From 8676a13cddbf778574beb9a910691d2c0130440d Mon Sep 17 00:00:00 2001 From: Tannin Rachel Date: Wed, 19 Jul 2023 14:08:52 +0800 Subject: [PATCH] first commit --- .cproject | 216 + .mxproject | 31 + .project | 32 + .settings/language.settings.xml | 25 + .settings/stm32cubeide.project.prefs | 4 + .vscode/settings.json | 21 + Core/Inc/IIC.h | 26 + Core/Inc/dmpKey.h | 501 + Core/Inc/dmpmap.h | 267 + Core/Inc/gpio.h | 49 + Core/Inc/inv_mpu.h | 126 + Core/Inc/inv_mpu_dmp_motion_driver.h | 87 + Core/Inc/main.h | 68 + Core/Inc/mpu6050.h | 113 + Core/Inc/stm32f1xx_hal_conf.h | 391 + Core/Inc/stm32f1xx_it.h | 66 + Core/Inc/tim.h | 55 + Core/Inc/usart.h | 52 + Core/Src/IIC.c | 292 + Core/Src/gpio.c | 92 + Core/Src/inv_mpu.c | 3130 +++ Core/Src/inv_mpu_dmp_motion_driver.c | 1424 ++ Core/Src/main.c | 252 + Core/Src/mpu6050.c | 256 + Core/Src/stm32f1xx_hal_msp.c | 85 + Core/Src/stm32f1xx_it.c | 203 + Core/Src/syscalls.c | 155 + Core/Src/sysmem.c | 79 + Core/Src/system_stm32f1xx.c | 406 + Core/Src/tim.c | 170 + Core/Src/usart.c | 117 + Core/Startup/startup_stm32f103c8tx.s | 364 + Debug/Core/Src/IIC.d | 53 + Debug/Core/Src/IIC.o | Bin 0 -> 757108 bytes Debug/Core/Src/IIC.su | 10 + Debug/Core/Src/gpio.d | 53 + Debug/Core/Src/gpio.o | Bin 0 -> 741948 bytes Debug/Core/Src/gpio.su | 1 + Debug/Core/Src/inv_mpu.d | 59 + Debug/Core/Src/inv_mpu.o | Bin 0 -> 841220 bytes Debug/Core/Src/inv_mpu.su | 52 + Debug/Core/Src/inv_mpu_dmp_motion_driver.d | 60 + Debug/Core/Src/inv_mpu_dmp_motion_driver.o | Bin 0 -> 835752 bytes Debug/Core/Src/inv_mpu_dmp_motion_driver.su | 28 + Debug/Core/Src/main.d | 62 + Debug/Core/Src/main.o | Bin 0 -> 787884 bytes Debug/Core/Src/main.su | 4 + Debug/Core/Src/mpu6050.d | 55 + Debug/Core/Src/mpu6050.o | Bin 0 -> 760652 bytes Debug/Core/Src/mpu6050.su | 12 + Debug/Core/Src/stm32f1xx_hal_msp.d | 52 + Debug/Core/Src/stm32f1xx_hal_msp.o | Bin 0 -> 741000 bytes Debug/Core/Src/stm32f1xx_hal_msp.su | 1 + Debug/Core/Src/stm32f1xx_it.d | 54 + Debug/Core/Src/stm32f1xx_it.o | Bin 0 -> 742624 bytes Debug/Core/Src/stm32f1xx_it.su | 9 + Debug/Core/Src/subdir.mk | 63 + Debug/Core/Src/syscalls.d | 1 + Debug/Core/Src/syscalls.o | Bin 0 -> 76764 bytes Debug/Core/Src/syscalls.su | 18 + Debug/Core/Src/sysmem.d | 1 + Debug/Core/Src/sysmem.o | Bin 0 -> 46452 bytes Debug/Core/Src/sysmem.su | 1 + Debug/Core/Src/system_stm32f1xx.d | 51 + Debug/Core/Src/system_stm32f1xx.o | Bin 0 -> 742136 bytes Debug/Core/Src/system_stm32f1xx.su | 2 + Debug/Core/Src/tim.d | 53 + Debug/Core/Src/tim.o | Bin 0 -> 747484 bytes Debug/Core/Src/tim.su | 4 + Debug/Core/Src/usart.d | 53 + Debug/Core/Src/usart.o | Bin 0 -> 745992 bytes Debug/Core/Src/usart.su | 3 + Debug/Core/Startup/startup_stm32f103c8tx.d | 2 + Debug/Core/Startup/startup_stm32f103c8tx.o | Bin 0 -> 5216 bytes Debug/Core/Startup/subdir.mk | 27 + .../STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.d | 52 + .../STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.o | Bin 0 -> 753764 bytes .../STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.su | 25 + .../Src/stm32f1xx_hal_cortex.d | 52 + .../Src/stm32f1xx_hal_cortex.o | Bin 0 -> 756996 bytes .../Src/stm32f1xx_hal_cortex.su | 29 + .../Src/stm32f1xx_hal_dma.d | 52 + .../Src/stm32f1xx_hal_dma.o | Bin 0 -> 752164 bytes .../Src/stm32f1xx_hal_dma.su | 13 + .../Src/stm32f1xx_hal_exti.d | 52 + .../Src/stm32f1xx_hal_exti.o | Bin 0 -> 746640 bytes .../Src/stm32f1xx_hal_exti.su | 9 + .../Src/stm32f1xx_hal_flash.d | 52 + .../Src/stm32f1xx_hal_flash.o | Bin 0 -> 749720 bytes .../Src/stm32f1xx_hal_flash.su | 14 + .../Src/stm32f1xx_hal_flash_ex.d | 52 + .../Src/stm32f1xx_hal_flash_ex.o | Bin 0 -> 752804 bytes .../Src/stm32f1xx_hal_flash_ex.su | 16 + .../Src/stm32f1xx_hal_gpio.d | 52 + .../Src/stm32f1xx_hal_gpio.o | Bin 0 -> 748064 bytes .../Src/stm32f1xx_hal_gpio.su | 8 + .../Src/stm32f1xx_hal_gpio_ex.d | 52 + .../Src/stm32f1xx_hal_gpio_ex.o | Bin 0 -> 741388 bytes .../Src/stm32f1xx_hal_gpio_ex.su | 3 + .../Src/stm32f1xx_hal_pwr.d | 52 + .../Src/stm32f1xx_hal_pwr.o | Bin 0 -> 750124 bytes .../Src/stm32f1xx_hal_pwr.su | 18 + .../Src/stm32f1xx_hal_rcc.d | 52 + .../Src/stm32f1xx_hal_rcc.o | Bin 0 -> 754472 bytes .../Src/stm32f1xx_hal_rcc.su | 15 + .../Src/stm32f1xx_hal_rcc_ex.d | 52 + .../Src/stm32f1xx_hal_rcc_ex.o | Bin 0 -> 744580 bytes .../Src/stm32f1xx_hal_rcc_ex.su | 3 + .../Src/stm32f1xx_hal_tim.d | 52 + .../Src/stm32f1xx_hal_tim.o | Bin 0 -> 833308 bytes .../Src/stm32f1xx_hal_tim.su | 119 + .../Src/stm32f1xx_hal_tim_ex.d | 52 + .../Src/stm32f1xx_hal_tim_ex.o | Bin 0 -> 777772 bytes .../Src/stm32f1xx_hal_tim_ex.su | 42 + .../Src/stm32f1xx_hal_uart.d | 52 + .../Src/stm32f1xx_hal_uart.o | Bin 0 -> 797424 bytes .../Src/stm32f1xx_hal_uart.su | 62 + .../STM32F1xx_HAL_Driver/Src/subdir.mk | 66 + Debug/makefile | 94 + Debug/objects.list | 28 + Debug/objects.mk | 9 + Debug/pjsspoon.elf | Bin 0 -> 1047432 bytes Debug/pjsspoon.list | 19419 ++++++++++++++++ Debug/pjsspoon.map | 4935 ++++ Debug/sources.mk | 27 + .../Device/ST/STM32F1xx/Include/stm32f103xb.h | 10240 ++++++++ .../Device/ST/STM32F1xx/Include/stm32f1xx.h | 273 + .../ST/STM32F1xx/Include/system_stm32f1xx.h | 96 + Drivers/CMSIS/Device/ST/STM32F1xx/LICENSE.txt | 6 + Drivers/CMSIS/Include/cmsis_armcc.h | 865 + Drivers/CMSIS/Include/cmsis_armclang.h | 1869 ++ Drivers/CMSIS/Include/cmsis_compiler.h | 266 + Drivers/CMSIS/Include/cmsis_gcc.h | 2085 ++ Drivers/CMSIS/Include/cmsis_iccarm.h | 935 + Drivers/CMSIS/Include/cmsis_version.h | 39 + Drivers/CMSIS/Include/core_armv8mbl.h | 1918 ++ Drivers/CMSIS/Include/core_armv8mml.h | 2927 +++ Drivers/CMSIS/Include/core_cm0.h | 949 + Drivers/CMSIS/Include/core_cm0plus.h | 1083 + Drivers/CMSIS/Include/core_cm1.h | 976 + Drivers/CMSIS/Include/core_cm23.h | 1993 ++ Drivers/CMSIS/Include/core_cm3.h | 1941 ++ Drivers/CMSIS/Include/core_cm33.h | 3002 +++ Drivers/CMSIS/Include/core_cm4.h | 2129 ++ Drivers/CMSIS/Include/core_cm7.h | 2671 +++ Drivers/CMSIS/Include/core_sc000.h | 1022 + Drivers/CMSIS/Include/core_sc300.h | 1915 ++ Drivers/CMSIS/Include/mpu_armv7.h | 270 + Drivers/CMSIS/Include/mpu_armv8.h | 333 + Drivers/CMSIS/Include/tz_context.h | 70 + Drivers/CMSIS/LICENSE.txt | 201 + .../Inc/Legacy/stm32_hal_legacy.h | 4334 ++++ .../STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h | 357 + .../Inc/stm32f1xx_hal_cortex.h | 408 + .../Inc/stm32f1xx_hal_def.h | 211 + .../Inc/stm32f1xx_hal_dma.h | 455 + .../Inc/stm32f1xx_hal_dma_ex.h | 275 + .../Inc/stm32f1xx_hal_exti.h | 318 + .../Inc/stm32f1xx_hal_flash.h | 325 + .../Inc/stm32f1xx_hal_flash_ex.h | 783 + .../Inc/stm32f1xx_hal_gpio.h | 306 + .../Inc/stm32f1xx_hal_gpio_ex.h | 892 + .../Inc/stm32f1xx_hal_pwr.h | 385 + .../Inc/stm32f1xx_hal_rcc.h | 1375 ++ .../Inc/stm32f1xx_hal_rcc_ex.h | 1905 ++ .../Inc/stm32f1xx_hal_tim.h | 2154 ++ .../Inc/stm32f1xx_hal_tim_ex.h | 261 + .../Inc/stm32f1xx_hal_uart.h | 915 + .../Inc/stm32f1xx_ll_bus.h | 1012 + .../Inc/stm32f1xx_ll_cortex.h | 638 + .../Inc/stm32f1xx_ll_dma.h | 1958 ++ .../Inc/stm32f1xx_ll_exti.h | 886 + .../Inc/stm32f1xx_ll_gpio.h | 2341 ++ .../Inc/stm32f1xx_ll_pwr.h | 437 + .../Inc/stm32f1xx_ll_rcc.h | 2309 ++ .../Inc/stm32f1xx_ll_system.h | 575 + .../Inc/stm32f1xx_ll_tim.h | 3890 ++++ .../Inc/stm32f1xx_ll_usart.h | 2569 ++ .../Inc/stm32f1xx_ll_utils.h | 270 + Drivers/STM32F1xx_HAL_Driver/LICENSE.txt | 6 + .../STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c | 607 + .../Src/stm32f1xx_hal_cortex.c | 503 + .../Src/stm32f1xx_hal_dma.c | 897 + .../Src/stm32f1xx_hal_exti.c | 553 + .../Src/stm32f1xx_hal_flash.c | 964 + .../Src/stm32f1xx_hal_flash_ex.c | 1124 + .../Src/stm32f1xx_hal_gpio.c | 586 + .../Src/stm32f1xx_hal_gpio_ex.c | 126 + .../Src/stm32f1xx_hal_pwr.c | 618 + .../Src/stm32f1xx_hal_rcc.c | 1400 ++ .../Src/stm32f1xx_hal_rcc_ex.c | 860 + .../Src/stm32f1xx_hal_tim.c | 7619 ++++++ .../Src/stm32f1xx_hal_tim_ex.c | 2379 ++ .../Src/stm32f1xx_hal_uart.c | 3756 +++ STM32F103C8TX_FLASH.ld | 185 + pjsspoon Debug.launch | 79 + pjsspoon.ioc | 157 + 197 files changed, 130718 insertions(+) create mode 100644 .cproject create mode 100644 .mxproject create mode 100644 .project create mode 100644 .settings/language.settings.xml create mode 100644 .settings/stm32cubeide.project.prefs create mode 100644 .vscode/settings.json create mode 100644 Core/Inc/IIC.h create mode 100644 Core/Inc/dmpKey.h create mode 100644 Core/Inc/dmpmap.h create mode 100644 Core/Inc/gpio.h create mode 100644 Core/Inc/inv_mpu.h create mode 100644 Core/Inc/inv_mpu_dmp_motion_driver.h create mode 100644 Core/Inc/main.h create mode 100644 Core/Inc/mpu6050.h create mode 100644 Core/Inc/stm32f1xx_hal_conf.h create mode 100644 Core/Inc/stm32f1xx_it.h create mode 100644 Core/Inc/tim.h create mode 100644 Core/Inc/usart.h create mode 100644 Core/Src/IIC.c create mode 100644 Core/Src/gpio.c create mode 100644 Core/Src/inv_mpu.c create mode 100644 Core/Src/inv_mpu_dmp_motion_driver.c create mode 100644 Core/Src/main.c create mode 100644 Core/Src/mpu6050.c create mode 100644 Core/Src/stm32f1xx_hal_msp.c create mode 100644 Core/Src/stm32f1xx_it.c create mode 100644 Core/Src/syscalls.c create mode 100644 Core/Src/sysmem.c create mode 100644 Core/Src/system_stm32f1xx.c create mode 100644 Core/Src/tim.c create mode 100644 Core/Src/usart.c create mode 100644 Core/Startup/startup_stm32f103c8tx.s create mode 100644 Debug/Core/Src/IIC.d create mode 100644 Debug/Core/Src/IIC.o create mode 100644 Debug/Core/Src/IIC.su create mode 100644 Debug/Core/Src/gpio.d create mode 100644 Debug/Core/Src/gpio.o create mode 100644 Debug/Core/Src/gpio.su create mode 100644 Debug/Core/Src/inv_mpu.d create mode 100644 Debug/Core/Src/inv_mpu.o create mode 100644 Debug/Core/Src/inv_mpu.su create mode 100644 Debug/Core/Src/inv_mpu_dmp_motion_driver.d create mode 100644 