280 lines
18 KiB
C
280 lines
18 KiB
C
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/*/*********************************************************************************************************************
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* CH32V307VCT6 Opensourec Library 即（CH32V307VCT6 开源库）是一个基于官方 SDK 接口的第三方开源库
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* Copyright (c) 2022 SEEKFREE 逐飞科技
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*
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* 本文件是CH32V307VCT6 开源库的一部分
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*
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* CH32V307VCT6 开源库 是免费软件
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* 您可以根据自由软件基金会发布的 GPL（GNU General Public License，即 GNU通用公共许可证）的条款
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* 即 GPL 的第3版（即 GPL3.0）或（您选择的）任何后来的版本，重新发布和/或修改它
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*
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* 本开源库的发布是希望它能发挥作用，但并未对其作任何的保证
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* 甚至没有隐含的适销性或适合特定用途的保证
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* 更多细节请参见 GPL
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*
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* 您应该在收到本开源库的同时收到一份 GPL 的副本
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* 如果没有，请参阅<https://www.gnu.org/licenses/>
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*
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* 额外注明：
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* 本开源库使用 GPL3.0 开源许可证协议 以上许可申明为译文版本
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* 许可申明英文版在 libraries/doc 文件夹下的 GPL3_permission_statement.txt 文件中
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* 许可证副本在 libraries 文件夹下 即该文件夹下的 LICENSE 文件
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* 欢迎各位使用并传播本程序 但修改内容时必须保留逐飞科技的版权声明（即本声明）
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*
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* 文件名称 zf_device_imu963ra
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* 公司名称 成都逐飞科技有限公司
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* 版本信息 查看 libraries/doc 文件夹内 version 文件 版本说明
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* 开发环境 MounRiver Studio V1.8.1
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* 适用平台 CH32V307VCT6
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* 店铺链接 https://seekfree.taobao.com/
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*
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* 修改记录
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* 日期 作者 备注
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* 2022-09-15 大W first version
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********************************************************************************************************************/
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/*********************************************************************************************************************
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* 接线定义：
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* ------------------------------------
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* 模块管脚 单片机管脚
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* // 硬件 SPI 引脚
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* SCL/SPC 查看 zf_device_imu963ra.h 中 IMU963RA_SPC_PIN 宏定义
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* SDA/DSI 查看 zf_device_imu963ra.h 中 IMU963RA_SDI_PIN 宏定义
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* SA0/SDO 查看 zf_device_imu963ra.h 中 IMU963RA_SDO_PIN 宏定义
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* CS 查看 zf_device_imu963ra.h 中 IMU963RA_CS_PIN 宏定义
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* VCC 3.3V电源
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* GND 电源地
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* 其余引脚悬空
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* // 软件 IIC 引脚
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* SCL/SPC 查看 zf_device_imu963ra.h 中 IMU963RA_SCL_PIN 宏定义
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* SDA/DSI 查看 zf_device_imu963ra.h 中 IMU963RA_SDA_PIN 宏定义
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* VCC 3.3V电源
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* GND 电源地
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* 其余引脚悬空
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* ------------------------------------
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********************************************************************************************************************/
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#ifndef _zf_device_imu963ra_h
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#define _zf_device_imu963ra_h
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#include "zf_common_typedef.h"
