3d9d6198c8
How To Run:
see TencentOS-tiny\board\ALPHA_I.MX_emmc_256ddr\README.md
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2. fault diagnosis support
3. qemu vexpress ca9 support
4. raspberry pi support
5. SMP support
242 lines
7.3 KiB
C
242 lines
7.3 KiB
C
/***************************************************************
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Copyright © zuozhongkai Co., Ltd. 1998-2019. All rights reserved.
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文件名 : bsp_icm20608.c
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作者 : 左忠凯
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版本 : V1.0
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描述 : ICM20608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 2019/3/26 左忠凯创建
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***************************************************************/
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#include "bsp_icm20608.h"
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#include "bsp_delay.h"
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#include "bsp_spi.h"
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#include "printf.h"
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struct icm20608_dev_struc icm20608_dev; /* icm20608设备 */
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/*
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* @description : 初始化ICM20608
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* @param : 无
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* @return : 0 初始化成功，其他值 初始化失败
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*/
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unsigned char icm20608_init(void)
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{
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unsigned char regvalue;
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gpio_pin_config_t cs_config;
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/* 1、ESPI3 IO初始化
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* ECSPI3_SCLK -> UART2_RXD
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* ECSPI3_MISO -> UART2_RTS
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* ECSPI3_MOSI -> UART2_CTS
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*/
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IOMUXC_SetPinMux(IOMUXC_UART2_RX_DATA_ECSPI3_SCLK, 0);
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IOMUXC_SetPinMux(IOMUXC_UART2_CTS_B_ECSPI3_MOSI, 0);
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IOMUXC_SetPinMux(IOMUXC_UART2_RTS_B_ECSPI3_MISO, 0);
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/* 配置SPI SCLK MISO MOSI IO属性
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*bit 16: 0 HYS关闭
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*bit [15:14]: 00 默认100K下拉
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*bit [13]: 0 keeper功能
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*bit [12]: 1 pull/keeper使能
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*bit [11]: 0 关闭开路输出
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*bit [7:6]: 10 速度100Mhz
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*bit [5:3]: 110 驱动能力为R0/6
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*bit [0]: 1 高转换率
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*/
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IOMUXC_SetPinConfig(IOMUXC_UART2_RX_DATA_ECSPI3_SCLK, 0x10B1);
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IOMUXC_SetPinConfig(IOMUXC_UART2_CTS_B_ECSPI3_MOSI, 0x10B1);
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IOMUXC_SetPinConfig(IOMUXC_UART2_RTS_B_ECSPI3_MISO, 0x10B1);
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IOMUXC_SetPinMux(IOMUXC_UART2_TX_DATA_GPIO1_IO20, 0);
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IOMUXC_SetPinConfig(IOMUXC_UART2_TX_DATA_GPIO1_IO20, 0X10B0);
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cs_config.direction = kGPIO_DigitalOutput;
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cs_config.outputLogic = 0;
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gpio_init(GPIO1, 20, &cs_config);
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/* 2、初始化SPI */
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spi_init(ECSPI3);
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icm20608_write_reg(ICM20_PWR_MGMT_1, 0x80); /* 复位，复位后为0x40,睡眠模式 */
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delayms(50);
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icm20608_write_reg(ICM20_PWR_MGMT_1, 0x01); /* 关闭睡眠，自动选择时钟 */
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delayms(50);
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regvalue = icm20608_read_reg(ICM20_WHO_AM_I);
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printf("icm20608 id = %#X\r\n", regvalue);
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if(regvalue != ICM20608G_ID && regvalue != ICM20608D_ID)
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return 1;
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icm20608_write_reg(ICM20_SMPLRT_DIV, 0x00); /* 输出速率是内部采样率 */
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icm20608_write_reg(ICM20_GYRO_CONFIG, 0x18); /* 陀螺仪±2000dps量程 */
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icm20608_write_reg(ICM20_ACCEL_CONFIG, 0x18); /* 加速度计±16G量程 */
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icm20608_write_reg(ICM20_CONFIG, 0x04); /* 陀螺仪低通滤波BW=20Hz */
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icm20608_write_reg(ICM20_ACCEL_CONFIG2, 0x04); /* 加速度计低通滤波BW=21.2Hz */
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icm20608_write_reg(ICM20_PWR_MGMT_2, 0x00); /* 打开加速度计和陀螺仪所有轴 */
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icm20608_write_reg(ICM20_LP_MODE_CFG, 0x00); /* 关闭低功耗 */
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icm20608_write_reg(ICM20_FIFO_EN, 0x00); /* 关闭FIFO */
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return 0;
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}
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/*
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* @description : 写ICM20608指定寄存器
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* @param - reg : 要读取的寄存器地址
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* @param - value: 要写入的值
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* @return : 无
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*/
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void icm20608_write_reg(unsigned char reg, unsigned char value)
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{
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/* ICM20608在使用SPI接口的时候寄存器地址
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* 只有低7位有效,寄存器地址最高位是读/写标志位
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* 读的时候要为1，写的时候要为0。
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*/
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reg &= ~0X80;
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ICM20608_CSN(0); /* 使能SPI传输 */
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spich0_readwrite_byte(ECSPI3, reg); /* 发送寄存器地址 */
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spich0_readwrite_byte(ECSPI3, value); /* 发送要写入的值 */
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ICM20608_CSN(1); /* 禁止SPI传输 */
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}
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/*
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* @description : 读取ICM20608寄存器值
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* @param - reg : 要读取的寄存器地址
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* @return : 读取到的寄存器值
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*/
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unsigned char icm20608_read_reg(unsigned char reg)
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{
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unsigned char reg_val;
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/* ICM20608在使用SPI接口的时候寄存器地址
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* 只有低7位有效,寄存器地址最高位是读/写标志位
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* 读的时候要为1，写的时候要为0。
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*/
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reg |= 0x80;
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ICM20608_CSN(0); /* 使能SPI传输 */
