3d9d6198c8
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
132 lines
4.1 KiB
C
132 lines
4.1 KiB
C
#ifndef _BSP_ICM20608_H
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#define _BSP_ICM20608_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_icm20608.h
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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.h"
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#include "bsp_gpio.h"
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/* 宏定义 */
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#define ICM20608_CSN(n) (n ? gpio_pinwrite(GPIO1, 20, 1) : gpio_pinwrite(GPIO1, 20, 0)) /* SPI片选信号 */
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#define ICM20608G_ID 0XAF /* ID值 */
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#define ICM20608D_ID 0XAE /* ID值 */
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/* ICM20608寄存器
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*复位后所有寄存器地址都为0，除了
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*Register 107(0X6B) Power Management 1 = 0x40
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*Register 117(0X75) WHO_AM_I = 0xAF或0xAE
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*/
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/* 陀螺仪和加速度自测(出产时设置，用于与用户的自检输出值比较） */
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#define ICM20_SELF_TEST_X_GYRO 0x00
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#define ICM20_SELF_TEST_Y_GYRO 0x01
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#define ICM20_SELF_TEST_Z_GYRO 0x02
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#define ICM20_SELF_TEST_X_ACCEL 0x0D
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#define ICM20_SELF_TEST_Y_ACCEL 0x0E
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#define ICM20_SELF_TEST_Z_ACCEL 0x0F
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/* 陀螺仪静态偏移 */
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#define ICM20_XG_OFFS_USRH 0x13
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#define ICM20_XG_OFFS_USRL 0x14
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#define ICM20_YG_OFFS_USRH 0x15
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#define ICM20_YG_OFFS_USRL 0x16
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#define ICM20_ZG_OFFS_USRH 0x17
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#define ICM20_ZG_OFFS_USRL 0x18
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#define ICM20_SMPLRT_DIV 0x19
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#define ICM20_CONFIG 0x1A
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#define ICM20_GYRO_CONFIG 0x1B
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#define ICM20_ACCEL_CONFIG 0x1C
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#define ICM20_ACCEL_CONFIG2 0x1D
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#define ICM20_LP_MODE_CFG 0x1E
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#define ICM20_ACCEL_WOM_THR 0x1F
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#define ICM20_FIFO_EN 0x23
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#define ICM20_FSYNC_INT 0x36
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#define ICM20_INT_PIN_CFG 0x37
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#define ICM20_INT_ENABLE 0x38
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#define ICM20_INT_STATUS 0x3A
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/* 加速度输出 */
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#define ICM20_ACCEL_XOUT_H 0x3B
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#define ICM20_ACCEL_XOUT_L 0x3C
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#define ICM20_ACCEL_YOUT_H 0x3D
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#define ICM20_ACCEL_YOUT_L 0x3E
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#define ICM20_ACCEL_ZOUT_H 0x3F
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#define ICM20_ACCEL_ZOUT_L 0x40
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/* 温度输出 */
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#define ICM20_TEMP_OUT_H 0x41
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#define ICM20_TEMP_OUT_L 0x42
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/* 陀螺仪输出 */
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#define ICM20_GYRO_XOUT_H 0x43
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#define ICM20_GYRO_XOUT_L 0x44
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#define ICM20_GYRO_YOUT_H 0x45
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#define ICM20_GYRO_YOUT_L 0x46
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#define ICM20_GYRO_ZOUT_H 0x47
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#define ICM20_GYRO_ZOUT_L 0x48
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#define ICM20_SIGNAL_PATH_RESET 0x68
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#define ICM20_ACCEL_INTEL_CTRL 0x69
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#define ICM20_USER_CTRL 0x6A
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#define ICM20_PWR_MGMT_1 0x6B
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#define ICM20_PWR_MGMT_2 0x6C
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#define ICM20_FIFO_COUNTH 0x72
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#define ICM20_FIFO_COUNTL 0x73
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#define ICM20_FIFO_R_W 0x74
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#define ICM20_WHO_AM_I 0x75
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/* 加速度静态偏移 */
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#define ICM20_XA_OFFSET_H 0x77
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#define ICM20_XA_OFFSET_L 0x78
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#define ICM20_YA_OFFSET_H 0x7A
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#define ICM20_YA_OFFSET_L 0x7B
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#define ICM20_ZA_OFFSET_H 0x7D
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#define ICM20_ZA_OFFSET_L 0x7E
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/*
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* ICM20608结构体
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*/
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struct icm20608_dev_struc
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{
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signed int gyro_x_adc; /* 陀螺仪X轴原始值 */
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signed int gyro_y_adc; /* 陀螺仪Y轴原始值 */
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signed int gyro_z_adc; /* 陀螺仪Z轴原始值 */
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signed int accel_x_adc; /* 加速度计X轴原始值 */
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signed int accel_y_adc; /* 加速度计Y轴原始值 */
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signed int accel_z_adc; /* 加速度计Z轴原始值 */
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signed int temp_adc; /* 温度原始值 */
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/* 下面是计算得到的实际值，扩大100倍 */
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signed int gyro_x_act; /* 陀螺仪X轴实际值 */
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signed int gyro_y_act; /* 陀螺仪Y轴实际值 */
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signed int gyro_z_act; /* 陀螺仪Z轴实际值 */
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signed int accel_x_act; /* 加速度计X轴实际值 */
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signed int accel_y_act; /* 加速度计Y轴实际值 */
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signed int accel_z_act; /* 加速度计Z轴实际值 */
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signed int temp_act; /* 温度实际值 */
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};
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struct icm20608_dev_struc icm20608_dev; /* icm20608设备 */
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/* 函数声明 */
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unsigned char icm20608_init(void);
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void icm20608_write_reg(unsigned char reg, unsigned char value);
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unsigned char icm20608_read_reg(unsigned char reg);
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void icm20608_read_len(unsigned char reg, unsigned char *buf, unsigned char len);
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void icm20608_getdata(void);
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#endif
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