部接口函数实现 */
|
||||
/*==================================================================================*/
|
||||
|
||||
uint8_t WF_Init() {
|
||||
uint8_t calib_buf[18];
|
||||
uint8_t check_cfg;
|
||||
|
||||
// 1. 配置传感器工作模式
|
||||
// 推荐配置：压力8次过采样，温度1次过采样，测量速率16Hz
|
||||
wf282a_write_reg(WF_PRS_CFG, (PM_RATE_16 << 4) | PM_PRC_8);
|
||||
wf282a_write_reg(WF_TMP_CFG, (TMP_RATE_16 << 4) | TMP_PRC_1 | TMP_INT_SENSOR);
|
||||
wf282a_write_reg(WF_MEAS_CFG, 0x07); // 启动连续压力和温度测量
|
||||
wf282a_write_reg(WF_CFG_REG, 0x00); // 无中断或FIFO移位配置
|
||||
|
||||
// 2. 一次性读取所有校准系数 (从0x10到0x21，共18字节)
|
||||
if (wf282a_read_regs(COEF_C0, calib_buf, 18) != 0) {
|
||||
return 2; // 读取校准数据失败
|
||||
}
|
||||
parse_calibration_data(calib_buf);
|
||||
|
||||
// 3. 检查配置是否写入成功
|
||||
wf282a_read_regs(WF_MEAS_CFG, &check_cfg, 1);
|
||||
if (check_cfg != 0x07) {
|
||||
return 1; // 错误
|
||||
} else {
|
||||
return 0; // 成功
|
||||
}
|
||||
}
|
||||
|
||||
void WF_Sleep() {
|
||||
wf282a_write_reg(WF_MEAS_CFG, 0x00); // 待机模式
|
||||
}
|
||||
|
||||
void WF_Wakeup() {
|
||||
wf282a_write_reg(WF_MEAS_CFG, 0x07); // 恢复连续测量
|
||||
}
|
||||
|
||||
uint8_t WF_GetID() {
|
||||
uint8_t id;
|
||||
wf282a_read_regs(WF_ID_REG, &id, 1);
|
||||
return id;
|
||||
}
|
||||
|
||||
float WF_Temperature_Calculate() {
|
||||
float Traw_sc;
|
||||
int32_t Traw = Get_Traw();
|
||||
|
||||
Traw_sc = (float)Traw / KT; // 缩放原始温度值
|
||||
return (float)c0 * 0.5f + (float)c1 * Traw_sc;
|
||||
}
|
||||
|
||||
float WF_Pressure_Calculate() {
|
||||
float Traw_sc, Praw_sc, Pcomp;
|
||||
int32_t Traw = Get_Traw();
|
||||
int32_t Praw = Get_Praw();
|
||||
|
||||
Traw_sc = (float)Traw / KT; // 缩放原始温度值
|
||||
Praw_sc = (float)Praw / KP; // 缩放原始压力值
|
||||
|
||||
// 公式: 手册给出
|
||||
Pcomp = (float)c00
|
||||
+ Praw_sc * ((float)c10 + Praw_sc * ((float)c20 + Praw_sc * (float)c30))
|
||||
+ Traw_sc * (float)c01
|
||||
+ Traw_sc * Praw_sc * ((float)c11 + Praw_sc * (float)c21);
|
||||
|
||||
return Pcomp;
|
||||
}
|
||||
|
||||
float WF_Altitude_Calculate() {
|
||||
float pressure_pa = WF_Pressure_Calculate();
|
||||
// 使用标准大气压公式计算海拔
|
||||
// P = P0 * (1 - L*h / T0)^(g*M / (R*L))
|
||||
// 简化公式: h = 44330 * (1 - (P/P0)^(1/5.255))
|
||||
// 1/5.255 ≈ 0.1903
|
||||
if (pressure_pa <= 0) {
|
||||
return 0.0f; // 避免无效计算
