add cortex-v7a support
How To Run:
see TencentOS-tiny\board\ALPHA_I.MX_emmc_256ddr\README.md
TODO Next:
1. VFP support
2. fault diagnosis support
3. qemu vexpress ca9 support
4. raspberry pi support
5. SMP support
This commit is contained in:
daishengdong
236
board/ALPHA_I.MX_emmc_256ddr/bsp/mpu9250/bsp_mpu9250.c
Normal file
236
board/ALPHA_I.MX_emmc_256ddr/bsp/mpu9250/bsp_mpu9250.c
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@@ -0,0 +1,236 @@
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/***************************************************************
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Copyright © zuozhongkai Co., Ltd. 1998-2019. All rights reserved.
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文件名 : bsp_mpu9250.c
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作者 : 左忠凯
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版本 : V1.0
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描述 : MPU9250驱动文件。
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其他 : 无
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论坛 : www.openedv.com
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日志 : 初版V1.0 2019/1/15 左忠凯创建
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***************************************************************/
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#include "bsp_mpu9250.h"
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#include "bsp_i2c.h"
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#include "bsp_delay.h"
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#include "printf.h"
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/*
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* @description : 初始化MPU9250
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* @param : 无
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* @return : 0 成功，其他值 错误代码
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*/
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unsigned char mpu9250_init(void)
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{
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unsigned char data = 0;
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i2c_init(); /* 初始化IIC */
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mpu_write_byte(MPU9250_ADDR,MPU_PWR_MGMT1_REG,0X80);//复位MPU9250
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delayms(100); //延时100ms
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mpu_write_byte(MPU9250_ADDR,MPU_PWR_MGMT1_REG,0X00);//唤醒MPU9250
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mpu_set_gyro_range(3); //陀螺仪传感器,±2000dps
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mpu_set_accel_range(0); //加速度传感器,±2g
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mpu_set_rate(50); //设置采样率50Hz
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mpu_write_byte(MPU9250_ADDR,MPU_INT_EN_REG,0X00); //关闭所有中断
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mpu_write_byte(MPU9250_ADDR,MPU_USER_CTRL_REG,0X00);//I2C主模式关闭
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mpu_write_byte(MPU9250_ADDR,MPU_FIFO_EN_REG,0X00); //关闭FIFO
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mpu_write_byte(MPU9250_ADDR,MPU_INTBP_CFG_REG,0X82);//INT引脚低电平有效，开启bypass模式，可以直接读取磁力计
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data = mpu_read_byte(MPU9250_ADDR,MPU_DEVICE_ID_REG);
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if(data == MPU6500_ID)
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{
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printf("MPU9250 ID=%#X\r\n", data);
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mpu_write_byte(MPU9250_ADDR, MPU_PWR_MGMT1_REG, 0X01); /* 设置CLKSEL,PLL X轴为参考 */
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mpu_write_byte(MPU9250_ADDR, MPU_PWR_MGMT2_REG, 0X00); /* 加速度与陀螺仪都工作 */
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mpu_set_rate(50); /* 设置采样率为50Hz */
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}
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else {
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return 1;
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}
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data = mpu_read_byte(AK8963_ADDR, MAG_WIA); /* 读取AK8963 ID */
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if(data == AK8963_ID)
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{
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printf("AK8963_ID=%#X\r\n", data);
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mpu_write_byte(AK8963_ADDR, MAG_CNTL1, 0X11); /* 设置AK8963为单次测量模式 */
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}else return 2;
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return 0;
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}
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/*
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* @description : 向MPU9250写入数据
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* @param - addr: 设备地址
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* @param - reg : 要写入的寄存器
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* @param - data: 要写入的数据
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* @return : 操作结果
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*/
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unsigned char mpu_write_byte(unsigned char addr,unsigned char reg, unsigned char data)
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{
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unsigned char status=0;
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unsigned char writedata=data;
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struct i2c_transfer masterXfer;
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/* 配置I2C xfer结构体 */
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masterXfer.slaveAddress = addr; /* 设备地址 */
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masterXfer.direction = kI2C_Write; /* 写入数据 */
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masterXfer.subaddress = reg; /* 要写入的寄存器地址 */
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masterXfer.subaddressSize = 1; /* 地址长度一个字节 */
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masterXfer.data = &writedata; /* 要写入的数据 */
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masterXfer.dataSize = 1; /* 写入数据长度1个字节 */
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if(i2c_master_transfer(&masterXfer))
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status=1;
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return status;
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}
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/*
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* @description : 从MPU9250读取一个字节的数据
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* @param - addr: 设备地址
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* @param - reg : 要读取的寄存器
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* @return : 读取到的数据。
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*/
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unsigned char mpu_read_byte(unsigned char addr,unsigned char reg)
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{
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unsigned char val=0;
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struct i2c_transfer masterXfer;
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masterXfer.slaveAddress = addr; /* 设备地址 */
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masterXfer.direction = kI2C_Read; /* 读取数据 */
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masterXfer.subaddress = reg; /* 要读取的寄存器地址 */
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masterXfer.subaddressSize = 1; /* 地址长度一个字节 */
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masterXfer.data = &val; /* 接收数据缓冲区 */
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masterXfer.dataSize = 1; /* 读取数据长度1个字节 */
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i2c_master_transfer(&masterXfer);
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return val;
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}
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/*
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* @description : 从MPU9250读取多个字节的数据
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* @param - addr: 设备地址
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* @param - reg : 要读取的开始寄存器地址
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* @param - len : 要读取的数据长度.