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spich0_readwrite_byte(ECSPI3, reg); /* 发送寄存器地址 */
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reg_val = spich0_readwrite_byte(ECSPI3, 0XFF); /* 读取寄存器的值 */
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ICM20608_CSN(1); /* 禁止SPI传输 */
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return(reg_val); /* 返回读取到的寄存器值 */
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}
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/*
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* @description : 读取ICM20608连续多个寄存器
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* @param - reg : 要读取的寄存器地址
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* @return : 读取到的寄存器值
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*/
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void icm20608_read_len(unsigned char reg, unsigned char *buf, unsigned char len)
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{
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unsigned char i;
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/* ICM20608在使用SPI接口的时候寄存器地址，只有低7位有效,
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* 寄存器地址最高位是读/写标志位读的时候要为1，写的时候要为0。
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*/
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reg |= 0x80;
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ICM20608_CSN(0); /* 使能SPI传输 */
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spich0_readwrite_byte(ECSPI3, reg); /* 发送寄存器地址 */
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for(i = 0; i < len; i++) /* 顺序读取寄存器的值 */
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{
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buf[i] = spich0_readwrite_byte(ECSPI3, 0XFF);
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}
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ICM20608_CSN(1); /* 禁止SPI传输 */
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}
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/*
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* @description : 获取陀螺仪的分辨率
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* @param : 无
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* @return : 获取到的分辨率
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*/
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float icm20608_gyro_scaleget(void)
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{
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unsigned char data;
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float gyroscale;
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data = (icm20608_read_reg(ICM20_GYRO_CONFIG) >> 3) & 0X3;
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switch(data) {
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case 0:
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gyroscale = 131;
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break;
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case 1:
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gyroscale = 65.5;
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break;
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case 2:
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gyroscale = 32.8;
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break;
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case 3:
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gyroscale = 16.4;
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break;
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}
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return gyroscale;
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}
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/*
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* @description : 获取加速度计的分辨率
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* @param : 无
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* @return : 获取到的分辨率
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*/
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unsigned short icm20608_accel_scaleget(void)
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{
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unsigned char data;
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unsigned short accelscale;
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data = (icm20608_read_reg(ICM20_ACCEL_CONFIG) >> 3) & 0X3;
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switch(data) {
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case 0:
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accelscale = 16384;
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break;
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case 1:
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accelscale = 8192;
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break;
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case 2:
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accelscale = 4096;
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break;
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case 3:
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accelscale = 2048;
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break;
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}
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return accelscale;
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}
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/*
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* @description : 读取ICM20608的加速度、陀螺仪和温度原始值
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* @param : 无
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* @return : 无
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*/
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void icm20608_getdata(void)
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{
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float gyroscale;
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unsigned short accescale;
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unsigned char data[14];
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icm20608_read_len(ICM20_ACCEL_XOUT_H, data, 14);
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gyroscale = icm20608_gyro_scaleget();
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accescale = icm20608_accel_scaleget();
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icm20608_dev.accel_x_adc = (signed short)((data[0] << 8) | data[1]);
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icm20608_dev.accel_y_adc = (signed short)((data[2] << 8) | data[3]);
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icm20608_dev.accel_z_adc = (signed short)((data[4] << 8) | data[5]);
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icm20608_dev.temp_adc = (signed short)((data[6] << 8) | data[7]);
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icm20608_dev.gyro_x_adc = (signed short)((data[8] << 8) | data[9]);
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icm20608_dev.gyro_y_adc = (signed short)((data[10] << 8) | data[11]);
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icm20608_dev.gyro_z_adc = (signed short)((data[12] << 8) | data[13]);
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/* 计算实际值 */
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icm20608_dev.gyro_x_act = ((float)(icm20608_dev.gyro_x_adc) / gyroscale) * 100;
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icm20608_dev.gyro_y_act = ((float)(icm20608_dev.gyro_y_adc) / gyroscale) * 100;
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icm20608_dev.gyro_z_act = ((float)(icm20608_dev.gyro_z_adc) / gyroscale) * 100;
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icm20608_dev.accel_x_act = ((float)(icm20608_dev.accel_x_adc) / accescale) * 100;
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icm20608_dev.accel_y_act = ((float)(icm20608_dev.accel_y_adc) / accescale) * 100;
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icm20608_dev.accel_z_act = ((float)(icm20608_dev.accel_z_adc) / accescale) * 100;
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icm20608_dev.temp_act = (((float)(icm20608_dev.temp_adc) - 25 ) / 326.8 + 25) * 100;
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}
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