Debug/Core/Src/inv_mpu_dmp_motion_driver.o create mode 100644 Debug/Core/Src/inv_mpu_dmp_motion_driver.su create mode 100644 Debug/Core/Src/main.d create mode 100644 Debug/Core/Src/main.o create mode 100644 Debug/Core/Src/main.su create mode 100644 Debug/Core/Src/mpu6050.d create mode 100644 Debug/Core/Src/mpu6050.o create mode 100644 Debug/Core/Src/mpu6050.su create mode 100644 Debug/Core/Src/stm32f1xx_hal_msp.d create mode 100644 Debug/Core/Src/stm32f1xx_hal_msp.o create mode 100644 Debug/Core/Src/stm32f1xx_hal_msp.su create mode 100644 Debug/Core/Src/stm32f1xx_it.d create mode 100644 Debug/Core/Src/stm32f1xx_it.o create mode 100644 Debug/Core/Src/stm32f1xx_it.su create mode 100644 Debug/Core/Src/subdir.mk create mode 100644 Debug/Core/Src/syscalls.d create mode 100644 Debug/Core/Src/syscalls.o create mode 100644 Debug/Core/Src/syscalls.su create mode 100644 Debug/Core/Src/sysmem.d create mode 100644 Debug/Core/Src/sysmem.o create mode 100644 Debug/Core/Src/sysmem.su create mode 100644 Debug/Core/Src/system_stm32f1xx.d create mode 100644 Debug/Core/Src/system_stm32f1xx.o create mode 100644 Debug/Core/Src/system_stm32f1xx.su create mode 100644 Debug/Core/Src/tim.d create mode 100644 Debug/Core/Src/tim.o create mode 100644 Debug/Core/Src/tim.su create mode 100644 Debug/Core/Src/usart.d create mode 100644 Debug/Core/Src/usart.o create mode 100644 Debug/Core/Src/usart.su create mode 100644 Debug/Core/Startup/startup_stm32f103c8tx.d create mode 100644 Debug/Core/Startup/startup_stm32f103c8tx.o create mode 100644 Debug/Core/Startup/subdir.mk create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.d create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.o create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.su create mode 100644 Debug/Drivers/STM32F1xx_HAL_Driver/Src/subdir.mk create mode 100644 Debug/makefile create mode 100644 Debug/objects.list create mode 100644 Debug/objects.mk create mode 100644 Debug/pjsspoon.elf create mode 100644 Debug/pjsspoon.list create mode 100644 Debug/pjsspoon.map create mode 100644 Debug/sources.mk create mode 100644 Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h create mode 100644 Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h create mode 100644 Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h create mode 100644 Drivers/CMSIS/Device/ST/STM32F1xx/LICENSE.txt create mode 100644 Drivers/CMSIS/Include/cmsis_armcc.h create mode 100644 Drivers/CMSIS/Include/cmsis_armclang.h create mode 100644 Drivers/CMSIS/Include/cmsis_compiler.h create mode 100644 Drivers/CMSIS/Include/cmsis_gcc.h create mode 100644 Drivers/CMSIS/Include/cmsis_iccarm.h create mode 100644 Drivers/CMSIS/Include/cmsis_version.h create mode 100644 Drivers/CMSIS/Include/core_armv8mbl.h create mode 100644 Drivers/CMSIS/Include/core_armv8mml.h create mode 100644 Drivers/CMSIS/Include/core_cm0.h create mode 100644 Drivers/CMSIS/Include/core_cm0plus.h create mode 100644 Drivers/CMSIS/Include/core_cm1.h create mode 100644 Drivers/CMSIS/Include/core_cm23.h create mode 100644 Drivers/CMSIS/Include/core_cm3.h create mode 100644 Drivers/CMSIS/Include/core_cm33.h create mode 100644 Drivers/CMSIS/Include/core_cm4.h create mode 100644 Drivers/CMSIS/Include/core_cm7.h create mode 100644 Drivers/CMSIS/Include/core_sc000.h create mode 100644 Drivers/CMSIS/Include/core_sc300.h create mode 100644 Drivers/CMSIS/Include/mpu_armv7.h create mode 100644 Drivers/CMSIS/Include/mpu_armv8.h create mode 100644 Drivers/CMSIS/Include/tz_context.h create mode 100644 Drivers/CMSIS/LICENSE.txt create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_bus.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_cortex.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_dma.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_exti.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_gpio.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_pwr.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_rcc.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_system.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_tim.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usart.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_utils.h create mode 100644 Drivers/STM32F1xx_HAL_Driver/LICENSE.txt create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c create mode 100644 Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c create mode 100644 STM32F103C8TX_FLASH.ld create mode 100644 pjsspoon Debug.launch create mode 100644 pjsspoon.ioc diff --git a/.cproject b/.cproject new file mode 100644 index 0000000..1f1e9ec --- /dev/null +++ b/.cproject @@ -0,0 +1,216 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.mxproject b/.mxproject new file mode 100644 index 0000000..c6a625f --- /dev/null +++ b/.mxproject @@ -0,0 +1,31 @@ +[PreviousLibFiles] +LibFiles=Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_def.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_bus.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_system.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_utils.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio_ex.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_uart.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_usart.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_def.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_bus.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_system.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_utils.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio_ex.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_uart.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_usart.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f103xb.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\system_stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h; + +[PreviousUsedCubeIDEFiles] +SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f1xx_it.c;Core\Src\stm32f1xx_hal_msp.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Core\Src\system_stm32f1xx.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Core\Src\system_stm32f1xx.c;;; +HeaderPath=Drivers\STM32F1xx_HAL_Driver\Inc;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32F1xx\Include;Drivers\CMSIS\Include;Core\Inc; +CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER; + +[PreviousGenFiles] +AdvancedFolderStructure=true +HeaderFileListSize=6 +HeaderFiles#0=..\Core\Inc\gpio.h +HeaderFiles#1=..\Core\Inc\tim.h +HeaderFiles#2=..\Core\Inc\usart.h +HeaderFiles#3=..\Core\Inc\stm32f1xx_it.h +HeaderFiles#4=..\Core\Inc\stm32f1xx_hal_conf.h +HeaderFiles#5=..\Core\Inc\main.h +HeaderFolderListSize=1 +HeaderPath#0=..\Core\Inc +HeaderFiles=; +SourceFileListSize=6 +SourceFiles#0=..\Core\Src\gpio.c +SourceFiles#1=..\Core\Src\tim.c +SourceFiles#2=..\Core\Src\usart.c +SourceFiles#3=..\Core\Src\stm32f1xx_it.c +SourceFiles#4=..\Core\Src\stm32f1xx_hal_msp.c +SourceFiles#5=..\Core\Src\main.c +SourceFolderListSize=1 +SourcePath#0=..\Core\Src +SourceFiles=; + diff --git a/.project b/.project new file mode 100644 index 0000000..5ebaebe --- /dev/null +++ b/.project @@ -0,0 +1,32 @@ + + + pjsspoon + + + + + + org.eclipse.cdt.managedbuilder.core.genmakebuilder + clean,full,incremental, + + + + + org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder + full,incremental, + + + + + + com.st.stm32cube.ide.mcu.MCUProjectNature + com.st.stm32cube.ide.mcu.MCUCubeProjectNature + org.eclipse.cdt.core.cnature + com.st.stm32cube.ide.mcu.MCUCubeIdeServicesRevAev2ProjectNature + com.st.stm32cube.ide.mcu.MCUAdvancedStructureProjectNature + com.st.stm32cube.ide.mcu.MCUSingleCpuProjectNature + com.st.stm32cube.ide.mcu.MCURootProjectNature + org.eclipse.cdt.managedbuilder.core.managedBuildNature + org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + + diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml new file mode 100644 index 0000000..1c20384 --- /dev/null +++ b/.settings/language.settings.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs new file mode 100644 index 0000000..eef901c --- /dev/null +++ b/.settings/stm32cubeide.project.prefs @@ -0,0 +1,4 @@ +66BE74F758C12D739921AEA421D593D3=4 +8DF89ED150041C4CBC7CB9A9CAA90856=BD81A38ABCB6A8D22A0F87C5AFB577AD +DC22A860405A8BF2F2C095E5B6529F12=BD81A38ABCB6A8D22A0F87C5AFB577AD +eclipse.preferences.version=1 diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..2f6cc86 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,21 @@ +{ + "MicroPython.executeButton": [ + { + "text": "▶", + "tooltip": "运行", + "alignment": "left", + "command": "extension.executeFile", + "priority": 3.5 + } + ], + "MicroPython.syncButton": [ + { + "text": "$(sync)", + "tooltip": "同步", + "alignment": "left", + "command": "extension.execute", + "priority": 4 + } + ], + "stm32-for-vscode.makePath": false +} \ No newline at end of file diff --git a/Core/Inc/IIC.h b/Core/Inc/IIC.h new file mode 100644 index 0000000..ece8d0e --- /dev/null +++ b/Core/Inc/IIC.h @@ -0,0 +1,26 @@ +/* + * IIC.h + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +#ifndef INC_IIC_H_ +#define INC_IIC_H_ + +#include +#include "main.h" +#define IIC_WR 0 /* 写控制bit */ +#define IIC_RD 1 /* 读控制bit */ + +void IIC_Start(void); +void IIC_Stop(void); +void IIC_Send_Byte(uint8_t _ucByte); +uint8_t IIC_Read_Byte(uint8_t ack); +uint8_t IIC_Wait_Ack(void); +void IIC_Ack(void); +void IIC_NAck(void); +uint8_t IIC_CheckDevice(uint8_t _Address); +void IIC_GPIO_Init(void); + +#endif /* INC_IIC_H_ */ diff --git a/Core/Inc/dmpKey.h b/Core/Inc/dmpKey.h new file mode 100644 index 0000000..d499293 --- /dev/null +++ b/Core/Inc/dmpKey.h @@ -0,0 +1,501 @@ +/* + * dmpKey.h + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +#ifndef INC_DMPKEY_H_ +#define INC_DMPKEY_H_ + +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ + +#define KEY_CFG_25 (0) +#define KEY_CFG_24 (KEY_CFG_25 + 1) +#define KEY_CFG_26 (KEY_CFG_24 + 1) +#define KEY_CFG_27 (KEY_CFG_26 + 1) +#define KEY_CFG_21 (KEY_CFG_27 + 1) +#define KEY_CFG_20 (KEY_CFG_21 + 1) +#define KEY_CFG_TAP4 (KEY_CFG_20 + 1) +#define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1) +#define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1) +#define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1) +#define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1) +#define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1) +#define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1) +#define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1) +#define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1) +#define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1) +#define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1) +#define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1) +#define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1) +#define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1) +#define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1) +#define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1) +#define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1) +#define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1) +#define KEY_FCFG_1 (KEY_CFG_23 + 1) +#define KEY_FCFG_3 (KEY_FCFG_1 + 1) +#define KEY_FCFG_2 (KEY_FCFG_3 + 1) +#define KEY_CFG_3D (KEY_FCFG_2 + 1) +#define KEY_CFG_3B (KEY_CFG_3D + 1) +#define KEY_CFG_3C (KEY_CFG_3B + 1) +#define KEY_FCFG_5 (KEY_CFG_3C + 1) +#define KEY_FCFG_4 (KEY_FCFG_5 + 1) +#define KEY_FCFG_7 (KEY_FCFG_4 + 1) +#define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1) +#define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1) +#define KEY_FCFG_6 (KEY_FCFG_AZ + 1) +#define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1) +#define KEY_CFG_12 (KEY_FCFG_LSB4 + 1) +#define KEY_CFG_14 (KEY_CFG_12 + 1) +#define KEY_CFG_15 (KEY_CFG_14 + 1) +#define KEY_CFG_16 (KEY_CFG_15 + 1) +#define KEY_CFG_18 (KEY_CFG_16 + 1) +#define KEY_CFG_6 (KEY_CFG_18 + 1) +#define KEY_CFG_7 (KEY_CFG_6 + 1) +#define KEY_CFG_4 (KEY_CFG_7 + 1) +#define KEY_CFG_5 (KEY_CFG_4 + 1) +#define KEY_CFG_2 (KEY_CFG_5 + 1) +#define KEY_CFG_3 (KEY_CFG_2 + 1) +#define KEY_CFG_1 (KEY_CFG_3 + 1) +#define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1) +#define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1) +#define KEY_CFG_9 (KEY_CFG_8 + 1) +#define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1) +#define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1) +#define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1) +#define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1) +#define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1) +#define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1) +#define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1) +#define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1) +#define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1) +#define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1) + +/* MPU6050 keys */ +#define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1) +#define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1) +#define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1) + +#define KEY_D_0_22 (KEY_TEMPLABEL + 1) +#define KEY_D_0_24 (KEY_D_0_22 + 1) +#define KEY_D_0_36 (KEY_D_0_24 + 1) +#define KEY_D_0_52 (KEY_D_0_36 + 1) +#define KEY_D_0_96 (KEY_D_0_52 + 1) +#define KEY_D_0_104 (KEY_D_0_96 + 1) +#define KEY_D_0_108 (KEY_D_0_104 + 1) +#define KEY_D_0_163 (KEY_D_0_108 + 1) +#define KEY_D_0_188 (KEY_D_0_163 + 1) +#define KEY_D_0_192 (KEY_D_0_188 + 1) +#define KEY_D_0_224 (KEY_D_0_192 + 1) +#define KEY_D_0_228 (KEY_D_0_224 + 1) +#define KEY_D_0_232 (KEY_D_0_228 + 1) +#define KEY_D_0_236 (KEY_D_0_232 + 1) + +#define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1) +#define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1) +#define KEY_D_1_4 (KEY_D_1_2 + 1) +#define KEY_D_1_8 (KEY_D_1_4 + 1) +#define KEY_D_1_10 (KEY_D_1_8 + 1) +#define KEY_D_1_24 (KEY_D_1_10 + 1) +#define KEY_D_1_28 (KEY_D_1_24 + 1) +#define KEY_D_1_36 (KEY_D_1_28 + 1) +#define KEY_D_1_40 (KEY_D_1_36 + 1) +#define KEY_D_1_44 (KEY_D_1_40 + 1) +#define KEY_D_1_72 (KEY_D_1_44 + 1) +#define KEY_D_1_74 (KEY_D_1_72 + 1) +#define KEY_D_1_79 (KEY_D_1_74 + 1) +#define KEY_D_1_88 (KEY_D_1_79 + 1) +#define KEY_D_1_90 (KEY_D_1_88 + 1) +#define KEY_D_1_92 (KEY_D_1_90 + 1) +#define KEY_D_1_96 (KEY_D_1_92 + 1) +#define KEY_D_1_98 (KEY_D_1_96 + 1) +#define KEY_D_1_100 (KEY_D_1_98 + 1) +#define KEY_D_1_106 (KEY_D_1_100 + 1) +#define KEY_D_1_108 (KEY_D_1_106 + 1) +#define KEY_D_1_112 (KEY_D_1_108 + 1) +#define KEY_D_1_128 (KEY_D_1_112 + 1) +#define KEY_D_1_152 (KEY_D_1_128 + 1) +#define KEY_D_1_160 (KEY_D_1_152 + 1) +#define KEY_D_1_168 (KEY_D_1_160 + 1) +#define KEY_D_1_175 (KEY_D_1_168 + 1) +#define KEY_D_1_176 (KEY_D_1_175 + 1) +#define KEY_D_1_178 (KEY_D_1_176 + 1) +#define KEY_D_1_179 (KEY_D_1_178 + 1) +#define KEY_D_1_218 (KEY_D_1_179 + 1) +#define KEY_D_1_232 (KEY_D_1_218 + 1) +#define KEY_D_1_236 (KEY_D_1_232 + 1) +#define KEY_D_1_240 (KEY_D_1_236 + 1) +#define KEY_D_1_244 (KEY_D_1_240 + 1) +#define KEY_D_1_250 (KEY_D_1_244 + 1) +#define KEY_D_1_252 (KEY_D_1_250 + 1) +#define KEY_D_2_12 (KEY_D_1_252 + 1) +#define KEY_D_2_96 (KEY_D_2_12 + 1) +#define KEY_D_2_108 (KEY_D_2_96 + 1) +#define KEY_D_2_208 (KEY_D_2_108 + 1) +#define KEY_FLICK_MSG (KEY_D_2_208 + 1) +#define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1) +#define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1) +#define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1) +#define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1) +#define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1) +#define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1) +#define KEY_D_2_244 (KEY_D_2_224 + 1) +#define KEY_D_2_248 (KEY_D_2_244 + 1) +#define KEY_D_2_252 (KEY_D_2_248 + 1) + +#define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1) +#define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1) +#define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1) +#define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1) +#define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1) +#define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1) +#define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1) +#define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1) +#define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE + 1) +#define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1) +#define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1) +#define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1) +#define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1) +#define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1) +#define KEY_D_CS_TAY (KEY_D_CS_TAX + 1) +#define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1) +#define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1) +#define KEY_D_CS_TGY (KEY_D_CS_TGX + 1) +#define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1) +#define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1) +#define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1) +#define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1) +#define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1) + +/* Compass keys */ +#define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1) +#define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1) +#define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1) +#define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1) +#define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1) +#define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1) +#define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1) +#define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1) +#define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1) +#define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1) +#define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1) +#define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1) + +/* Gesture Keys */ +#define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1) +#define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1) +#define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1) +#define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1) +#define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1) +#define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1) +#define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1) +#define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1) +#define KEY_D_ACT0 (KEY_DMP_ORIENT + 1) +#define KEY_D_ACSX (KEY_D_ACT0 + 1) +#define KEY_D_ACSY (KEY_D_ACSX + 1) +#define KEY_D_ACSZ (KEY_D_ACSY + 1) + +#define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1) +#define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1) +#define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1) +#define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1) +#define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1) +#define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1) +#define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1) +#define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1) +#define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1) +#define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1) +#define KEY_X_GRT_Y (KEY_END_ORIENT + 