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#define IMU963RA_USE_SOFT_IIC (0) // 默认使用硬件 SPI 方式驱动
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#if IMU963RA_USE_SOFT_IIC // 这两段 颜色正常的才是正确的 颜色灰的就是没有用的
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//====================================================软件 IIC 驱动====================================================
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#define IMU963RA_SOFT_IIC_DELAY (10 ) // 软件 IIC 的时钟延时周期 数值越小 IIC 通信速率越快
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#define IMU963RA_SCL_PIN (B3) // 软件 IIC SCL 引脚 连接 IMU963RA 的 SCL 引脚
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#define IMU963RA_SDA_PIN (B5) // 软件 IIC SDA 引脚 连接 IMU963RA 的 SDA 引脚
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//====================================================软件 IIC 驱动====================================================
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#else
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//====================================================硬件 SPI 驱动====================================================
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#define IMU963RA_SPI_SPEED (10*1000*1000 ) // 硬件 SPI 速率
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#define IMU963RA_SPI (SPI_3 ) // 硬件 SPI 号
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#define IMU963RA_SPC_PIN (SPI3_MAP0_SCK_B3 ) // 硬件 SPI SCK 引脚
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#define IMU963RA_SDI_PIN (SPI3_MAP0_MOSI_B5) // 硬件 SPI MOSI 引脚
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#define IMU963RA_SDO_PIN (SPI3_MAP0_MISO_B4) // 硬件 SPI MISO 引脚
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//====================================================硬件 SPI 驱动====================================================
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#endif
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#define IMU963RA_CS_PIN (C10) // CS 片选引脚
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#define IMU963RA_CS(x) (x? (gpio_high(IMU963RA_CS_PIN)): (gpio_low(IMU963RA_CS_PIN)))
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typedef enum
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{
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IMU963RA_ACC_SAMPLE_SGN_2G , // 加速度计量程 ±2G (ACC = Accelerometer 加速度计) (SGN = signum 带符号数 表示正负范围) (G = g 重力加速度 g≈9.80 m/s^2)
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IMU963RA_ACC_SAMPLE_SGN_4G , // 加速度计量程 ±4G (ACC = Accelerometer 加速度计) (SGN = signum 带符号数 表示正负范围) (G = g 重力加速度 g≈9.80 m/s^2)
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IMU963RA_ACC_SAMPLE_SGN_8G , // 加速度计量程 ±8G (ACC = Accelerometer 加速度计) (SGN = signum 带符号数 表示正负范围) (G = g 重力加速度 g≈9.80 m/s^2)
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IMU963RA_ACC_SAMPLE_SGN_16G, // 加速度计量程 ±16G (ACC = Accelerometer 加速度计) (SGN = signum 带符号数 表示正负范围) (G = g 重力加速度 g≈9.80 m/s^2)
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}imu963ra_acc_sample_config;
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typedef enum
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{
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IMU963RA_GYRO_SAMPLE_SGN_125DPS , // 陀螺仪量程 ±125DPS (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
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IMU963RA_GYRO_SAMPLE_SGN_250DPS , // 陀螺仪量程 ±250DPS (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
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IMU963RA_GYRO_SAMPLE_SGN_500DPS , // 陀螺仪量程 ±500DPS (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
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IMU963RA_GYRO_SAMPLE_SGN_1000DPS, // 陀螺仪量程 ±1000DPS (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
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IMU963RA_GYRO_SAMPLE_SGN_2000DPS, // 陀螺仪量程 ±2000DPS (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
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IMU963RA_GYRO_SAMPLE_SGN_4000DPS, // 陀螺仪量程 ±4000DPS (GYRO = Gyroscope 陀螺仪) (SGN = signum 带符号数 表示正负范围) (DPS = Degree Per Second 角速度单位 °/S)
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}imu963ra_gyro_sample_config;
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typedef enum
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{
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IMU963RA_MAG_SAMPLE_2G, // 磁力计量程 2G (MAG = Magnetometer 陀螺仪) (G = Gs 高斯)
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IMU963RA_MAG_SAMPLE_8G, // 磁力计量程 8G (MAG = Magnetometer 陀螺仪) (G = Gs 高斯)
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}imu963ra_mag_sample_config;
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#define IMU963RA_ACC_SAMPLE_DEFAULT ( IMU963RA_ACC_SAMPLE_SGN_8G ) // 在这设置默认的 加速度计 初始化量程
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#define IMU963RA_GYRO_SAMPLE_DEFAULT ( IMU963RA_GYRO_SAMPLE_SGN_2000DPS ) // 在这设置默认的 陀螺仪 初始化量程
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#define IMU963RA_MAG_SAMPLE_DEFAULT ( IMU963RA_MAG_SAMPLE_8G ) // 在这设置默认的 磁力计 初始化量程