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* @param - buf : 读取到的数据缓冲区
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* @return : 无
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*/
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void mpu_read_len(unsigned char addr,unsigned char reg,unsigned char len,unsigned char *buf)
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{
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struct i2c_transfer masterXfer;
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masterXfer.slaveAddress = addr; /* 设备地址 */
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masterXfer.direction = kI2C_Read; /* 读取数据 */
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masterXfer.subaddress = reg; /* 要读取的寄存器地址 */
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masterXfer.subaddressSize = 1; /* 地址长度一个字节 */
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masterXfer.data = buf; /* 接收数据缓冲区 */
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masterXfer.dataSize = len; /* 读取数据长度1个字节 */
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i2c_master_transfer(&masterXfer);
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}
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/*
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* @description : 设置MPU9250陀螺仪量程
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* @param - range : 量程范围,0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
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* @return : 操作结果 0,设置成功 其他,设置失败
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*/
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unsigned char mpu_set_gyro_range(unsigned char range)
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{
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return mpu_write_byte(MPU9250_ADDR, MPU_GYRO_CFG_REG, range << 3);//设置陀螺仪满量程范围
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}
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/*
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* @description : 设置MPU9250加速度量程
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* @param - range : 量程范围,0,±2g;1,±4g;2,±8g;3,±16g
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* @return : 操作结果 0,设置成功 其他,设置失败
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*/
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unsigned char mpu_set_accel_range(unsigned char range)
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{
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return mpu_write_byte(MPU9250_ADDR, MPU_ACCEL_CFG_REG,range << 3);//设置加速度传感器满量程范围
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}
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/*
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* @description : 设置MPU9250的数字低通滤波器
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* @param - range : 数字低通滤波频率(Hz)
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* @return : 操作结果 0,设置成功 其他,设置失败
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*/
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unsigned char mpu_set_lpf(unsigned short fre)
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{
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unsigned char data = 0;
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if(fre >= 188) data=1;
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else if(fre >= 98) data=2;
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else if(fre >= 42) data=3;
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else if(fre >= 20) data=4;
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else if(fre >= 10) data=5;
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else data = 6;
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return mpu_write_byte(MPU9250_ADDR,MPU_CFG_REG,data);
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}
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/*
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* @description : 设置MPU9250采样率(假定Fs=1KHz)
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* @param - rate: 4~1000(Hz)
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* @return : 操作结果 0,设置成功 其他,设置失败
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*/
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unsigned char mpu_set_rate(unsigned short rate)
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{
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unsigned char data;
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if(rate > 1000) rate = 1000;
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if(rate < 4) rate = 4;
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data = 1000 / rate - 1;
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data = mpu_write_byte(MPU9250_ADDR,MPU_SAMPLE_RATE_REG,data); /* 设置数字低通滤波器 */
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return mpu_set_lpf(rate / 2); /* 自动设置LPF为采样率的一半 */
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}
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/*
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* @description : 得到陀螺仪值(原始值)
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* @param - gx : 陀螺仪X轴原始数据
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* @param - gy : 陀螺仪Y轴原始数据
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* @param - gz ：陀螺仪Z轴原始数据
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* @return : 0,设置成功 其他,设置失败
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*/
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void mpu_get_gyroscope(short *gx,short *gy,short *gz)
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{
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unsigned char buf[6];
