1.新增icm20602模组。
This commit is contained in:
MacRsh
@@ -64,6 +64,7 @@ int mr_dev_register(struct mr_dev *dev,
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struct mr_dev_ops *ops,
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struct mr_drv *drv);
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void mr_dev_isr(struct mr_dev *dev, int event, void *args);
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int mr_dev_get_full_name(struct mr_dev *dev, char *buf, size_t bufsz);
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/** @} */
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/**
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@@ -194,6 +194,7 @@ enum mr_dev_type
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Mr_Dev_Type_Adc = Mr_Drv_Type_Adc, /**< ADC */
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Mr_Dev_Type_Dac = Mr_Drv_Type_Dac, /**< DAC */
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Mr_Dev_Type_Timer = Mr_Drv_Type_Timer, /**< Timer */
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Mr_Dev_Type_Sensor, /**< Sensor */
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};
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struct mr_dev;
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300
module/icm20602/icm20602.c
Normal file
300
module/icm20602/icm20602.c
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@@ -0,0 +1,300 @@
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/*
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* @copyright (c) 2023, MR Development Team
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*
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* @license SPDX-License-Identifier: Apache-2.0
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*
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* @date 2023-11-17 MacRsh First version
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*/
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#include "icm20602.h"
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#ifdef MR_USING_ICM20602
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#define ICM20602_SMPLRT_DIV (0x19)
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#define ICM20602_CONFIG (0x1A)
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#define ICM20602_GYRO_CONFIG (0x1B)
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#define ICM20602_ACCEL_CONFIG (0x1C)
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#define ICM20602_ACCEL_CONFIG_2 (0x1D)
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#define ICM20602_ACCEL_XOUT_H (0x3B)
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#define ICM20602_GYRO_XOUT_H (0x43)
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#define ICM20602_PWR_MGMT_1 (0x6B)
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#define ICM20602_PWR_MGMT_2 (0x6C)
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#define ICM20602_WHO_AM_I (0x75)
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static void icm20602_write_reg(struct mr_icm20602 *icm20602, uint8_t reg, uint8_t data)
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{
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mr_dev_ioctl(icm20602->desc, MR_CTRL_SET_OFFSET, mr_make_local(int, reg));
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mr_dev_write(icm20602->desc, &data, sizeof(data));
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}
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static uint8_t icm20602_read_reg(struct mr_icm20602 *icm20602, uint8_t reg)
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{
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uint8_t data = 0;
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mr_dev_ioctl(icm20602->desc, MR_CTRL_SET_OFFSET, mr_make_local(int, reg | 0x80));
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mr_dev_read(icm20602->desc, &data, sizeof(data));
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return data;
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}
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static ssize_t icm20602_read_regs(struct mr_icm20602 *icm20602, uint8_t reg, uint8_t *buf, size_t size)
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{
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mr_dev_ioctl(icm20602->desc, MR_CTRL_SET_OFFSET, mr_make_local(int, reg | 0x80));
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return mr_dev_read(icm20602->desc, buf, size);
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}
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static int icm20602_self_check(struct mr_icm20602 *icm20602)
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{
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size_t count = 0;
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for (count = 0; count < 200; count++)
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{
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if (icm20602_read_reg(icm20602, ICM20602_WHO_AM_I) == 0x12)
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{
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return MR_TRUE;
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}
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}
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return MR_FALSE;
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}
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static int icm20602_config(struct mr_icm20602 *icm20602, struct mr_icm20602_config *config)
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{
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switch (config->acc_range)
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{
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case MR_ICM20602_ACC_RANGE_2G:
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{
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icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG, 0x00);
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break;
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}
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case MR_ICM20602_ACC_RANGE_4G:
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{
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icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG, 0x08);
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break;
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}
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case MR_ICM20602_ACC_RANGE_8G:
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{
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icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG, 0x10);
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break;
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}
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case MR_ICM20602_ACC_RANGE_16G:
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{
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icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG, 0x18);
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break;
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}
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default:
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{
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return MR_ENOTSUP;
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}
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}
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switch (config->gyro_range)
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{
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case MR_ICM20602_GYRO_RANGE_250DPS:
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{
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icm20602_write_reg(icm20602, ICM20602_GYRO_CONFIG, 0x00);
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break;
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}
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case MR_ICM20602_GYRO_RANGE_500DPS:
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{
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icm20602_write_reg(icm20602, ICM20602_GYRO_CONFIG, 0x08);
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break;
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}
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case MR_ICM20602_GYRO_RANGE_1000DPS:
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{
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icm20602_write_reg(icm20602, ICM20602_GYRO_CONFIG, 0x10);
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break;
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}
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case MR_ICM20602_GYRO_RANGE_2000DPS:
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{
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icm20602_write_reg(icm20602, ICM20602_GYRO_CONFIG, 0x18);
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break;
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}
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default:
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{
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return MR_ENOTSUP;
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}
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}
