first

2025-10-29 13:10:02 +08:00
commit 49a07fa419
2284 changed files with 642060 additions and 0 deletions
--- a/apps/common/device/imu_sensor/mpu9250/mpu9250.c
+++ b/apps/common/device/imu_sensor/mpu9250/mpu9250.c
--- a/apps/common/device/imu_sensor/mpu9250/mpu9250.h
+++ b/apps/common/device/imu_sensor/mpu9250/mpu9250.h
@ -0,0 +1,182 @@
+#ifndef _MPU9250_H_
+#define _MPU9250_H_
+
+
+
+
+#if TCFG_TP_MPU9250_ENABLE
+#define SENSORS_MPU6500_BUFF_LEN 14
+#define SENSORS_MAG_BUFF_LEN  8
+
+
+#define MPU9250_ADDR        0X68    //器件IIC地址(AD0:GND, AD0:VCC(0X69))
+#define MPU9250_ADDRESS_W   0xD0  //陀螺地址(AD0:GND, AD0:VCC(0XD2))
+#define MPU_DEVICE_ID_REG	0X75	//器件ID寄存器
+
+#define MAG_AK8963_ENABLE   1   //AK8963磁场 enable
+#define MAG_IIC_ADDRESS     0x0c   //AK8963磁场从机地址(旁路直连)
+#define MAG_IIC_ADDRESS_W   (MAG_IIC_ADDRESS<<1)   //AK8963磁场从机地址(旁路直连)
+#define MAG_WHO_AM_I	    0x00//IIC地址寄存器(默认数值0x48，只读)
+
+
+
+// 定义MPU9250内部地址
+//****************************************
+#define MPU_SELF_TESTX_REG		0X0D	//自检寄存器X
+#define MPU_SELF_TESTY_REG		0X0E	//自检寄存器Y
+#define MPU_SELF_TESTZ_REG		0X0F	//自检寄存器Z
+#define MPU_SELF_TESTA_REG		0X10	//自检寄存器A
+#define MPU_SAMPLE_RATE_REG		0X19	//陀螺仪采样频率分频器，典型值：0x07(125Hz)
+#define MPU_CFG_REG				0X1A	//低通滤波频率，典型值：0x06(5Hz)
+#define MPU_GYRO_CFG_REG		0X1B	//陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
+#define MPU_ACCEL_CFG_REG		0X1C	//加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
+#define MPU_ACCEL_CFG_REG_2		0X1D	//accel DLPF config
+#define MPU_MOTION_DET_REG		0X1F	//运动检测阀值设置寄存器
+#define MPU_FIFO_EN_REG			0X23	//FIFO使能寄存器
+#define MPU_I2CMST_CTRL_REG		0X24	//IIC主机控制寄存器
+#define MPU_I2CSLV0_ADDR_REG	0X25	//IIC从机0器件地址寄存器
+#define MPU_I2CSLV0_REG			0X26	//IIC从机0数据地址寄存器
+#define MPU_I2CSLV0_CTRL_REG	0X27	//IIC从机0控制寄存器
+#define MPU_I2CSLV1_ADDR_REG	0X28	//IIC从机1器件地址寄存器
+#define MPU_I2CSLV1_REG			0X29	//IIC从机1数据地址寄存器
+#define MPU_I2CSLV1_CTRL_REG	0X2A	//IIC从机1控制寄存器
+#define MPU_I2CSLV2_ADDR_REG	0X2B	//IIC从机2器件地址寄存器
+#define MPU_I2CSLV2_REG			0X2C	//IIC从机2数据地址寄存器
+#define MPU_I2CSLV2_CTRL_REG	0X2D	//IIC从机2控制寄存器
+#define MPU_I2CSLV3_ADDR_REG	0X2E	//IIC从机3器件地址寄存器
+#define MPU_I2CSLV3_REG			0X2F	//IIC从机3数据地址寄存器
+#define MPU_I2CSLV3_CTRL_REG	0X30	//IIC从机3控制寄存器