1) +#define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1) +#define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1) +#define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1) + +/* Authenticate Keys */ +#define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1) +#define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1) +#define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1) +#define KEY_D_AUTH_B (KEY_D_AUTH_A + 1) + +/* Pedometer standalone only keys */ +#define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1) +#define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1) +#define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1) +#define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1) +#define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1) +#define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1) +#define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1) +#define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1) +#define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1) +#define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1) +#define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1) +#define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1) +#define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1) +#define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1) +#define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1) +#define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1) +#define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1) +#define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1) +#define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1) + +/*Host Based No Motion*/ +#define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1) + +/* EIS keys */ +#define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1) +#define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1) +#define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1) +#define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1) +#define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1) +#define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1) +#define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1) +#define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1) +#define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1) +#define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1) +#define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1) +#define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1) +#define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1) +#define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1) +#define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1) +#define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1) +#define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1) +#define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1) +#define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1) +#define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1) +#define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1) +#define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1) +#define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1) +#define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1) +#define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1) +#define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1) +// #define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1) +// #define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1) +// #define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1) + +/* Stream keys */ +#define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1) +#define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1) +#define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1) +#define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1) +#define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1) +#define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1) +#define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1) +#define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1) +#define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1) +#define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1) +#define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1) + +#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1) + +typedef struct +{ + unsigned short key; + unsigned short addr; +} tKeyLabel; + +#define DINA0A 0x0a +#define DINA22 0x22 +#define DINA42 0x42 +#define DINA5A 0x5a + +#define DINA06 0x06 +#define DINA0E 0x0e +#define DINA16 0x16 +#define DINA1E 0x1e +#define DINA26 0x26 +#define DINA2E 0x2e +#define DINA36 0x36 +#define DINA3E 0x3e +#define DINA46 0x46 +#define DINA4E 0x4e +#define DINA56 0x56 +#define DINA5E 0x5e +#define DINA66 0x66 +#define DINA6E 0x6e +#define DINA76 0x76 +#define DINA7E 0x7e + +#define DINA00 0x00 +#define DINA08 0x08 +#define DINA10 0x10 +#define DINA18 0x18 +#define DINA20 0x20 +#define DINA28 0x28 +#define DINA30 0x30 +#define DINA38 0x38 +#define DINA40 0x40 +#define DINA48 0x48 +#define DINA50 0x50 +#define DINA58 0x58 +#define DINA60 0x60 +#define DINA68 0x68 +#define DINA70 0x70 +#define DINA78 0x78 + +#define DINA04 0x04 +#define DINA0C 0x0c +#define DINA14 0x14 +#define DINA1C 0x1C +#define DINA24 0x24 +#define DINA2C 0x2c +#define DINA34 0x34 +#define DINA3C 0x3c +#define DINA44 0x44 +#define DINA4C 0x4c +#define DINA54 0x54 +#define DINA5C 0x5c +#define DINA64 0x64 +#define DINA6C 0x6c +#define DINA74 0x74 +#define DINA7C 0x7c + +#define DINA01 0x01 +#define DINA09 0x09 +#define DINA11 0x11 +#define DINA19 0x19 +#define DINA21 0x21 +#define DINA29 0x29 +#define DINA31 0x31 +#define DINA39 0x39 +#define DINA41 0x41 +#define DINA49 0x49 +#define DINA51 0x51 +#define DINA59 0x59 +#define DINA61 0x61 +#define DINA69 0x69 +#define DINA71 0x71 +#define DINA79 0x79 + +#define DINA25 0x25 +#define DINA2D 0x2d +#define DINA35 0x35 +#define DINA3D 0x3d +#define DINA4D 0x4d +#define DINA55 0x55 +#define DINA5D 0x5D +#define DINA6D 0x6d +#define DINA75 0x75 +#define DINA7D 0x7d + +#define DINADC 0xdc +#define DINAF2 0xf2 +#define DINAAB 0xab +#define DINAAA 0xaa +#define DINAF1 0xf1 +#define DINADF 0xdf +#define DINADA 0xda +#define DINAB1 0xb1 +#define DINAB9 0xb9 +#define DINAF3 0xf3 +#define DINA8B 0x8b +#define DINAA3 0xa3 +#define DINA91 0x91 +#define DINAB6 0xb6 +#define DINAB4 0xb4 + +#define DINC00 0x00 +#define DINC01 0x01 +#define DINC02 0x02 +#define DINC03 0x03 +#define DINC08 0x08 +#define DINC09 0x09 +#define DINC0A 0x0a +#define DINC0B 0x0b +#define DINC10 0x10 +#define DINC11 0x11 +#define DINC12 0x12 +#define DINC13 0x13 +#define DINC18 0x18 +#define DINC19 0x19 +#define DINC1A 0x1a +#define DINC1B 0x1b + +#define DINC20 0x20 +#define DINC21 0x21 +#define DINC22 0x22 +#define DINC23 0x23 +#define DINC28 0x28 +#define DINC29 0x29 +#define DINC2A 0x2a +#define DINC2B 0x2b +#define DINC30 0x30 +#define DINC31 0x31 +#define DINC32 0x32 +#define DINC33 0x33 +#define DINC38 0x38 +#define DINC39 0x39 +#define DINC3A 0x3a +#define DINC3B 0x3b + +#define DINC40 0x40 +#define DINC41 0x41 +#define DINC42 0x42 +#define DINC43 0x43 +#define DINC48 0x48 +#define DINC49 0x49 +#define DINC4A 0x4a +#define DINC4B 0x4b +#define DINC50 0x50 +#define DINC51 0x51 +#define DINC52 0x52 +#define DINC53 0x53 +#define DINC58 0x58 +#define DINC59 0x59 +#define DINC5A 0x5a +#define DINC5B 0x5b + +#define DINC60 0x60 +#define DINC61 0x61 +#define DINC62 0x62 +#define DINC63 0x63 +#define DINC68 0x68 +#define DINC69 0x69 +#define DINC6A 0x6a +#define DINC6B 0x6b +#define DINC70 0x70 +#define DINC71 0x71 +#define DINC72 0x72 +#define DINC73 0x73 +#define DINC78 0x78 +#define DINC79 0x79 +#define DINC7A 0x7a +#define DINC7B 0x7b + +#define DIND40 0x40 + +#define DINA80 0x80 +#define DINA90 0x90 +#define DINAA0 0xa0 +#define DINAC9 0xc9 +#define DINACB 0xcb +#define DINACD 0xcd +#define DINACF 0xcf +#define DINAC8 0xc8 +#define DINACA 0xca +#define DINACC 0xcc +#define DINACE 0xce +#define DINAD8 0xd8 +#define DINADD 0xdd +#define DINAF8 0xf0 +#define DINAFE 0xfe + +#define DINBF8 0xf8 +#define DINAC0 0xb0 +#define DINAC1 0xb1 +#define DINAC2 0xb4 +#define DINAC3 0xb5 +#define DINAC4 0xb8 +#define DINAC5 0xb9 +#define DINBC0 0xc0 +#define DINBC2 0xc2 +#define DINBC4 0xc4 +#define DINBC6 0xc6 + + + +#endif /* INC_DMPKEY_H_ */ diff --git a/Core/Inc/dmpmap.h b/Core/Inc/dmpmap.h new file mode 100644 index 0000000..71995d0 --- /dev/null +++ b/Core/Inc/dmpmap.h @@ -0,0 +1,267 @@ +/* + * dmpmap.h + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +#ifndef INC_DMPMAP_H_ +#define INC_DMPMAP_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define DMP_PTAT 0 +#define DMP_XGYR 2 +#define DMP_YGYR 4 +#define DMP_ZGYR 6 +#define DMP_XACC 8 +#define DMP_YACC 10 +#define DMP_ZACC 12 +#define DMP_ADC1 14 +#define DMP_ADC2 16 +#define DMP_ADC3 18 +#define DMP_BIASUNC 20 +#define DMP_FIFORT 22 +#define DMP_INVGSFH 24 +#define DMP_INVGSFL 26 +#define DMP_1H 28 +#define DMP_1L 30 +#define DMP_BLPFSTCH 32 +#define DMP_BLPFSTCL 34 +#define DMP_BLPFSXH 36 +#define DMP_BLPFSXL 38 +#define DMP_BLPFSYH 40 +#define DMP_BLPFSYL 42 +#define DMP_BLPFSZH 44 +#define DMP_BLPFSZL 46 +#define DMP_BLPFMTC 48 +#define DMP_SMC 50 +#define DMP_BLPFMXH 52 +#define DMP_BLPFMXL 54 +#define DMP_BLPFMYH 56 +#define DMP_BLPFMYL 58 +#define DMP_BLPFMZH 60 +#define DMP_BLPFMZL 62 +#define DMP_BLPFC 64 +#define DMP_SMCTH 66 +#define DMP_0H2 68 +#define DMP_0L2 70 +#define DMP_BERR2H 72 +#define DMP_BERR2L 74 +#define DMP_BERR2NH 76 +#define DMP_SMCINC 78 +#define DMP_ANGVBXH 80 +#define DMP_ANGVBXL 82 +#define DMP_ANGVBYH 84 +#define DMP_ANGVBYL 86 +#define DMP_ANGVBZH 88 +#define