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icm20602->config = *config;
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return MR_EOK;
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}
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static int mr_icm20602_open(struct mr_dev *dev)
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{
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struct mr_icm20602 *icm20602 = (struct mr_icm20602 *)dev;
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char full_name[MR_CFG_NAME_MAX * 2 + 1] = {0};
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struct mr_spi_config config = MR_SPI_CONFIG_DEFAULT;
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size_t i = 0;
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/* Open the icm20602 spi-device */
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int ret = mr_dev_get_full_name(dev, full_name, sizeof(full_name));
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if (ret != MR_EOK)
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{
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return ret;
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}
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icm20602->desc = mr_dev_open(full_name, MR_OFLAG_RDWR);
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if (icm20602->desc < 0)
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{
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return icm20602->desc;
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}
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config.baud_rate = 10 * 1000 * 1000;
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mr_dev_ioctl(icm20602->desc, MR_CTRL_SET_CONFIG, &config);
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/* Self check */
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if (icm20602_self_check(icm20602) == MR_FALSE)
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{
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mr_log("%s self check failed", dev->name);
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return MR_ENOTFOUND;
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}
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/* Restart */
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icm20602_write_reg(icm20602, ICM20602_PWR_MGMT_1, 0x80);
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mr_delay_ms(10);
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for (i = 0; i < 200; i++)
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{
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if (icm20602_read_reg(icm20602, ICM20602_PWR_MGMT_1) == 0x41)
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{
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break;
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}
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}
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if (i == 200)
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{
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mr_log("%s restart failed\r\n", dev->name);
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return MR_ENOTFOUND;
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}
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/* Init config */
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icm20602_write_reg(icm20602, ICM20602_PWR_MGMT_1, 0x01);
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icm20602_write_reg(icm20602, ICM20602_PWR_MGMT_2, 0x00);
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icm20602_write_reg(icm20602, ICM20602_CONFIG, 0x01);
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icm20602_write_reg(icm20602, ICM20602_SMPLRT_DIV, 0x07);
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ret = icm20602_config(icm20602, &icm20602->config);
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if (ret != MR_EOK)
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{
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mr_log("%s init config failed\r\n", dev->name);
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return ret;
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}
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icm20602_write_reg(icm20602, ICM20602_ACCEL_CONFIG_2, 0x03);
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return MR_EOK;
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}
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static int mr_icm20602_close(struct mr_dev *dev)
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{
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struct mr_icm20602 *icm20602 = (struct mr_icm20602 *)dev;
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/* Close the icm20602 spi-device */
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mr_dev_close(icm20602->desc);
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icm20602->desc = -1;
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return MR_EOK;
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}
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static ssize_t mr_icm20602_read(struct mr_dev *dev, int off, void *buf, size_t size, int sync_or_async)
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{
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struct mr_icm20602 *icm20602 = (struct mr_icm20602 *)dev;
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struct mr_icm20602_data *rd_buf = (struct mr_icm20602_data *)buf;
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uint8_t reg = (off == MR_ICM20602_ACC_OFFSET) ? ICM20602_ACCEL_XOUT_H : ICM20602_GYRO_XOUT_H;
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ssize_t rd_size = 0;
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if ((off != MR_ICM20602_ACC_OFFSET) && (off != MR_ICM20602_GYRO_OFFSET))
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{
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return MR_EINVAL;
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}
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mr_bits_clr(size, sizeof(*rd_buf) - 1);
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for (rd_size = 0; rd_size < size; rd_size += sizeof(*rd_buf))
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{
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uint8_t axis_buf[6] = {0};
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icm20602_read_regs(icm20602, reg, axis_buf, sizeof(axis_buf));
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rd_buf->x = (int16_t)((axis_buf[0] << 8) | axis_buf[1]);
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rd_buf->y = (int16_t)((axis_buf[2] << 8) | axis_buf[3]);
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rd_buf->z = (int16_t)((axis_buf[4] << 8) | axis_buf[5]);
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}
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return rd_size;
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}
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static int mr_icm20602_ioctl(struct mr_dev *dev, int off, int cmd, void *args)
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{
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struct mr_icm20602 *icm20602 = (struct mr_icm20602 *)dev;
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switch (cmd)
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{
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case MR_CTRL_SET_CONFIG:
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{
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if (args != MR_NULL)
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{
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struct mr_icm20602_config *config = (struct mr_icm20602_config *)args;
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return icm20602_config(icm20602, config);
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}
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return MR_EINVAL;
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}
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case MR_CTRL_GET_CONFIG:
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{
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if (args != MR_NULL)
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{
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struct mr_icm20602_config *config = (struct mr_icm20602_config *)args;
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*config = icm20602->config;
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return MR_EOK;
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}
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return MR_EINVAL;
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}
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default:
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{
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return MR_ENOTSUP;
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}
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}
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}
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/**
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* @brief This function register a icm20602 module.
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*
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* @param icm20602 The icm20602 module.