|
||||
}
|
||||
return 44330.0f * (1.0f - powf(pressure_pa / 101325.0f, 0.1902949f));
|
||||
}
|
||||
148
apps/earphone/xtell_Sensor/sensor/WF282A.h
Normal file
148
apps/earphone/xtell_Sensor/sensor/WF282A.h
Normal file
@ -0,0 +1,148 @@
|
||||
#ifndef _WF282A_H_
|
||||
#define _WF282A_H_
|
||||
|
||||
#include <stdint.h> // 使用标准整数类型
|
||||
|
||||
// 标定值
|
||||
#define KT 524288.0f
|
||||
#define KP 1572864.0f
|
||||
|
||||
|
||||
#define WF_PULL_UP 1 //外部是否接的上拉
|
||||
|
||||
// I2C 从设备地址
|
||||
#if WF_PULL_UP == 1 //外部接的高
|
||||
#define WF_IIC_7BIT_ADDRESS 0x77 //7位,外部接高为0x77
|
||||
#define WF_IIC_WRITE_ADDRESS (WF_IIC_7BIT_ADDRESS<<1) //8位地址
|
||||
#define WF_IIC_READ_ADDRESS (WF_IIC_WRITE_ADDRESS | 0x01)
|
||||
#else
|
||||
#define WF_IIC_7BIT_ADDRESS 0x76 //7位,外部接低为0x76
|
||||
#define WF_IIC_WRITE_ADDRESS (WF_IIC_7BIT_ADDRESS<<1) //8位地址
|
||||
#define WF_IIC_READ_ADDRESS (WF_IIC_WRITE_ADDRESS | 0x01)
|
||||
#endif
|
||||
|
||||
#define WF_CHIP_ID 0X10
|
||||
|
||||
// 寄存器映射
|
||||
// 压力数据
|
||||
#define WF_PRS_B2 0x00
|
||||
#define WF_PRS_B1 0x01
|
||||
#define WF_PRS_B0 0x02
|
||||
// 温度数据
|
||||
#define WF_TMP_B2 0x03
|
||||
#define WF_TMP_B1 0x04
|
||||
#define WF_TMP_B0 0x05
|
||||
// 配置寄存器
|
||||
#define WF_PRS_CFG 0x06
|
||||
#define WF_TMP_CFG 0x07
|
||||
#define WF_MEAS_CFG 0x08
|
||||
#define WF_CFG_REG 0x09
|
||||
#define WF_INT_STS 0x0A
|
||||
#define WF_FIFO_STS 0x0B
|
||||
#define WF_RESET_REG 0x0C
|
||||
// ID寄存器
|
||||
#define WF_ID_REG 0x0D
|
||||
// 校准系数寄存器
|
||||
#define COEF_C0 0x10
|
||||
#define COEF_C0_C1 0x11
|
||||
#define COEF_C1 0x12
|
||||
#define COEF_C00_H 0x13
|
||||
#define COEF_C00_L 0x14
|
||||
#define COEF_C00_C10 0x15
|
||||
#define COEF_C10_M 0x16
|
||||
#define COEF_C10_L 0x17
|
||||
#define COEF_C01_H 0x18
|
||||
#define COEF_C01_L 0x19
|
||||
#define COEF_C11_H 0x1A
|
||||
#define COEF_C11_L 0x1B
|
||||
#define COEF_C20_H 0x1C
|
||||
#define COEF_C20_L 0x1D
|
||||
#define COEF_C21_H 0x1E
|
||||
#define COEF_C21_L 0x1F
|
||||
#define COEF_C30_H 0x20
|
||||
#define COEF_C30_L 0x21
|
||||
|
||||
// --- 配置宏 ---
|
||||
|
||||
// 压力配置 (PRS_CFG[6:4]) - 测量速率
|
||||
#define PM_RATE_1 0x00 // 1 次/秒
|
||||
#define PM_RATE_2 0x01 // 2 次/秒
|
||||
#define PM_RATE_4 0x02 // 4 次/秒
|
||||
#define PM_RATE_8 0x03 // 8 次/秒