DMP_ANGVBZL 90 +#define DMP_BERR1H 92 +#define DMP_BERR1L 94 +#define DMP_ATCH 96 +#define DMP_BIASUNCSF 98 +#define DMP_ACT2H 100 +#define DMP_ACT2L 102 +#define DMP_GSFH 104 +#define DMP_GSFL 106 +#define DMP_GH 108 +#define DMP_GL 110 +#define DMP_0_5H 112 +#define DMP_0_5L 114 +#define DMP_0_0H 116 +#define DMP_0_0L 118 +#define DMP_1_0H 120 +#define DMP_1_0L 122 +#define DMP_1_5H 124 +#define DMP_1_5L 126 +#define DMP_TMP1AH 128 +#define DMP_TMP1AL 130 +#define DMP_TMP2AH 132 +#define DMP_TMP2AL 134 +#define DMP_TMP3AH 136 +#define DMP_TMP3AL 138 +#define DMP_TMP4AH 140 +#define DMP_TMP4AL 142 +#define DMP_XACCW 144 +#define DMP_TMP5 146 +#define DMP_XACCB 148 +#define DMP_TMP8 150 +#define DMP_YACCB 152 +#define DMP_TMP9 154 +#define DMP_ZACCB 156 +#define DMP_TMP10 158 +#define DMP_DZH 160 +#define DMP_DZL 162 +#define DMP_XGCH 164 +#define DMP_XGCL 166 +#define DMP_YGCH 168 +#define DMP_YGCL 170 +#define DMP_ZGCH 172 +#define DMP_ZGCL 174 +#define DMP_YACCW 176 +#define DMP_TMP7 178 +#define DMP_AFB1H 180 +#define DMP_AFB1L 182 +#define DMP_AFB2H 184 +#define DMP_AFB2L 186 +#define DMP_MAGFBH 188 +#define DMP_MAGFBL 190 +#define DMP_QT1H 192 +#define DMP_QT1L 194 +#define DMP_QT2H 196 +#define DMP_QT2L 198 +#define DMP_QT3H 200 +#define DMP_QT3L 202 +#define DMP_QT4H 204 +#define DMP_QT4L 206 +#define DMP_CTRL1H 208 +#define DMP_CTRL1L 210 +#define DMP_CTRL2H 212 +#define DMP_CTRL2L 214 +#define DMP_CTRL3H 216 +#define DMP_CTRL3L 218 +#define DMP_CTRL4H 220 +#define DMP_CTRL4L 222 +#define DMP_CTRLS1 224 +#define DMP_CTRLSF1 226 +#define DMP_CTRLS2 228 +#define DMP_CTRLSF2 230 +#define DMP_CTRLS3 232 +#define DMP_CTRLSFNLL 234 +#define DMP_CTRLS4 236 +#define DMP_CTRLSFNL2 238 +#define DMP_CTRLSFNL 240 +#define DMP_TMP30 242 +#define DMP_CTRLSFJT 244 +#define DMP_TMP31 246 +#define DMP_TMP11 248 +#define DMP_CTRLSF2_2 250 +#define DMP_TMP12 252 +#define DMP_CTRLSF1_2 254 +#define DMP_PREVPTAT 256 +#define DMP_ACCZB 258 +#define DMP_ACCXB 264 +#define DMP_ACCYB 266 +#define DMP_1HB 272 +#define DMP_1LB 274 +#define DMP_0H 276 +#define DMP_0L 278 +#define DMP_ASR22H 280 +#define DMP_ASR22L 282 +#define DMP_ASR6H 284 +#define DMP_ASR6L 286 +#define DMP_TMP13 288 +#define DMP_TMP14 290 +#define DMP_FINTXH 292 +#define DMP_FINTXL 294 +#define DMP_FINTYH 296 +#define DMP_FINTYL 298 +#define DMP_FINTZH 300 +#define DMP_FINTZL 302 +#define DMP_TMP1BH 304 +#define DMP_TMP1BL 306 +#define DMP_TMP2BH 308 +#define DMP_TMP2BL 310 +#define DMP_TMP3BH 312 +#define DMP_TMP3BL 314 +#define DMP_TMP4BH 316 +#define DMP_TMP4BL 318 +#define DMP_STXG 320 +#define DMP_ZCTXG 322 +#define DMP_STYG 324 +#define DMP_ZCTYG 326 +#define DMP_STZG 328 +#define DMP_ZCTZG 330 +#define DMP_CTRLSFJT2 332 +#define DMP_CTRLSFJTCNT 334 +#define DMP_PVXG 336 +#define DMP_TMP15 338 +#define DMP_PVYG 340 +#define DMP_TMP16 342 +#define DMP_PVZG 344 +#define DMP_TMP17 346 +#define DMP_MNMFLAGH 352 +#define DMP_MNMFLAGL 354 +#define DMP_MNMTMH 356 +#define DMP_MNMTML 358 +#define DMP_MNMTMTHRH 360 +#define DMP_MNMTMTHRL 362 +#define DMP_MNMTHRH 364 +#define DMP_MNMTHRL 366 +#define DMP_ACCQD4H 368 +#define DMP_ACCQD4L 370 +#define DMP_ACCQD5H 372 +#define DMP_ACCQD5L 374 +#define DMP_ACCQD6H 376 +#define DMP_ACCQD6L 378 +#define DMP_ACCQD7H 380 +#define DMP_ACCQD7L 382 +#define DMP_ACCQD0H 384 +#define DMP_ACCQD0L 386 +#define DMP_ACCQD1H 388 +#define DMP_ACCQD1L 390 +#define DMP_ACCQD2H 392 +#define DMP_ACCQD2L 394 +#define DMP_ACCQD3H 396 +#define DMP_ACCQD3L 398 +#define DMP_XN2H 400 +#define DMP_XN2L 402 +#define DMP_XN1H 404 +#define DMP_XN1L 406 +#define DMP_YN2H 408 +#define DMP_YN2L 410 +#define DMP_YN1H 412 +#define DMP_YN1L 414 +#define DMP_YH 416 +#define DMP_YL 418 +#define DMP_B0H 420 +#define DMP_B0L 422 +#define DMP_A1H 424 +#define DMP_A1L 426 +#define DMP_A2H 428 +#define DMP_A2L 430 +#define DMP_SEM1 432 +#define DMP_FIFOCNT 434 +#define DMP_SH_TH_X 436 +#define DMP_PACKET 438 +#define DMP_SH_TH_Y 440 +#define DMP_FOOTER 442 +#define DMP_SH_TH_Z 444 +#define DMP_TEMP29 448 +#define DMP_TEMP30 450 +#define DMP_XACCB_PRE 452 +#define DMP_XACCB_PREL 454 +#define DMP_YACCB_PRE 456 +#define DMP_YACCB_PREL 458 +#define DMP_ZACCB_PRE 460 +#define DMP_ZACCB_PREL 462 +#define DMP_TMP22 464 +#define DMP_TAP_TIMER 466 +#define DMP_TAP_THX 468 +#define DMP_TAP_THY 472 +#define DMP_TAP_THZ 476 +#define DMP_TAPW_MIN 478 +#define DMP_TMP25 480 +#define DMP_TMP26 482 +#define DMP_TMP27 484 +#define DMP_TMP28 486 +#define DMP_ORIENT 488 +#define DMP_THRSH 490 +#define DMP_ENDIANH 492 +#define DMP_ENDIANL 494 +#define DMP_BLPFNMTCH 496 +#define DMP_BLPFNMTCL 498 +#define DMP_BLPFNMXH 500 +#define DMP_BLPFNMXL 502 +#define DMP_BLPFNMYH 504 +#define DMP_BLPFNMYL 506 +#define DMP_BLPFNMZH 508 +#define DMP_BLPFNMZL 510 +#ifdef __cplusplus +} + +#endif +#endif /* INC_DMPMAP_H_ */ diff --git a/Core/Inc/gpio.h b/Core/Inc/gpio.h new file mode 100644 index 0000000..6c03ac7 --- /dev/null +++ b/Core/Inc/gpio.h @@ -0,0 +1,49 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file gpio.h + * @brief This file contains all the function prototypes for + * the gpio.c file + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __GPIO_H__ +#define __GPIO_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_GPIO_Init(void); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif +#endif /*__ GPIO_H__ */ + diff --git a/Core/Inc/inv_mpu.h b/Core/Inc/inv_mpu.h new file mode 100644 index 0000000..083ee4e --- /dev/null +++ b/Core/Inc/inv_mpu.h @@ -0,0 +1,126 @@ +/* + * inv_mpu.h + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +#ifndef INC_INV_MPU_H_ +#define INC_INV_MPU_H_ + +#include "main.h" + +//定义输出速度 +#define DEFAULT_MPU_HZ (100) //100Hz + +#define INV_X_GYRO (0x40) +#define INV_Y_GYRO (0x20) +#define INV_Z_GYRO (0x10) +#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) +#define INV_XYZ_ACCEL (0x08) +#define INV_XYZ_COMPASS (0x01) + +//移植官方MSP430 DMP驱动过来 +struct int_param_s { +//#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 + void (*cb)(void); + unsigned short pin; + unsigned char lp_exit; + unsigned char active_low; +//#elif defined EMPL_TARGET_UC3L0 +// unsigned long pin; +// void (*cb)(volatile void*); +// void *arg; +//#endif +}; + +#define MPU_INT_STATUS_DATA_READY (0x0001) +#define MPU_INT_STATUS_DMP (0x0002) +#define MPU_INT_STATUS_PLL_READY (0x0004) +#define MPU_INT_STATUS_I2C_MST (0x0008) +#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) +#define MPU_INT_STATUS_ZMOT (0x0020) +#define MPU_INT_STATUS_MOT (0x0040) +#define MPU_INT_STATUS_FREE_FALL (0x0080) +#define MPU_INT_STATUS_DMP_0 (0x0100) +#define MPU_INT_STATUS_DMP_1 (0x0200) +#define MPU_INT_STATUS_DMP_2 (0x0400) +#define MPU_INT_STATUS_DMP_3 (0x0800) +#define MPU_INT_STATUS_DMP_4 (0x1000) +#define MPU_INT_STATUS_DMP_5 (0x2000) + +/* Set up APIs */ +int mpu_init(void); +int mpu_init_slave(void); +int mpu_set_bypass(unsigned char bypass_on); + +/* Configuration APIs */ +int mpu_lp_accel_mode(unsigned char rate); +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq); +int mpu_set_int_level(unsigned char active_low); +int mpu_set_int_latched(unsigned char enable); + +int mpu_set_dmp_state(unsigned char enable); +int mpu_get_dmp_state(unsigned char *enabled); + +int mpu_get_lpf(unsigned short *lpf); +int mpu_set_lpf(unsigned short lpf); + +int mpu_get_gyro_fsr(unsigned short *fsr); +int mpu_set_gyro_fsr(unsigned short fsr); + +int mpu_get_accel_fsr(unsigned char *fsr); +int mpu_set_accel_fsr(unsigned char fsr); + +int mpu_get_compass_fsr(unsigned short *fsr); + +int mpu_get_gyro_sens(float *sens); +int mpu_get_accel_sens(unsigned short *sens); + +int mpu_get_sample_rate(unsigned short *rate); +int mpu_set_sample_rate(unsigned short rate); +int mpu_get_compass_sample_rate(unsigned short *rate); +int mpu_set_compass_sample_rate(unsigned short rate); + +int mpu_get_fifo_config(unsigned char *sensors); +int mpu_configure_fifo(unsigned char sensors); + +int mpu_get_power_state(unsigned char *power_on); +int mpu_set_sensors(unsigned char sensors); + +int mpu_set_accel_bias(const long *accel_bias); + +/* Data getter/setter APIs */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp); +int mpu_get_accel_reg(short *data, unsigned long *timestamp); +int mpu_get_compass_reg(short *data, unsigned long *timestamp); +int mpu_get_temperature(long *data, unsigned long *timestamp); + +int mpu_get_int_status(short *status); +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more); +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more); +int mpu_reset_fifo(void); + +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate); + +int mpu_reg_dump(void); +int mpu_read_reg(unsigned char reg, unsigned char *data); +int mpu_run_self_test(long *gyro, long *accel); +int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); +//自行添加的一些函数 +void mget_ms(unsigned long *time); +unsigned short inv_row_2_scale(const signed char *row); +unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx); +uint8_t run_self_test(void); +uint8_t mpu_dmp_init(void); +uint8_t mpu_dmp_get_data(float *pitch,float *roll,float *yaw); + +#endif /* INC_INV_MPU_H_ */ diff --git a/Core/Inc/inv_mpu_dmp_motion_driver.h b/Core/Inc/inv_mpu_dmp_motion_driver.h new file mode 100644 index 0000000..4e75db8 --- /dev/null +++ b/Core/Inc/inv_mpu_dmp_motion_driver.h @@ -0,0 +1,87 @@ +/* + * inv__mpu_dmp_motion_driver.h + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +#ifndef INC_INV_MPU_DMP_MOTION_DRIVER_H_ +#define INC_INV_MPU_DMP_MOTION_DRIVER_H_ + +#define TAP_X (0x01) +#define TAP_Y (0x02) +#define TAP_Z (0x04) +#define TAP_XYZ (0x07) + +#define TAP_X_UP (0x01) +#define TAP_X_DOWN (0x02) +#define TAP_Y_UP (0x03) +#define TAP_Y_DOWN (0x04) +#define TAP_Z_UP (0x05) +#define TAP_Z_DOWN (0x06) + +#define ANDROID_ORIENT_PORTRAIT (0x00) +#define ANDROID_ORIENT_LANDSCAPE (0x01) +#define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) +#define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) + +#define DMP_INT_GESTURE (0x01) +#define DMP_INT_CONTINUOUS (0x02) + +#define DMP_FEATURE_TAP (0x001) +#define DMP_FEATURE_ANDROID_ORIENT (0x002) +#define DMP_FEATURE_LP_QUAT (0x004) +#define DMP_FEATURE_PEDOMETER (0x008) +#define DMP_FEATURE_6X_LP_QUAT (0x010) +#define DMP_FEATURE_GYRO_CAL (0x020) +#define DMP_FEATURE_SEND_RAW_ACCEL (0x040) +#define DMP_FEATURE_SEND_RAW_GYRO (0x080) +#define DMP_FEATURE_SEND_CAL_GYRO (0x100) + +#define INV_WXYZ_QUAT (0x100) + +/* Set up functions. */ +int dmp_load_motion_driver_firmware(void); +int dmp_set_fifo_rate(unsigned short rate); +int dmp_get_fifo_rate(unsigned short *rate); +int dmp_enable_feature(unsigned short mask); +int dmp_get_enabled_features(unsigned short *mask); +int dmp_set_interrupt_mode(unsigned char mode); +int dmp_set_orientation(unsigned short orient); +int dmp_set_gyro_bias(long *bias); +int dmp_set_accel_bias(long *bias); + +/* Tap functions. */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)); +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh); +int dmp_set_tap_axes(unsigned char axis); +int dmp_set_tap_count(unsigned char min_taps); +int dmp_set_tap_time(unsigned short time); +int dmp_set_tap_time_multi(unsigned short time); +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh); +int dmp_set_shake_reject_time(unsigned short time); +int dmp_set_shake_reject_timeout(unsigned short time); + +/* Android orientation functions. */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)); + +/* LP quaternion functions. */ +int dmp_enable_lp_quat(unsigned char enable); +int dmp_enable_6x_lp_quat(unsigned char enable); + +/* Pedometer functions. */ +int dmp_get_pedometer_step_count(unsigned long *count); +int dmp_set_pedometer_step_count(unsigned long count); +int dmp_get_pedometer_walk_time(unsigned long *time); +int dmp_set_pedometer_walk_time(unsigned long time); + +/* DMP gyro calibration functions. */ +int dmp_enable_gyro_cal(unsigned char enable); + +/* Read function. This function should be called whenever the MPU interrupt is + * detected. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more); + +#endif /* INC_INV_MPU_DMP_MOTION_DRIVER_H_ */ diff --git a/Core/Inc/main.h b/Core/Inc/main.h new file mode 100644 index 0000000..eed952b --- /dev/null +++ b/Core/Inc/main.h @@ -0,0 +1,68 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : main.h + * @brief : Header for main.c file. + * This file contains the common defines of the application. + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __MAIN_H +#define __MAIN_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f1xx_hal.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Exported types ------------------------------------------------------------*/ +/* USER CODE BEGIN ET */ + +/* USER CODE END ET */ + +/* Exported constants --------------------------------------------------------*/ +/* USER CODE BEGIN EC */ + +/* USER CODE END EC */ + +/* Exported macro ------------------------------------------------------------*/ +/* USER CODE BEGIN EM */ + +/* USER CODE END EM */ + +/* Exported functions prototypes ---------------------------------------------*/ +void Error_Handler(void); + +/* USER CODE BEGIN EFP */ + +/* USER CODE END EFP */ + +/* Private defines -----------------------------------------------------------*/ +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +#ifdef __cplusplus +} +#endif + +#endif /* __MAIN_H */ diff --git a/Core/Inc/mpu6050.h b/Core/Inc/mpu6050.h new file mode 100644 index 0000000..b039ac9 --- /dev/null +++ b/Core/Inc/mpu6050.h @@ -0,0 +1,113 @@ +/* + * mpu6050.h + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +#ifndef INC_MPU6050_H_ +#define INC_MPU6050_H_ + +#include "IIC.h" +#include "main.h" + +#define delay_ms HAL_Delay +#define MPU_IIC_Init IIC_GPIO_Init +#define MPU_IIC_Start IIC_Start +#define MPU_IIC_Stop IIC_Stop +#define MPU_IIC_Send_Byte IIC_Send_Byte +#define MPU_IIC_Read_Byte IIC_Read_Byte +#define MPU_IIC_Wait_Ack IIC_Wait_Ack + +#define MPU_SELF_TESTX_REG 0X0D // 自检寄存器X +#define MPU_SELF_TESTY_REG 0X0E // 自检寄存器Y +#define MPU_SELF_TESTZ_REG 0X0F // 自检寄存器Z +#define MPU_SELF_TESTA_REG 0X10 // 自检寄存器A +#define MPU_SAMPLE_RATE_REG 0X19 // 采样频率分频器 +#define MPU_CFG_REG 0X1A // 配置寄存器 +#define MPU_GYRO_CFG_REG 0X1B // 陀螺仪配置寄存器 +#define MPU_ACCEL_CFG_REG 0X1C // 加速度计配置寄存器 +#define MPU_MOTION_DET_REG 0X1F // 运动检测阀值设置寄存器 +#define MPU_FIFO_EN_REG 0X23 // FIFO使能寄存器 +#define MPU_I2CMST_CTRL_REG 0X24 // IIC主机控制寄存器 +#define MPU_I2CSLV0_ADDR_REG 0X25 // IIC从机0器件地址寄存器 +#define MPU_I2CSLV0_REG 0X26 // IIC从机0数据地址寄存器 +#define MPU_I2CSLV0_CTRL_REG 0X27 // IIC从机0控制寄存器 +#define MPU_I2CSLV1_ADDR_REG 0X28 // IIC从机1器件地址寄存器 +#define MPU_I2CSLV1_REG 0X29 // IIC从机1数据地址寄存器 +#define MPU_I2CSLV1_CTRL_REG 0X2A // IIC从机1控制寄存器 +#define MPU_I2CSLV2_ADDR_REG 0X2B // IIC从机2器件地址寄存器 +#define MPU_I2CSLV2_REG 0X2C // IIC从机2数据地址寄存器 +#define MPU_I2CSLV2_CTRL_REG 0X2D // IIC从机2控制寄存器 +#define MPU_I2CSLV3_ADDR_REG 0X2E // IIC从机3器件地址寄存器 +#define MPU_I2CSLV3_REG 0X2F // IIC从机3数据地址寄存器 +#define MPU_I2CSLV3_CTRL_REG 0X30 // IIC从机3控制寄存器 +#define MPU_I2CSLV4_ADDR_REG 0X31 // IIC从机4器件地址寄存器 +#define MPU_I2CSLV4_REG 0X32 // IIC从机4数据地址寄存器 +#define MPU_I2CSLV4_DO_REG 0X33 // IIC从机4写数据寄存器 +#define MPU_I2CSLV4_CTRL_REG 0X34 // IIC从机4控制寄存器 +#define MPU_I2CSLV4_DI_REG 0X35 // IIC从机4读数据寄存器 + +#define MPU_I2CMST_STA_REG 0X36 // IIC主机状态寄存器 +#define MPU_INTBP_CFG_REG 0X37 // 中断/旁路设置寄存器 +#define MPU_INT_EN_REG 0X38 // 中断使能寄存器 +#define MPU_INT_STA_REG 0X3A // 中断状态寄存器 + +#define MPU_ACCEL_XOUTH_REG 0X3B // 加速度值,X轴高8位寄存器 +#define MPU_ACCEL_XOUTL_REG 0X3C // 加速度值,X轴低8位寄存器 +#define MPU_ACCEL_YOUTH_REG 0X3D // 加速度值,Y轴高8位寄存器 +#define MPU_ACCEL_YOUTL_REG 0X3E // 加速度值,Y轴低8位寄存器 +#define MPU_ACCEL_ZOUTH_REG 0X3F // 加速度值,Z轴高8位寄存器 +#define MPU_ACCEL_ZOUTL_REG 0X40 // 加速度值,Z轴低8位寄存器 + +#define MPU_TEMP_OUTH_REG 0X41 // 温度值高八位寄存器 +#define MPU_TEMP_OUTL_REG 0X42 // 温度值低8位寄存器 + +#define MPU_GYRO_XOUTH_REG 0X43 // 陀螺仪值,X轴高8位寄存器 +#define MPU_GYRO_XOUTL_REG 0X44 // 陀螺仪值,X轴低8位寄存器 +#define MPU_GYRO_YOUTH_REG 0X45 // 陀螺仪值,Y轴高8位寄存器 +#define MPU_GYRO_YOUTL_REG 0X46 // 陀螺仪值,Y轴低8位寄存器 +#define MPU_GYRO_ZOUTH_REG 0X47 // 陀螺仪值,Z轴高8位寄存器 +#define MPU_GYRO_ZOUTL_REG 0X48 // 陀螺仪值,Z轴低8位寄存器 + +#define MPU_I2CSLV0_DO_REG 0X63 // IIC从机0数据寄存器 +#define MPU_I2CSLV1_DO_REG 0X64 // IIC从机1数据寄存器 +#define MPU_I2CSLV2_DO_REG 0X65 // IIC从机2数据寄存器 +#define MPU_I2CSLV3_DO_REG 0X66 // IIC从机3数据寄存器 + +#define MPU_I2CMST_DELAY_REG 0X67 // IIC主机延时管理寄存器 +#define MPU_SIGPATH_RST_REG 0X68 // 信号通道复位寄存器 +#define MPU_MDETECT_CTRL_REG 0X69 // 运动检测控制寄存器 +#define MPU_USER_CTRL_REG 0X6A // 用户控制寄存器 +#define MPU_PWR_MGMT1_REG 0X6B // 电源管理寄存器1 +#define MPU_PWR_MGMT2_REG 0X6C // 电源管理寄存器2 +#define MPU_FIFO_CNTH_REG 0X72 // FIFO计数寄存器高八位 +#define MPU_FIFO_CNTL_REG 0X73 // FIFO计数寄存器低八位 +#define MPU_FIFO_RW_REG 0X74 // FIFO读写寄存器 +#define MPU_DEVICE_ID_REG 0X75 // 器件ID寄存器 + +// 如果AD0脚(9脚)接地,IIC地址为0X68(不包含最低位). +// 如果接V3.3,则IIC地址为0X69(不包含最低位). +#define MPU_ADDR 0X68 + +// 因为模块AD0默认接GND,所以转为读写地址后,为0XD1和0XD0(如果接VCC,则为0XD3和0XD2) +// #define MPU_READ 0XD1 +// #define MPU_WRITE 0XD0 + +uint8_t MPU_Init(void); // 初始化MPU6050 +uint8_t MPU_Write_Len(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf); // IIC连续写 +uint8_t MPU_Read_Len(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf); // IIC连续读 +uint8_t MPU_Write_Byte(uint8_t reg, uint8_t data); // IIC写一个字节 +uint8_t MPU_Read_Byte(uint8_t reg); // IIC读一个字节 + +uint8_t MPU_Set_Gyro_Fsr(uint8_t fsr); +uint8_t MPU_Set_Accel_Fsr(uint8_t fsr); +uint8_t MPU_Set_LPF(uint16_t lpf); +uint8_t MPU_Set_Rate(uint16_t rate); +uint8_t MPU_Set_Fifo(uint8_t sens); + +short MPU_Get_Temperature(void); +uint8_t MPU_Get_Gyroscope(short *gx, short *gy, short *gz); +uint8_t MPU_Get_Accelerometer(short *ax, short *ay, short *az); + +#endif /* INC_MPU6050_H_ */ diff --git a/Core/Inc/stm32f1xx_hal_conf.h b/Core/Inc/stm32f1xx_hal_conf.h new file mode 100644 index 0000000..192f89f --- /dev/null +++ b/Core/Inc/stm32f1xx_hal_conf.h @@ -0,0 +1,391 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f1xx_hal_conf.h + * @brief HAL configuration file. + ****************************************************************************** + * @attention + * + * Copyright (c) 2017 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F1xx_HAL_CONF_H +#define __STM32F1xx_HAL_CONF_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Exported types ------------------------------------------------------------*/ +/* Exported constants --------------------------------------------------------*/ + +/* ########################## Module Selection ############################## */ +/** + * @brief This is the list of modules to be used in the HAL driver + */ + +#define HAL_MODULE_ENABLED + /*#define HAL_ADC_MODULE_ENABLED */ +/*#define HAL_CRYP_MODULE_ENABLED */ +/*#define HAL_CAN_MODULE_ENABLED */ +/*#define HAL_CAN_LEGACY_MODULE_ENABLED */ +/*#define HAL_CEC_MODULE_ENABLED */ +/*#define HAL_CORTEX_MODULE_ENABLED */ +/*#define HAL_CRC_MODULE_ENABLED */ +/*#define HAL_DAC_MODULE_ENABLED */ +/*#define HAL_DMA_MODULE_ENABLED */ +/*#define HAL_ETH_MODULE_ENABLED */ +/*#define HAL_FLASH_MODULE_ENABLED */ +#define HAL_GPIO_MODULE_ENABLED +/*#define HAL_I2C_MODULE_ENABLED */ +/*#define HAL_I2S_MODULE_ENABLED */ +/*#define HAL_IRDA_MODULE_ENABLED */ +/*#define HAL_IWDG_MODULE_ENABLED */ +/*#define HAL_NOR_MODULE_ENABLED */ +/*#define HAL_NAND_MODULE_ENABLED */ +/*#define HAL_PCCARD_MODULE_ENABLED */ +/*#define HAL_PCD_MODULE_ENABLED */ +/*#define HAL_HCD_MODULE_ENABLED */ +/*#define HAL_PWR_MODULE_ENABLED */ +/*#define HAL_RCC_MODULE_ENABLED */ +/*#define HAL_RTC_MODULE_ENABLED */ +/*#define HAL_SD_MODULE_ENABLED */ +/*#define HAL_MMC_MODULE_ENABLED */ +/*#define HAL_SDRAM_MODULE_ENABLED */ +/*#define HAL_SMARTCARD_MODULE_ENABLED */ +/*#define HAL_SPI_MODULE_ENABLED */ +/*#define HAL_SRAM_MODULE_ENABLED */ +#define HAL_TIM_MODULE_ENABLED +#define HAL_UART_MODULE_ENABLED +/*#define HAL_USART_MODULE_ENABLED */ +/*#define HAL_WWDG_MODULE_ENABLED */ + +#define HAL_CORTEX_MODULE_ENABLED +#define HAL_DMA_MODULE_ENABLED +#define HAL_FLASH_MODULE_ENABLED +#define HAL_EXTI_MODULE_ENABLED +#define HAL_GPIO_MODULE_ENABLED +#define HAL_PWR_MODULE_ENABLED +#define HAL_RCC_MODULE_ENABLED + +/* ########################## Oscillator Values adaptation ####################*/ +/** + * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. + * This value is used by the RCC HAL module to compute the system frequency + * (when HSE is used as system clock source, directly or through the PLL). + */ +#if !defined (HSE_VALUE) + #define HSE_VALUE 8000000U /*!