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mpu_read_len(MPU9250_ADDR, MPU_GYRO_XOUTH_REG, 6, buf);
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*gx=((short)buf[0] << 8) | buf[1];
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*gy=((short)buf[2] << 8) | buf[3];
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*gz=((short)buf[4] << 8) | buf[5];
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}
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/*
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* @description : 得到加速度原始值
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* @param - ax : 加速度X轴原始数据
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* @param - ay : 加速度Y轴原始数据
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* @param - az ：加速度Z轴原始数据
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* @return : 0,设置成功 其他,设置失败
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*/
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void mpu_get_accelerometer(short *ax,short *ay,short *az)
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{
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unsigned char buf[6];
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mpu_read_len(MPU9250_ADDR, MPU_ACCEL_XOUTH_REG, 6, buf);
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*ax=((short)buf[0] << 8) | buf[1];
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*ay=((short)buf[2] << 8) | buf[3];
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*az=((short)buf[4] << 8) | buf[5];
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}
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/*
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* @description : 得到原始磁力计值
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* @param - mx : 磁力计X轴原始数据
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* @param - my : 磁力计Y轴原始数据
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* @param - mz ：磁力计Z轴原始数据
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* @return : 0,设置成功 其他,设置失败
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*/
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void mpu_get_magnetometer(short *mx, short *my, short *mz)
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{
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unsigned char buf[6];
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mpu_read_len(AK8963_ADDR, MAG_XOUT_L , 6, buf);
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*mx = ((short)buf[1] << 8) | buf[0];
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*my = ((short)buf[3] << 8) | buf[2];
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*mz = ((short)buf[5] << 8) | buf[4];
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mpu_write_byte(AK8963_ADDR, MAG_CNTL1, 0X11); /* AK8963每次读完以后都需要重新设置为单次测量模式 */
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}
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116
board/ALPHA_I.MX_emmc_256ddr/bsp/mpu9250/bsp_mpu9250.h
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116
board/ALPHA_I.MX_emmc_256ddr/bsp/mpu9250/bsp_mpu9250.h
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@@ -0,0 +1,116 @@
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#ifndef _BSP_MPU9250_H
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#define _BSP_MPU9250_H
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/***************************************************************
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Copyright © zuozhongkai Co., Ltd. 1998-2019. All rights reserved.
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文件名 : bsp_mpu9250.h
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作者 : 左忠凯
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版本 : V1.0
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描述 : MPU9250驱动头文件。
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其他 : 无
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论坛 : www.openedv.com
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日志 : 初版V1.0 2019/1/4 左忠凯创建
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***************************************************************/
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#include "bsp.h"
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#define MPU9250_ADDR 0X68 /* MPU6500的器件IIC地址 */
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#define MPU6500_ID 0X71 /* MPU6500的器件ID */
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/*MPU9250内部封装了一个AK8963磁力计,地址和ID如下: */
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#define AK8963_ADDR 0X0C /* AK8963的I2C地址 */
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#define AK8963_ID 0X48 /* AK8963的器件ID */
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/* MPU6500的内部寄存器 */
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#define MPU_SELF_TESTX_REG 0X0D //自检寄存器X
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#define MPU_SELF_TESTY_REG 0X0E //自检寄存器Y
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#define MPU_SELF_TESTZ_REG 0X0F //自检寄存器Z
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#define MPU_SELF_TESTA_REG 0X10 //自检寄存器A
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#define MPU_SAMPLE_RATE_REG 0X19 //采样频率分频器
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#define MPU_CFG_REG 0X1A //配置寄存器
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#define MPU_GYRO_CFG_REG 0X1B //陀螺仪配置寄存器
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#define MPU_ACCEL_CFG_REG 0X1C //加速度计配置寄存器
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#define MPU_MOTION_DET_REG 0X1F //运动检测阀值设置寄存器
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#define MPU_FIFO_EN_REG 0X23 //FIFO使能寄存器