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#define IMU963RA_TIMEOUT_COUNT ( 0x00FF ) // IMU963RA 超时计数
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//================================================定义 IMU963RA 内部地址================================================
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#define IMU963RA_DEV_ADDR ( 0x6B ) // SA0接地：0x6A SA0上拉：0x6B 模块默认上拉
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#define IMU963RA_SPI_W ( 0x00 )
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#define IMU963RA_SPI_R ( 0x80 )
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#define IMU963RA_FUNC_CFG_ACCESS ( 0x01 )
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#define IMU963RA_PIN_CTRL ( 0x02 )
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#define IMU963RA_S4S_TPH_L ( 0x04 )
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#define IMU963RA_S4S_TPH_H ( 0x05 )
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#define IMU963RA_S4S_RR ( 0x06 )
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#define IMU963RA_FIFO_CTRL1 ( 0x07 )
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#define IMU963RA_FIFO_CTRL2 ( 0x08 )
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#define IMU963RA_FIFO_CTRL3 ( 0x09 )
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#define IMU963RA_FIFO_CTRL4 ( 0x0A )
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#define IMU963RA_COUNTER_BDR_REG1 ( 0x0B )
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#define IMU963RA_COUNTER_BDR_REG2 ( 0x0C )
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#define IMU963RA_INT1_CTRL ( 0x0D )
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#define IMU963RA_INT2_CTRL ( 0x0E )
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#define IMU963RA_WHO_AM_I ( 0x0F )
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#define IMU963RA_CTRL1_XL ( 0x10 )
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#define IMU963RA_CTRL2_G ( 0x11 )
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#define IMU963RA_CTRL3_C ( 0x12 )
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#define IMU963RA_CTRL4_C ( 0x13 )
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#define IMU963RA_CTRL5_C ( 0x14 )
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#define IMU963RA_CTRL6_C ( 0x15 )
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#define IMU963RA_CTRL7_G ( 0x16 )
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#define IMU963RA_CTRL8_XL ( 0x17 )
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#define IMU963RA_CTRL9_XL ( 0x18 )
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#define IMU963RA_CTRL10_C ( 0x19 )
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#define IMU963RA_ALL_INT_SRC ( 0x1A )
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#define IMU963RA_WAKE_UP_SRC ( 0x1B )
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#define IMU963RA_TAP_SRC ( 0x1C )
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#define IMU963RA_D6D_SRC ( 0x1D )
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#define IMU963RA_STATUS_REG ( 0x1E )
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#define IMU963RA_OUT_TEMP_L ( 0x20 )
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#define IMU963RA_OUT_TEMP_H ( 0x21 )
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#define IMU963RA_OUTX_L_G ( 0x22 )
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#define IMU963RA_OUTX_H_G ( 0x23 )
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#define IMU963RA_OUTY_L_G ( 0x24 )
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#define IMU963RA_OUTY_H_G ( 0x25 )
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#define IMU963RA_OUTZ_L_G ( 0x26 )
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#define IMU963RA_OUTZ_H_G ( 0x27 )
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#define IMU963RA_OUTX_L_A ( 0x28 )
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#define IMU963RA_OUTX_H_A ( 0x29 )
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#define IMU963RA_OUTY_L_A ( 0x2A )
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#define IMU963RA_OUTY_H_A ( 0x2B )
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#define IMU963RA_OUTZ_L_A ( 0x2C )
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#define IMU963RA_OUTZ_H_A ( 0x2D )
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#define IMU963RA_EMB_FUNC_STATUS_MAINPAGE ( 0x35 )
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#define IMU963RA_FSM_STATUS_A_MAINPAGE ( 0x36 )
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#define IMU963RA_FSM_STATUS_B_MAINPAGE ( 0x37 )
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#define IMU963RA_STATUS_MASTER_MAINPAGE ( 0x39 )
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#define IMU963RA_FIFO_STATUS1 ( 0x3A )
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#define IMU963RA_FIFO_STATUS2 ( 0x3B )