|
||||
#define PM_RATE_16 0x04 // 16 次/秒
|
||||
#define PM_RATE_32 0x05 // 32 次/秒
|
||||
#define PM_RATE_64 0x06 // 64 次/秒
|
||||
#define PM_RATE_128 0x07 // 128 次/秒
|
||||
// 压力配置 (PRS_CFG[3:0]) - 过采样率
|
||||
#define PM_PRC_1 0x00 // 1 次 (单次)
|
||||
#define PM_PRC_2 0x01 // 2 次 (低功耗)
|
||||
#define PM_PRC_4 0x02 // 4 次
|
||||
#define PM_PRC_8 0x03 // 8 次 (标准)
|
||||
#define PM_PRC_16 0x04 // 16 次 (需要移位)
|
||||
#define PM_PRC_32 0x05 // 32 次 (需要移位)
|
||||
#define PM_PRC_64 0x06 // 64 次 (高精度, 需要移位)
|
||||
#define PM_PRC_128 0x07 // 128 次 (需要移位)
|
||||
|
||||
// 温度配置 (TMP_CFG[7]) - 传感器源
|
||||
#define TMP_EXT_SENSOR 0x80 // 使用外部传感器
|
||||
#define TMP_INT_SENSOR 0x00 // 使用内部传感器
|
||||
// 温度配置 (TMP_CFG[6:4]) - 测量速率
|
||||
#define TMP_RATE_1 0x00 // 1 次/秒
|
||||
#define TMP_RATE_2 0x01 // 2 次/秒
|
||||
#define TMP_RATE_4 0x02 // 4 次/秒
|
||||
#define TMP_RATE_8 0x03 // 8 次/秒
|
||||
#define TMP_RATE_16 0x04 // 16 次/秒
|
||||
#define TMP_RATE_32 0x05 // 32 次/秒
|
||||
#define TMP_RATE_64 0x06 // 64 次/秒
|
||||
#define TMP_RATE_128 0x07 // 128 次/秒
|
||||
// 温度配置 (TMP_CFG[3:0]) - 过采样率
|
||||
#define TMP_PRC_1 0x00 // 1 次
|
||||
#define TMP_PRC_2 0x01 // 2 次
|
||||
#define TMP_PRC_4 0x02 // 4 次
|
||||
#define TMP_PRC_8 0x03 // 8 次
|
||||
#define TMP_PRC_16 0x04 // 16 次
|
||||
#define TMP_PRC_32 0x05 // 32 次
|
||||
#define TMP_PRC_64 0x06 // 64 次
|
||||
#define TMP_PRC_128 0x07 // 128 次
|
||||
|
||||
/**
|
||||
* @brief 初始化WF282A传感器
|
||||
* @return 0: 成功, 1: 失败
|
||||
*/
|
||||
uint8_t WF_Init(void);
|
||||
|
||||
/**
|
||||
* @brief 使传感器进入休眠/待机模式
|
||||
*/
|
||||
void WF_Sleep(void);
|
||||
|
||||
/**
|
||||
* @brief 唤醒传感器，开始连续测量
|
||||
*/
|
||||
void WF_Wakeup(void);
|
||||
|
||||
/**
|
||||
* @brief 获取传感器芯片ID
|
||||
* @return 芯片ID (应为 0x10)
|
||||
*/
|
||||
uint8_t WF_GetID(void);
|
||||
|
||||
/**
|
||||
* @brief 计算并返回当前海拔高度
|
||||
* @return 海拔高度 (单位: 米)
|
||||
*/
|
||||
float WF_Altitude_Calculate(void);
|
||||
|
||||
/**
|
||||
* @brief 计算并返回补偿后的压力值
|
||||
* @return 压力 (单位: Pa)
|
||||
*/
|
||||
float WF_Pressure_Calculate(void);
|
||||
|
||||
/**
|
||||
* @brief 计算并返回补偿后的温度值
|
||||
* @return 温度 (单位: °C)
|
||||
*/
|
||||
float WF_Temperature_Calculate(void);
|
||||
|
||||
#endif // _WF282A_H_
|
||||
Reference in New Issue
Block a user