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#define MPU_I2CMST_CTRL_REG 0X24 //IIC主机控制寄存器
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#define MPU_I2CSLV0_ADDR_REG 0X25 //IIC从机0器件地址寄存器
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#define MPU_I2CSLV0_REG 0X26 //IIC从机0数据地址寄存器
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#define MPU_I2CSLV0_CTRL_REG 0X27 //IIC从机0控制寄存器
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#define MPU_I2CSLV1_ADDR_REG 0X28 //IIC从机1器件地址寄存器
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#define MPU_I2CSLV1_REG 0X29 //IIC从机1数据地址寄存器
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#define MPU_I2CSLV1_CTRL_REG 0X2A //IIC从机1控制寄存器
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#define MPU_I2CSLV2_ADDR_REG 0X2B //IIC从机2器件地址寄存器
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#define MPU_I2CSLV2_REG 0X2C //IIC从机2数据地址寄存器
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#define MPU_I2CSLV2_CTRL_REG 0X2D //IIC从机2控制寄存器
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#define MPU_I2CSLV3_ADDR_REG 0X2E //IIC从机3器件地址寄存器
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#define MPU_I2CSLV3_REG 0X2F //IIC从机3数据地址寄存器
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#define MPU_I2CSLV3_CTRL_REG 0X30 //IIC从机3控制寄存器
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#define MPU_I2CSLV4_ADDR_REG 0X31 //IIC从机4器件地址寄存器
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#define MPU_I2CSLV4_REG 0X32 //IIC从机4数据地址寄存器
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#define MPU_I2CSLV4_DO_REG 0X33 //IIC从机4写数据寄存器
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#define MPU_I2CSLV4_CTRL_REG 0X34 //IIC从机4控制寄存器
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#define MPU_I2CSLV4_DI_REG 0X35 //IIC从机4读数据寄存器
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#define MPU_I2CMST_STA_REG 0X36 //IIC主机状态寄存器
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#define MPU_INTBP_CFG_REG 0X37 //中断/旁路设置寄存器
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#define MPU_INT_EN_REG 0X38 //中断使能寄存器
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#define MPU_INT_STA_REG 0X3A //中断状态寄存器
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#define MPU_ACCEL_XOUTH_REG 0X3B //加速度值,X轴高8位寄存器
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#define MPU_ACCEL_XOUTL_REG 0X3C //加速度值,X轴低8位寄存器
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#define MPU_ACCEL_YOUTH_REG 0X3D //加速度值,Y轴高8位寄存器
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#define MPU_ACCEL_YOUTL_REG 0X3E //加速度值,Y轴低8位寄存器
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#define MPU_ACCEL_ZOUTH_REG 0X3F //加速度值,Z轴高8位寄存器
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#define MPU_ACCEL_ZOUTL_REG 0X40 //加速度值,Z轴低8位寄存器
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#define MPU_TEMP_OUTH_REG 0X41 //温度值高八位寄存器
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#define MPU_TEMP_OUTL_REG 0X42 //温度值低8位寄存器
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#define MPU_GYRO_XOUTH_REG 0X43 //陀螺仪值,X轴高8位寄存器
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#define MPU_GYRO_XOUTL_REG 0X44 //陀螺仪值,X轴低8位寄存器
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#define MPU_GYRO_YOUTH_REG 0X45 //陀螺仪值,Y轴高8位寄存器
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#define MPU_GYRO_YOUTL_REG 0X46 //陀螺仪值,Y轴低8位寄存器
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#define MPU_GYRO_ZOUTH_REG 0X47 //陀螺仪值,Z轴高8位寄存器
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#define MPU_GYRO_ZOUTL_REG 0X48 //陀螺仪值,Z轴低8位寄存器
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#define MPU_I2CSLV0_DO_REG 0X63 //IIC从机0数据寄存器
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#define MPU_I2CSLV1_DO_REG 0X64 //IIC从机1数据寄存器
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#define MPU_I2CSLV2_DO_REG 0X65 //IIC从机2数据寄存器
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#define MPU_I2CSLV3_DO_REG 0X66 //IIC从机3数据寄存器
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#define MPU_I2CMST_DELAY_REG 0X67 //IIC主机延时管理寄存器
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#define MPU_SIGPATH_RST_REG 0X68 //信号通道复位寄存器
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#define MPU_MDETECT_CTRL_REG 0X69 //运动检测控制寄存器
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#define MPU_USER_CTRL_REG 0X6A //用户控制寄存器
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#define MPU_PWR_MGMT1_REG 0X6B //电源管理寄存器1
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#define MPU_PWR_MGMT2_REG 0X6C //电源管理寄存器2
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#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 MPU_DEVICE_ID_REG 0X75 //器件ID寄存器
|
||||
|
||||
/*AK8963的内部寄存器 */
|
||||
#define MAG_WIA 0x00 //AK8963的器件ID寄存器地址
|
||||
#define MAG_CNTL1 0X0A
|
||||
#define MAG_CNTL2 0X0B
|
||||
|
||||
#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
|
||||
|
||||
|
||||
/* 函数声明 */
|
||||
unsigned char mpu9250_init(void);
|
||||
unsigned char mpu_write_byte(unsigned char addr,unsigned char reg, unsigned char data);
|
||||
unsigned char mpu_read_byte(unsigned char addr,unsigned char reg);
|
||||
void mpu_read_Len(unsigned char addr,unsigned char reg,unsigned char len,unsigned char *buf);
|
||||
unsigned char mpu_set_gyro_range(unsigned char range);
|
||||
unsigned char mpu_set_accel_range(unsigned char range);
|
||||
unsigned char mpu_set_lpf(unsigned short fre);
|
||||
unsigned char mpu_set_rate(unsigned short rate);
|
||||
void mpu_get_gyroscope(short *gx,short *gy,short *gz);
|
||||
void mpu_get_accelerometer(short *ax,short *ay,short *az);
|
||||
void mpu_get_magnetometer(short *mx, short *my, short *mz);
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user