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#define IMU963RA_TIMESTAMP0 ( 0x40 )
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#define IMU963RA_TIMESTAMP1 ( 0x41 )
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#define IMU963RA_TIMESTAMP2 ( 0x42 )
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#define IMU963RA_TIMESTAMP3 ( 0x43 )
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#define IMU963RA_TAP_CFG0 ( 0x56 )
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#define IMU963RA_TAP_CFG1 ( 0x57 )
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#define IMU963RA_TAP_CFG2 ( 0x58 )
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#define IMU963RA_TAP_THS_6D ( 0x59 )
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#define IMU963RA_INT_DUR2 ( 0x5A )
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#define IMU963RA_WAKE_UP_THS ( 0x5B )
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#define IMU963RA_WAKE_UP_DUR ( 0x5C )
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#define IMU963RA_FREE_FALL ( 0x5D )
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#define IMU963RA_MD1_CFG ( 0x5E )
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#define IMU963RA_MD2_CFG ( 0x5F )
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#define IMU963RA_S4S_ST_CMD_CODE ( 0x60 )
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#define IMU963RA_S4S_DT_REG ( 0x61 )
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#define IMU963RA_I3C_BUS_AVB ( 0x62 )
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#define IMU963RA_INTERNAL_FREQ_FINE ( 0x63 )
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#define IMU963RA_INT_OIS ( 0x6F )
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#define IMU963RA_CTRL1_OIS ( 0x70 )
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#define IMU963RA_CTRL2_OIS ( 0x71 )
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#define IMU963RA_CTRL3_OIS ( 0x72 )
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#define IMU963RA_X_OFS_USR ( 0x73 )
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#define IMU963RA_Y_OFS_USR ( 0x74 )
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#define IMU963RA_Z_OFS_USR ( 0x75 )
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#define IMU963RA_FIFO_DATA_OUT_TAG ( 0x78 )
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#define IMU963RA_FIFO_DATA_OUT_X_L ( 0x79 )
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#define IMU963RA_FIFO_DATA_OUT_X_H ( 0x7A )
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#define IMU963RA_FIFO_DATA_OUT_Y_L ( 0x7B )
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#define IMU963RA_FIFO_DATA_OUT_Y_H ( 0x7C )
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#define IMU963RA_FIFO_DATA_OUT_Z_L ( 0x7D )
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#define IMU963RA_FIFO_DATA_OUT_Z_H ( 0x7E )
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// 集线器功能相关寄存器 需要将FUNC_CFG_ACCESS的SHUB_REG_ACCESS位设置为1才能正确访问
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#define IMU963RA_SENSOR_HUB_1 ( 0x02 )
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#define IMU963RA_SENSOR_HUB_2 ( 0x03 )
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#define IMU963RA_SENSOR_HUB_3 ( 0x04 )
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#define IMU963RA_SENSOR_HUB_4 ( 0x05 )
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#define IMU963RA_SENSOR_HUB_5 ( 0x06 )
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#define IMU963RA_SENSOR_HUB_6 ( 0x07 )
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#define IMU963RA_SENSOR_HUB_7 ( 0x08 )
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#define IMU963RA_SENSOR_HUB_8 ( 0x09 )
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#define IMU963RA_SENSOR_HUB_9 ( 0x0A )
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#define IMU963RA_SENSOR_HUB_10 ( 0x0B )
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#define IMU963RA_SENSOR_HUB_11 ( 0x0C )
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#define IMU963RA_SENSOR_HUB_12 ( 0x0D )
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#define IMU963RA_SENSOR_HUB_13 ( 0x0E )
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#define IMU963RA_SENSOR_HUB_14 ( 0x0F )
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#define IMU963RA_SENSOR_HUB_15 ( 0x10 )
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#define IMU963RA_SENSOR_HUB_16 ( 0x11 )
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#define IMU963RA_SENSOR_HUB_17 ( 0x12 )
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#define IMU963RA_SENSOR_HUB_18 ( 0x13 )
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#define IMU963RA_MASTER_CONFIG ( 0x14 )
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#define IMU963RA_SLV0_ADD ( 0x15 )
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#define IMU963RA_SLV0_SUBADD ( 0x16 )
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#define IMU963RA_SLV0_CONFIG ( 0x17 )
