mirror of
https://github.com/Lurkars/esp-ena.git
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261 lines
7.1 KiB
C
261 lines
7.1 KiB
C
// Copyright 2020 Lukas Haubaum
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//
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// Licensed under the GNU Affero General Public License, Version 3;
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// https://www.gnu.org/licenses/agpl-3.0.html
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <stdio.h>
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#include <time.h>
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#include "driver/i2c.h"
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#include "esp_log.h"
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#include "i2c-main.h"
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#include "mpu6886.h"
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int Gyscale = GFS_2000DPS;
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int Acscale = AFS_8G;
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float aRes, gRes;
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void mpu6886_i2c_read_bytes(uint8_t driver_addr, uint8_t start_addr, uint8_t number_Bytes, uint8_t *read_buffer)
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{
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i2c_cmd_handle_t cmd;
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cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (driver_addr << 1) | I2C_MASTER_WRITE, true);
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i2c_master_write_byte(cmd, start_addr, true);
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (driver_addr << 1) | I2C_MASTER_READ, true);
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i2c_master_read(cmd, read_buffer, number_Bytes, I2C_MASTER_LAST_NACK);
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i2c_master_stop(cmd);
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ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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}
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void mpu6886_i2c_write_bytes(uint8_t driver_addr, uint8_t start_addr, uint8_t number_Bytes, uint8_t *write_buffer)
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{
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i2c_cmd_handle_t cmd;
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cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (driver_addr << 1) | I2C_MASTER_WRITE, true);
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i2c_master_write_byte(cmd, start_addr, true);
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i2c_master_write(cmd, write_buffer, number_Bytes, true);
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i2c_master_stop(cmd);
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ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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}
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void mpu6886_getGres()
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{
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switch (Gyscale)
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{
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// Possible gyro scales (and their register bit settings) are:
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case GFS_250DPS:
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gRes = 250.0 / 32768.0;
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break;
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case GFS_500DPS:
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gRes = 500.0 / 32768.0;
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break;
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case GFS_1000DPS:
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gRes = 1000.0 / 32768.0;
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break;
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case GFS_2000DPS:
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gRes = 2000.0 / 32768.0;
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break;
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}
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}
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void mpu6886_getAres()
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{
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switch (Acscale)
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{
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// Possible accelerometer scales (and their register bit settings) are:
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// 2 Gs (00), 4 Gs (01), 8 Gs (10), and 16 Gs (11).
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// Here's a bit of an algorith to calculate DPS/(ADC tick) based on that 2-bit value:
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case AFS_2G:
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aRes = 2.0 / 32768.0;
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break;
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case AFS_4G:
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aRes = 4.0 / 32768.0;
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break;
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case AFS_8G:
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aRes = 8.0 / 32768.0;
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break;
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case AFS_16G:
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aRes = 16.0 / 32768.0;
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break;
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}
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}
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int mpu6886_start(void)
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{
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unsigned char tempdata[1];
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unsigned char regdata;
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if (!i2c_is_initialized())
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{
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i2c_main_init();
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}
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mpu6886_i2c_read_bytes(MPU6886_ADDRESS, MPU6886_WHOAMI, 1, tempdata);
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if (tempdata[0] != 0x19)
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return -1;
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x00;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, ®data);
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vTaskDelay(10 / portTICK_PERIOD_MS);;
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regdata = (0x01 << 7);
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, ®data);
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vTaskDelay(10 / portTICK_PERIOD_MS);;
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regdata = (0x01 << 0);
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_PWR_MGMT_1, 1, ®data);
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vTaskDelay(10 / portTICK_PERIOD_MS);;
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regdata = 0x10;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x18;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_GYRO_CONFIG, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x01;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_CONFIG, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x05;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_SMPLRT_DIV, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x00;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_INT_ENABLE, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x00;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG2, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x00;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_USER_CTRL, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x00;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_FIFO_EN, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x22;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_INT_PIN_CFG, 1, ®data);
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vTaskDelay(1 / portTICK_PERIOD_MS);;
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regdata = 0x01;
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_INT_ENABLE, 1, ®data);
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vTaskDelay(100 / portTICK_PERIOD_MS);;
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mpu6886_getGres();
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mpu6886_getAres();
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return 0;
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}
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void mpu6886_get_accel_adc(int16_t *ax, int16_t *ay, int16_t *az)
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{
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uint8_t buf[6];
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mpu6886_i2c_read_bytes(MPU6886_ADDRESS, MPU6886_ACCEL_XOUT_H, 6, buf);
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*ax = ((int16_t)buf[0] << 8) | buf[1];
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*ay = ((int16_t)buf[2] << 8) | buf[3];
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*az = ((int16_t)buf[4] << 8) | buf[5];
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}
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void mpu6886_get_gyro_adc(int16_t *gx, int16_t *gy, int16_t *gz)
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{
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uint8_t buf[6];
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mpu6886_i2c_read_bytes(MPU6886_ADDRESS, MPU6886_GYRO_XOUT_H, 6, buf);
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*gx = ((uint16_t)buf[0] << 8) | buf[1];
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*gy = ((uint16_t)buf[2] << 8) | buf[3];
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*gz = ((uint16_t)buf[4] << 8) | buf[5];
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}
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void mpu6886_get_temp_adc(int16_t *t)
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{
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uint8_t buf[2];
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mpu6886_i2c_read_bytes(MPU6886_ADDRESS, MPU6886_TEMP_OUT_H, 2, buf);
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*t = ((uint16_t)buf[0] << 8) | buf[1];
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}
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void mpu6886_set_gyro_fsr(int scale)
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{
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//return IIC_Write_Byte(MPU_GYRO_CFG_REG,scale<<3);//设置陀螺仪满量程范围
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unsigned char regdata;
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regdata = (scale << 3);
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_GYRO_CONFIG, 1, ®data);
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vTaskDelay(10 / portTICK_PERIOD_MS);;
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Gyscale = scale;
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mpu6886_getGres();
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}
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void mpu6886_set_accel_fsr(int scale)
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{
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unsigned char regdata;
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regdata = (scale << 3);
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mpu6886_i2c_write_bytes(MPU6886_ADDRESS, MPU6886_ACCEL_CONFIG, 1, ®data);
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vTaskDelay(10 / portTICK_PERIOD_MS);;
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Acscale = scale;
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mpu6886_getAres();
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}
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void mpu6886_get_accel_data(float *ax, float *ay, float *az)
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{
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int16_t accX = 0;
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int16_t accY = 0;
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int16_t accZ = 0;
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mpu6886_get_accel_adc(&accX, &accY, &accZ);
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*ax = (float)accX * aRes;
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*ay = (float)accY * aRes;
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*az = (float)accZ * aRes;
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}
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void mpu6886_get_gyro_data(float *gx, float *gy, float *gz)
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{
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int16_t gyroX = 0;
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int16_t gyroY = 0;
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int16_t gyroZ = 0;
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mpu6886_get_gyro_adc(&gyroX, &gyroY, &gyroZ);
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*gx = (float)gyroX * gRes;
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*gy = (float)gyroY * gRes;
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*gz = (float)gyroZ * gRes;
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}
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void mpu6886_get_temp_data(float *t)
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{
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int16_t temp = 0;
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mpu6886_get_temp_adc(&temp);
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*t = (float)temp / 326.8 + 25.0;
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}
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