+#define MPU_I2CSLV4_ADDR_REG	0X31	//IIC从机4器件地址寄存器
+#define MPU_I2CSLV4_REG			0X32	//IIC从机4数据地址寄存器
+#define MPU_I2CSLV4_DO_REG		0X33	//IIC从机4写数据寄存器
+#define MPU_I2CSLV4_CTRL_REG	0X34	//IIC从机4控制寄存器
+#define MPU_I2CSLV4_DI_REG		0X35	//IIC从机4读数据寄存器
+
+#define MPU_I2CMST_STA_REG		0X36	//IIC主机状态寄存器
+#define MPU_INTBP_CFG_REG		0X37	//中断/旁路设置寄存器
+#define MPU_INT_EN_REG			0X38	//中断使能寄存器
+#define MPU_INT_STA_REG			0X3A	//中断状态寄存器
+
+#define MPU_ACCEL_XOUTH_REG		0X3B	//加速度值,X轴高8位寄存器
+#define MPU_ACCEL_XOUTL_REG		0X3C	//加速度值,X轴低8位寄存器
+#define MPU_ACCEL_YOUTH_REG		0X3D	//加速度值,Y轴高8位寄存器
+#define MPU_ACCEL_YOUTL_REG		0X3E	//加速度值,Y轴低8位寄存器
+#define MPU_ACCEL_ZOUTH_REG		0X3F	//加速度值,Z轴高8位寄存器
+#define MPU_ACCEL_ZOUTL_REG		0X40	//加速度值,Z轴低8位寄存器
+
+#define MPU_TEMP_OUTH_REG		0X41	//温度值高八位寄存器
+#define MPU_TEMP_OUTL_REG		0X42	//温度值低8位寄存器
+
+#define MPU_GYRO_XOUTH_REG		0X43	//陀螺仪值,X轴高8位寄存器
+#define MPU_GYRO_XOUTL_REG		0X44	//陀螺仪值,X轴低8位寄存器
+#define MPU_GYRO_YOUTH_REG		0X45	//陀螺仪值,Y轴高8位寄存器
+#define MPU_GYRO_YOUTL_REG		0X46	//陀螺仪值,Y轴低8位寄存器
+#define MPU_GYRO_ZOUTH_REG		0X47	//陀螺仪值,Z轴高8位寄存器
+#define MPU_GYRO_ZOUTL_REG		0X48	//陀螺仪值,Z轴低8位寄存器
+
+#define MPU_I2CSLV0_DO_REG		0X63	//IIC从机0数据寄存器
+#define MPU_I2CSLV1_DO_REG		0X64	//IIC从机1数据寄存器
+#define MPU_I2CSLV2_DO_REG		0X65	//IIC从机2数据寄存器
+#define MPU_I2CSLV3_DO_REG		0X66	//IIC从机3数据寄存器
+
+#define MPU_I2CMST_DELAY_REG	0X67	//IIC主机延时管理寄存器
+#define MPU_SIGPATH_RST_REG		0X68	//信号通道复位寄存器
+#define MPU_MDETECT_CTRL_REG	0X69	//运动检测控制寄存器
+#define MPU_USER_CTRL_REG		0X6A	//用户控制寄存器
+#define MPU_PWR_MGMT1_REG		0X6B	//电源管理寄存器1，典型值：0x00(正常启用)
+#define MPU_PWR_MGMT2_REG		0X6C	//电源管理寄存器2
+#define MPU_FIFO_CNTH_REG		0X72	//FIFO计数寄存器高八位
+#define MPU_FIFO_CNTL_REG		0X73	//FIFO计数寄存器低八位
+#define MPU_FIFO_RW_REG			0X74	//FIFO读写寄存器
+
+#define MPU6500_CLOCK_INTERNAL          0x00
+#define MPU6500_CLOCK_PLL_XGYRO         0x01
+#define MPU6500_CLOCK_PLL_YGYRO         0x02
+#define MPU6500_CLOCK_PLL_ZGYRO         0x03
+#define MPU6500_CLOCK_PLL_EXT32K        0x04
+#define MPU6500_CLOCK_PLL_EXT19M        0x05
+#define MPU6500_CLOCK_KEEP_RESET        0x07
+
+#define MPU6500_GYRO_FS_250         0x00
+#define MPU6500_GYRO_FS_500         0x01
+#define MPU6500_GYRO_FS_1000        0x02