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#define IMU963RA_SLV1_ADD ( 0x18 )
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#define IMU963RA_SLV1_SUBADD ( 0x19 )
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#define IMU963RA_SLV1_CONFIG ( 0x1A )
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#define IMU963RA_SLV2_ADD ( 0x1B )
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#define IMU963RA_SLV2_SUBADD ( 0x1C )
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#define IMU963RA_SLV2_CONFIG ( 0x1D )
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#define IMU963RA_SLV3_ADD ( 0x1E )
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#define IMU963RA_SLV3_SUBADD ( 0x1F )
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#define IMU963RA_SLV3_CONFIG ( 0x20 )
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#define IMU963RA_DATAWRITE_SLV0 ( 0x21 )
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#define IMU963RA_STATUS_MASTER ( 0x22 )
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#define IMU963RA_MAG_ADDR ( 0x0D ) // 7位IIC地址
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#define IMU963RA_MAG_OUTX_L ( 0x00 )
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#define IMU963RA_MAG_CONTROL1 ( 0x09 )
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#define IMU963RA_MAG_CONTROL2 ( 0x0A )
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#define IMU963RA_MAG_FBR ( 0x0B )
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#define IMU963RA_MAG_CHIP_ID ( 0x0D )
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//================================================定义 IMU963RA 内部地址================================================
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extern int16 imu963ra_acc_x, imu963ra_acc_y, imu963ra_acc_z;
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extern int16 imu963ra_gyro_x, imu963ra_gyro_y, imu963ra_gyro_z;
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extern int16 imu963ra_mag_x, imu963ra_mag_y, imu963ra_mag_z;
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extern float imu963ra_transition_factor[3];
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void imu963ra_get_acc (void);
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void imu963ra_get_gyro (void);
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void imu963ra_get_mag (void);
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 将 IMU963RA 加速度计数据转换为实际物理数据
|
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// 参数说明 acc_value 任意轴的加速度计数据
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// 返回参数 void
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// 使用示例 float data = imu963ra_acc_transition(imu963ra_acc_x); // 单位为 g(m/s^2)
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// 备注信息
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//-------------------------------------------------------------------------------------------------------------------
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#define imu963ra_acc_transition(acc_value) ((float)(acc_value) / imu963ra_transition_factor[0])
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//-------------------------------------------------------------------------------------------------------------------
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// 函数简介 将 IMU963RA 陀螺仪数据转换为实际物理数据
|
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// 参数说明 gyro_value 任意轴的陀螺仪数据
|
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// 返回参数 void
|
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// 使用示例 float data = imu963ra_gyro_transition(imu963ra_gyro_x); // 单位为 °/s
|
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// 备注信息
|
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//-------------------------------------------------------------------------------------------------------------------
|
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#define imu963ra_gyro_transition(gyro_value) ((float)(gyro_value) / imu963ra_transition_factor[1])
|
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//-------------------------------------------------------------------------------------------------------------------
|
|||
|
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// 函数简介 将 IMU963RA 磁力计数据转换为实际物理数据
|
|||
|
|
// 参数说明 mag_value 任意轴的磁力计数据
|
|||
|
|
// 返回参数 void
|
|||
|
|
// 使用示例 float data = imu963ra_mag_transition(imu963ra_mag_x); // 单位为 G
|
|||
|
|
// 备注信息
|
|||
|
|
//-------------------------------------------------------------------------------------------------------------------
|
|||
|
|
#define imu963ra_mag_transition(mag_value) ((float)(mag_value) / imu963ra_transition_factor[2])
|
|||
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|
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|
|
uint8 imu963ra_init (void);
|
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|
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#endif
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