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* @param name The name of the icm20602 module.
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* @param cs_pin The cs pin of the icm20602 module.
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* @param bus_name The spi-bus name of the icm20602 module.
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*
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* @return MR_EOK on success, otherwise an error code.
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*/
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int mr_icm20602_register(struct mr_icm20602 *icm20602, const char *name, int cs_pin, const char *bus_name)
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{
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static struct mr_dev_ops ops =
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{
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mr_icm20602_open,
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mr_icm20602_close,
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mr_icm20602_read,
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MR_NULL,
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mr_icm20602_ioctl,
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MR_NULL
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};
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struct mr_icm20602_config default_config = MR_ICM20602_CONFIG_DEFAULT;
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char cat_name[MR_CFG_NAME_MAX + MR_CFG_NAME_MAX + 1] = {0};
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int ret = 0;
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mr_assert(icm20602 != MR_NULL);
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mr_assert(name != MR_NULL);
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mr_assert(cs_pin >= 0);
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mr_assert(bus_name != MR_NULL);
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/* Register the spi-device */
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sprintf(cat_name, "%s/%s", bus_name, name);
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ret = mr_spi_dev_register(&icm20602->spi_dev, cat_name, cs_pin, MR_SPI_CS_ACTIVE_LOW);
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if (ret != MR_EOK)
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{
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return ret;
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}
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/* Initialize the fields */
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icm20602->config = default_config;
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icm20602->desc = -1;
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/* Register the icm20602 */
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return mr_dev_register(&icm20602->dev, name, Mr_Dev_Type_Sensor, MR_SFLAG_RDONLY | MR_SFLAG_NONDRV, &ops, MR_NULL);
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}
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#endif /* MR_USING_ICM20602 */
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103
module/icm20602/icm20602.h
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103
module/icm20602/icm20602.h
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@@ -0,0 +1,103 @@
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/*
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* @copyright (c) 2023, MR Development Team
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*
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* @license SPDX-License-Identifier: Apache-2.0
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*
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* @date 2023-11-17 MacRsh First version
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*/
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#ifndef _ICM20602_H_
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#define _ICM20602_H_
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#include "mr_api.h"
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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#ifdef MR_USING_ICM20602
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#if !defined(MR_USING_SPI)
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#undef MR_USING_ICM20602
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#error "Please define MR_USING_SPI. Otherwise ICM20602 will not work."
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#else
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#include "include/device/spi.h"
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/**
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* @brief ICM20602 acc Range.
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*/
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#define MR_ICM20602_ACC_RANGE_2G (2) /**< 2G */
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#define MR_ICM20602_ACC_RANGE_4G (4) /**< 4G */
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#define MR_ICM20602_ACC_RANGE_8G (8) /**< 8G */
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#define MR_ICM20602_ACC_RANGE_16G (16) /**< 16G */
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/**
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* @brief ICM20602 gyro Range.
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*/
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#define MR_ICM20602_GYRO_RANGE_250DPS (250) /**< 250DPS */
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#define MR_ICM20602_GYRO_RANGE_500DPS (500) /**< 500DPS */
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#define MR_ICM20602_GYRO_RANGE_1000DPS (1000) /**< 1000DPS */
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#define MR_ICM20602_GYRO_RANGE_2000DPS (2000) /**< 2000DPS */
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/**
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* @def ICM20602 default config.
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*/
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#define MR_ICM20602_CONFIG_DEFAULT \
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{ \
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MR_ICM20602_ACC_RANGE_8G, \
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MR_ICM20602_GYRO_RANGE_2000DPS, \
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}
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/**
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* @brief ICM20602 config structure.
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*/
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struct mr_icm20602_config
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{
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uint16_t acc_range; /**< Acc range */
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uint16_t gyro_range; /**< Gyro range */
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};
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/**
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* @brief ICM20602 offset.
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*/
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#define MR_ICM20602_ACC_OFFSET (0x00) /**< Acc offset */
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#define MR_ICM20602_GYRO_OFFSET (0x01) /**< Gyro offset */
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/**
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* @brief ICM20602 data type.
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*/
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typedef struct mr_icm20602_data
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{
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int16_t x; /**< X axis */
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int16_t y; /**< Y axis */
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int16_t z; /**< Z axis */
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} mr_icm20602_data_t; /**< ICM20602 read data type */
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/**
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* @brief ICM20602 structure.
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*/
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struct mr_icm20602
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{
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struct mr_dev dev; /**< Device */
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struct mr_spi_dev spi_dev; /**< SPI device */
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struct mr_icm20602_config config; /**< Config */
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int desc; /**< Descriptor */
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};
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/**
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* @addtogroup ICM20602.
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* @{
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*/
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int mr_icm20602_register(struct mr_icm20602 *icm20602, const char *name, int cs_pin, const char *bus_name);
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/** @} */
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#endif /* MR_USING_SPI */
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#endif /* MR_USING_ICM20602 */
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* _ICM20602_H_ */
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