+#define MPU6500_GYRO_FS_2000        0x03
+
+#define MPU6500_ACCEL_FS_2          0x00
+#define MPU6500_ACCEL_FS_4          0x01
+#define MPU6500_ACCEL_FS_8          0x02
+#define MPU6500_ACCEL_FS_16         0x03
+
+#define MPU6500_ACCEL_DLPF_BW_460   0x00
+#define MPU6500_ACCEL_DLPF_BW_184   0x01
+#define MPU6500_ACCEL_DLPF_BW_92    0x02
+#define MPU6500_ACCEL_DLPF_BW_41    0x03
+#define MPU6500_ACCEL_DLPF_BW_20    0x04
+#define MPU6500_ACCEL_DLPF_BW_10    0x05
+#define MPU6500_ACCEL_DLPF_BW_5     0x06
+
+#define MPU6500_DLPF_BW_256         0x00
+#define MPU6500_DLPF_BW_188         0x01
+#define MPU6500_DLPF_BW_98          0x02
+#define MPU6500_DLPF_BW_42          0x03
+#define MPU6500_DLPF_BW_20          0x04
+#define MPU6500_DLPF_BW_10          0x05
+#define MPU6500_DLPF_BW_5           0x06
+
+#define MPU6500_DATA_SAMPLE_RATE    100 //HZ
+/******************mag ak8963 reg*********************/
+// #define MAG_IIC_ADDRESS    0x0c   //AK8963磁场从机地址(旁路直连)
+// #define	MAG_WHO_AM_I	  0x00//IIC地址寄存器(默认数值0x48，只读)
+#define MAG_CNTL_1		0x0A
+#define MAG_CNTL_2		0x0B
+#define MAG_STATE_1		0x02
+#define MAG_XOUT_L		0x03
+#define MAG_XOUT_H		0x04
+#define MAG_YOUT_L		0x05
+#define MAG_YOUT_H		0x06
+#define MAG_ZOUT_L		0x07
+#define MAG_ZOUT_H		0x08
+#define MAG_STATE_2		0x09
+
+#define AK8963_MODE_POWERDOWN     0x00
+#define AK8963_MODE_SINGLE        0x01
+#define AK8963_MODE_CONT1         0x02
+#define AK8963_MODE_CONT2         0x06
+#define AK8963_MODE_EXTTRIG       0x04
+#define AK8963_MODE_SELFTEST      0x08
+#define AK8963_MODE_FUSEROM       0x0F
+#define AK8963_MODE_14BIT         0x00
+#define AK8963_MODE_16BIT         0x10
+
+
+
+
+// enum power_mode {
+// 	POWER_ACTIVE_MODE=0,
+// 	POWER_MONITOR_MODE=1,
+// 	POWER_HIBERNATE_MODE=3,//100ua.quit:need ft6336 reset
+// };
+
+
+typedef struct {
+    u8 comms;        //0:IIC;  1:SPI
+    u8 iic_hdl;
+    u8 iic_delay;    //这个延时并非影响iic的时钟频率，而是2Byte数据之间的延时
+} mpu9250_param;
+
+typedef struct {
+    s16 x_data;
+    s16 y_data;
+    s16 z_data;
+} axis_data;
+
+typedef struct {
+    axis_data mag_data;
+    axis_data accel_data;
+    axis_data gyro_data;
+    float temp_data;
+} mpu9250_data;
+
+#endif
+#endif
+