< Value of the External oscillator in Hz */ +#endif /* HSE_VALUE */ + +#if !defined (HSE_STARTUP_TIMEOUT) + #define HSE_STARTUP_TIMEOUT 100U /*!< Time out for HSE start up, in ms */ +#endif /* HSE_STARTUP_TIMEOUT */ + +/** + * @brief Internal High Speed oscillator (HSI) value. + * This value is used by the RCC HAL module to compute the system frequency + * (when HSI is used as system clock source, directly or through the PLL). + */ +#if !defined (HSI_VALUE) + #define HSI_VALUE 8000000U /*!< Value of the Internal oscillator in Hz*/ +#endif /* HSI_VALUE */ + +/** + * @brief Internal Low Speed oscillator (LSI) value. + */ +#if !defined (LSI_VALUE) + #define LSI_VALUE 40000U /*!< LSI Typical Value in Hz */ +#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz + The real value may vary depending on the variations + in voltage and temperature. */ + +/** + * @brief External Low Speed oscillator (LSE) value. + * This value is used by the UART, RTC HAL module to compute the system frequency + */ +#if !defined (LSE_VALUE) + #define LSE_VALUE 32768U /*!< Value of the External oscillator in Hz*/ +#endif /* LSE_VALUE */ + +#if !defined (LSE_STARTUP_TIMEOUT) + #define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */ +#endif /* LSE_STARTUP_TIMEOUT */ + +/* Tip: To avoid modifying this file each time you need to use different HSE, + === you can define the HSE value in your toolchain compiler preprocessor. */ + +/* ########################### System Configuration ######################### */ +/** + * @brief This is the HAL system configuration section + */ +#define VDD_VALUE 3300U /*!< Value of VDD in mv */ +#define TICK_INT_PRIORITY 15U /*!< tick interrupt priority (lowest by default) */ +#define USE_RTOS 0U +#define PREFETCH_ENABLE 1U + +#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */ +#define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */ +#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */ +#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */ +#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */ +#define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */ +#define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */ +#define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */ +#define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */ +#define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */ +#define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */ +#define USE_HAL_PCCARD_REGISTER_CALLBACKS 0U /* PCCARD register callback disabled */ +#define USE_HAL_PCD_REGISTER_CALLBACKS 0U /* PCD register callback disabled */ +#define USE_HAL_RTC_REGISTER_CALLBACKS 0U /* RTC register callback disabled */ +#define USE_HAL_SD_REGISTER_CALLBACKS 0U /* SD register callback disabled */ +#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U /* SMARTCARD register callback disabled */ +#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */ +#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */ +#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ +#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */ +#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */ +#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */ +#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ + +/* ########################## Assert Selection ############################## */ +/** + * @brief Uncomment the line below to expanse the "assert_param" macro in the + * HAL drivers code + */ +/* #define USE_FULL_ASSERT 1U */ + +/* ################## Ethernet peripheral configuration ##################### */ + +/* Section 1 : Ethernet peripheral configuration */ + +/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */ +#define MAC_ADDR0 2U +#define MAC_ADDR1 0U +#define MAC_ADDR2 0U +#define MAC_ADDR3 0U +#define MAC_ADDR4 0U +#define MAC_ADDR5 0U + +/* Definition of the Ethernet driver buffers size and count */ +#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ +#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ +#define ETH_RXBUFNB 8U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ +#define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */ + +/* Section 2: PHY configuration section */ + +/* DP83848_PHY_ADDRESS Address*/ +#define DP83848_PHY_ADDRESS 0x01U +/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ +#define PHY_RESET_DELAY 0x000000FFU +/* PHY Configuration delay */ +#define PHY_CONFIG_DELAY 0x00000FFFU + +#define PHY_READ_TO 0x0000FFFFU +#define PHY_WRITE_TO 0x0000FFFFU + +/* Section 3: Common PHY Registers */ + +#define PHY_BCR ((uint16_t)0x00) /*!< Transceiver Basic Control Register */ +#define PHY_BSR ((uint16_t)0x01) /*!< Transceiver Basic Status Register */ + +#define PHY_RESET ((uint16_t)0x8000) /*!< PHY Reset */ +#define PHY_LOOPBACK ((uint16_t)0x4000) /*!< Select loop-back mode */ +#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100) /*!< Set the full-duplex mode at 100 Mb/s */ +#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000) /*!< Set the half-duplex mode at 100 Mb/s */ +#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100) /*!< Set the full-duplex mode at 10 Mb/s */ +#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000) /*!< Set the half-duplex mode at 10 Mb/s */ +#define PHY_AUTONEGOTIATION ((uint16_t)0x1000) /*!< Enable auto-negotiation function */ +#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200) /*!< Restart auto-negotiation function */ +#define PHY_POWERDOWN ((uint16_t)0x0800) /*!< Select the power down mode */ +#define PHY_ISOLATE ((uint16_t)0x0400) /*!< Isolate PHY from MII */ + +#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020) /*!< Auto-Negotiation process completed */ +#define PHY_LINKED_STATUS ((uint16_t)0x0004) /*!< Valid link established */ +#define PHY_JABBER_DETECTION ((uint16_t)0x0002) /*!< Jabber condition detected */ + +/* Section 4: Extended PHY Registers */ +#define PHY_SR ((uint16_t)0x10U) /*!< PHY status register Offset */ + +#define PHY_SPEED_STATUS ((uint16_t)0x0002U) /*!< PHY Speed mask */ +#define PHY_DUPLEX_STATUS ((uint16_t)0x0004U) /*!< PHY Duplex mask */ + +/* ################## SPI peripheral configuration ########################## */ + +/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver +* Activated: CRC code is present inside driver +* Deactivated: CRC code cleaned from driver +*/ + +#define USE_SPI_CRC 0U + +/* Includes ------------------------------------------------------------------*/ +/** + * @brief Include module's header file + */ + +#ifdef HAL_RCC_MODULE_ENABLED +#include "stm32f1xx_hal_rcc.h" +#endif /* HAL_RCC_MODULE_ENABLED */ + +#ifdef HAL_GPIO_MODULE_ENABLED +#include "stm32f1xx_hal_gpio.h" +#endif /* HAL_GPIO_MODULE_ENABLED */ + +#ifdef HAL_EXTI_MODULE_ENABLED +#include "stm32f1xx_hal_exti.h" +#endif /* HAL_EXTI_MODULE_ENABLED */ + +#ifdef HAL_DMA_MODULE_ENABLED +#include "stm32f1xx_hal_dma.h" +#endif /* HAL_DMA_MODULE_ENABLED */ + +#ifdef HAL_ETH_MODULE_ENABLED +#include "stm32f1xx_hal_eth.h" +#endif /* HAL_ETH_MODULE_ENABLED */ + +#ifdef HAL_CAN_MODULE_ENABLED +#include "stm32f1xx_hal_can.h" +#endif /* HAL_CAN_MODULE_ENABLED */ + +#ifdef HAL_CAN_LEGACY_MODULE_ENABLED + #include "Legacy/stm32f1xx_hal_can_legacy.h" +#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */ + +#ifdef HAL_CEC_MODULE_ENABLED +#include "stm32f1xx_hal_cec.h" +#endif /* HAL_CEC_MODULE_ENABLED */ + +#ifdef HAL_CORTEX_MODULE_ENABLED +#include "stm32f1xx_hal_cortex.h" +#endif /* HAL_CORTEX_MODULE_ENABLED */ + +#ifdef HAL_ADC_MODULE_ENABLED +#include "stm32f1xx_hal_adc.h" +#endif /* HAL_ADC_MODULE_ENABLED */ + +#ifdef HAL_CRC_MODULE_ENABLED +#include "stm32f1xx_hal_crc.h" +#endif /* HAL_CRC_MODULE_ENABLED */ + +#ifdef HAL_DAC_MODULE_ENABLED +#include "stm32f1xx_hal_dac.h" +#endif /* HAL_DAC_MODULE_ENABLED */ + +#ifdef HAL_FLASH_MODULE_ENABLED +#include "stm32f1xx_hal_flash.h" +#endif /* HAL_FLASH_MODULE_ENABLED */ + +#ifdef HAL_SRAM_MODULE_ENABLED +#include "stm32f1xx_hal_sram.h" +#endif /* HAL_SRAM_MODULE_ENABLED */ + +#ifdef HAL_NOR_MODULE_ENABLED +#include "stm32f1xx_hal_nor.h" +#endif /* HAL_NOR_MODULE_ENABLED */ + +#ifdef HAL_I2C_MODULE_ENABLED +#include "stm32f1xx_hal_i2c.h" +#endif /* HAL_I2C_MODULE_ENABLED */ + +#ifdef HAL_I2S_MODULE_ENABLED +#include "stm32f1xx_hal_i2s.h" +#endif /* HAL_I2S_MODULE_ENABLED */ + +#ifdef HAL_IWDG_MODULE_ENABLED +#include "stm32f1xx_hal_iwdg.h" +#endif /* HAL_IWDG_MODULE_ENABLED */ + +#ifdef HAL_PWR_MODULE_ENABLED +#include "stm32f1xx_hal_pwr.h" +#endif /* HAL_PWR_MODULE_ENABLED */ + +#ifdef HAL_RTC_MODULE_ENABLED +#include "stm32f1xx_hal_rtc.h" +#endif /* HAL_RTC_MODULE_ENABLED */ + +#ifdef HAL_PCCARD_MODULE_ENABLED +#include "stm32f1xx_hal_pccard.h" +#endif /* HAL_PCCARD_MODULE_ENABLED */ + +#ifdef HAL_SD_MODULE_ENABLED +#include "stm32f1xx_hal_sd.h" +#endif /* HAL_SD_MODULE_ENABLED */ + +#ifdef HAL_NAND_MODULE_ENABLED +#include "stm32f1xx_hal_nand.h" +#endif /* HAL_NAND_MODULE_ENABLED */ + +#ifdef HAL_SPI_MODULE_ENABLED +#include "stm32f1xx_hal_spi.h" +#endif /* HAL_SPI_MODULE_ENABLED */ + +#ifdef HAL_TIM_MODULE_ENABLED +#include "stm32f1xx_hal_tim.h" +#endif /* HAL_TIM_MODULE_ENABLED */ + +#ifdef HAL_UART_MODULE_ENABLED +#include "stm32f1xx_hal_uart.h" +#endif /* HAL_UART_MODULE_ENABLED */ + +#ifdef HAL_USART_MODULE_ENABLED +#include "stm32f1xx_hal_usart.h" +#endif /* HAL_USART_MODULE_ENABLED */ + +#ifdef HAL_IRDA_MODULE_ENABLED +#include "stm32f1xx_hal_irda.h" +#endif /* HAL_IRDA_MODULE_ENABLED */ + +#ifdef HAL_SMARTCARD_MODULE_ENABLED +#include "stm32f1xx_hal_smartcard.h" +#endif /* HAL_SMARTCARD_MODULE_ENABLED */ + +#ifdef HAL_WWDG_MODULE_ENABLED +#include "stm32f1xx_hal_wwdg.h" +#endif /* HAL_WWDG_MODULE_ENABLED */ + +#ifdef HAL_PCD_MODULE_ENABLED +#include "stm32f1xx_hal_pcd.h" +#endif /* HAL_PCD_MODULE_ENABLED */ + +#ifdef HAL_HCD_MODULE_ENABLED +#include "stm32f1xx_hal_hcd.h" +#endif /* HAL_HCD_MODULE_ENABLED */ + +#ifdef HAL_MMC_MODULE_ENABLED +#include "stm32f1xx_hal_mmc.h" +#endif /* HAL_MMC_MODULE_ENABLED */ + +/* Exported macro ------------------------------------------------------------*/ +#ifdef USE_FULL_ASSERT +/** + * @brief The assert_param macro is used for function's parameters check. + * @param expr If expr is false, it calls assert_failed function + * which reports the name of the source file and the source + * line number of the call that failed. + * If expr is true, it returns no value. + * @retval None + */ +#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__)) +/* Exported functions ------------------------------------------------------- */ +void assert_failed(uint8_t* file, uint32_t line); +#else +#define assert_param(expr) ((void)0U) +#endif /* USE_FULL_ASSERT */ + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F1xx_HAL_CONF_H */ + diff --git a/Core/Inc/stm32f1xx_it.h b/Core/Inc/stm32f1xx_it.h new file mode 100644 index 0000000..a11bc05 --- /dev/null +++ b/Core/Inc/stm32f1xx_it.h @@ -0,0 +1,66 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f1xx_it.h + * @brief This file contains the headers of the interrupt handlers. + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F1xx_IT_H +#define __STM32F1xx_IT_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Exported types ------------------------------------------------------------*/ +/* USER CODE BEGIN ET */ + +/* USER CODE END ET */ + +/* Exported constants --------------------------------------------------------*/ +/* USER CODE BEGIN EC */ + +/* USER CODE END EC */ + +/* Exported macro ------------------------------------------------------------*/ +/* USER CODE BEGIN EM */ + +/* USER CODE END EM */ + +/* Exported functions prototypes ---------------------------------------------*/ +void NMI_Handler(void); +void HardFault_Handler(void); +void MemManage_Handler(void); +void BusFault_Handler(void); +void UsageFault_Handler(void); +void SVC_Handler(void); +void DebugMon_Handler(void); +void PendSV_Handler(void); +void SysTick_Handler(void); +/* USER CODE BEGIN EFP */ + +/* USER CODE END EFP */ + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F1xx_IT_H */ diff --git a/Core/Inc/tim.h b/Core/Inc/tim.h new file mode 100644 index 0000000..3b683bb --- /dev/null +++ b/Core/Inc/tim.h @@ -0,0 +1,55 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file tim.h + * @brief This file contains all the function prototypes for + * the tim.c file + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __TIM_H__ +#define __TIM_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +extern TIM_HandleTypeDef htim1; + +extern TIM_HandleTypeDef htim4; + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_TIM1_Init(void); +void MX_TIM4_Init(void); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif + +#endif /* __TIM_H__ */ + diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h new file mode 100644 index 0000000..b86eff0 --- /dev/null +++ b/Core/Inc/usart.h @@ -0,0 +1,52 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file usart.h + * @brief This file contains all the function prototypes for + * the usart.c file + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __USART_H__ +#define __USART_H__ + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" + +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +extern UART_HandleTypeDef huart1; + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +void MX_USART1_UART_Init(void); + +/* USER CODE BEGIN Prototypes */ + +/* USER CODE END Prototypes */ + +#ifdef __cplusplus +} +#endif + +#endif /* __USART_H__ */ + diff --git a/Core/Src/IIC.c b/Core/Src/IIC.c new file mode 100644 index 0000000..65aa625 --- /dev/null +++ b/Core/Src/IIC.c @@ -0,0 +1,292 @@ +/* + * IIC.c + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +#include "IIC.h" + +/* 定义IIC总线连接的GPIO端口, 用户只需要修改下面4行代码即可任意改变SCL和SDA的引脚 */ +#define GPIO_PORT_IIC GPIOB /* GPIO端口 */ +#define RCC_IIC_ENABLE __HAL_RCC_GPIOB_CLK_ENABLE() /* GPIO端口时钟 */ +#define IIC_SCL_PIN GPIO_PIN_8 /* 连接到SCL时钟线的GPIO */ +#define IIC_SDA_PIN GPIO_PIN_9 /* 连接到SDA数据线的GPIO */ + +/* 定义读写SCL和SDA的宏，已增加代码的可移植性和可阅读性 */ +#if 1 /* 条件编译： 1 选择GPIO的库函数实现IO读写 */ +#define IIC_SCL_1() HAL_GPIO_WritePin(GPIO_PORT_IIC, IIC_SCL_PIN, GPIO_PIN_SET) /* SCL = 1 */ +#define IIC_SCL_0() HAL_GPIO_WritePin(GPIO_PORT_IIC, IIC_SCL_PIN, GPIO_PIN_RESET) /* SCL = 0 */ + +#define IIC_SDA_1() HAL_GPIO_WritePin(GPIO_PORT_IIC, IIC_SDA_PIN, GPIO_PIN_SET) /* SDA = 1 */ +#define IIC_SDA_0() HAL_GPIO_WritePin(GPIO_PORT_IIC, IIC_SDA_PIN, GPIO_PIN_RESET) /* SDA = 0 */ + +#define IIC_SDA_READ() HAL_GPIO_ReadPin(GPIO_PORT_IIC, IIC_SDA_PIN) /* 读SDA口线状态 */ +#else /* 这个分支选择直接寄存器操作实现IO读写 */ +/*　注意：如下写法，在IAR最高级别优化时，会被编译器错误优化 */ +#define IIC_SCL_1() GPIO_PORT_IIC->BSRR = IIC_SCL_PIN /* SCL = 1 */ +#define IIC_SCL_0() GPIO_PORT_IIC->BRR = IIC_SCL_PIN /* SCL = 0 */ + +#define IIC_SDA_1() GPIO_PORT_IIC->BSRR = IIC_SDA_PIN /* SDA = 1 */ +#define IIC_SDA_0() GPIO_PORT_IIC->BRR = IIC_SDA_PIN /* SDA = 0 */ + +#define IIC_SDA_READ() ((GPIO_PORT_IIC->IDR & IIC_SDA_PIN) != 0) /* 读SDA口线状态 */ +#endif + +void IIC_GPIO_Init(void); + +/* +********************************************************************************************************* +* 函 数 名: IIC_Delay +* 功能说明: IIC总线位延迟，最快400KHz +* 形 参：无 +* 返 回 值: 无 +********************************************************************************************************* +*/ +static void IIC_Delay(void) +{ + uint8_t i; + + /* + 下面的时间是通过安富莱AX-Pro逻辑分析仪测试得到的。 + CPU主频72MHz时，在内部Flash运行, MDK工程不优化 + 循环次数为10时，SCL频率 = 205KHz + 循环次数为7时，SCL频率 = 347KHz， SCL高电平时间1.5us，SCL低电平时间2.87us + 循环次数为5时，SCL频率 = 421KHz， SCL高电平时间1.25us，SCL低电平时间2.375us + + IAR工程编译效率高，不能设置为7 + */ + for (i = 0; i < 10; i++) + ; +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_Start +* 功能说明: CPU发起IIC总线启动信号 +* 形 参：无 +* 返 回 值: 无 +********************************************************************************************************* +*/ +void IIC_Start(void) +{ + /* 当SCL高电平时，SDA出现一个下跳沿表示IIC总线启动信号 */ + IIC_SDA_1(); + IIC_SCL_1(); + IIC_Delay(); + IIC_SDA_0(); + IIC_Delay(); + IIC_SCL_0(); + IIC_Delay(); +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_Start +* 功能说明: CPU发起IIC总线停止信号 +* 形 参：无 +* 返 回 值: 无 +********************************************************************************************************* +*/ +void IIC_Stop(void) +{ + /* 当SCL高电平时，SDA出现一个上跳沿表示IIC总线停止信号 */ + IIC_SDA_0(); + IIC_SCL_1(); + IIC_Delay(); + IIC_SDA_1(); +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_SendByte +* 功能说明: CPU向IIC总线设备发送8bit数据 +* 形 参：_ucByte ： 等待发送的字节 +* 返 回 值: 无 +********************************************************************************************************* +*/ +void IIC_Send_Byte(uint8_t _ucByte) +{ + uint8_t i; + + /* 先发送字节的高位bit7 */ + for (i = 0; i < 8; i++) + { + if (_ucByte & 0x80) + { + IIC_SDA_1(); + } + else + { + IIC_SDA_0(); + } + IIC_Delay(); + IIC_SCL_1(); + IIC_Delay(); + IIC_SCL_0(); + if (i == 7) + { + IIC_SDA_1(); // 释放总线 + } + _ucByte <<= 1; /* 左移一个bit */ + IIC_Delay(); + } +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_ReadByte +* 功能说明: CPU从IIC总线设备读取8bit数据 +* 形 参：无 +* 返 回 值: 读到的数据 +********************************************************************************************************* +*/ +uint8_t IIC_Read_Byte(uint8_t ack) +{ + uint8_t i; + uint8_t value; + + /* 读到第1个bit为数据的bit7 */ + value = 0; + for (i = 0; i < 8; i++) + { + value <<= 1; + IIC_SCL_1(); + IIC_Delay(); + if (IIC_SDA_READ()) + { + value++; + } + IIC_SCL_0(); + IIC_Delay(); + } + if (ack == 0) + IIC_NAck(); + else + IIC_Ack(); + return value; +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_WaitAck +* 功能说明: CPU产生一个时钟，并读取器件的ACK应答信号 +* 形 参：无 +* 返 回 值: 返回0表示正确应答，1表示无器件响应 +********************************************************************************************************* +*/ +uint8_t IIC_Wait_Ack(void) +{ + uint8_t re; + + IIC_SDA_1(); /* CPU释放SDA总线 */ + IIC_Delay(); + IIC_SCL_1(); /* CPU驱动SCL = 1, 此时器件会返回ACK应答 */ + IIC_Delay(); + if (IIC_SDA_READ()) /* CPU读取SDA口线状态 */ + { + re = 1; + } + else + { + re = 0; + } + IIC_SCL_0(); + IIC_Delay(); + return re; +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_Ack +* 功能说明: CPU产生一个ACK信号 +* 形 参：无 +* 返 回 值: 无 +********************************************************************************************************* +*/ +void IIC_Ack(void) +{ + IIC_SDA_0(); /* CPU驱动SDA = 0 */ + IIC_Delay(); + IIC_SCL_1(); /* CPU产生1个时钟 */ + IIC_Delay(); + IIC_SCL_0(); + IIC_Delay(); + IIC_SDA_1(); /* CPU释放SDA总线 */ +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_NAck +* 功能说明: CPU产生1个NACK信号 +* 形 参：无 +* 返 回 值: 无 +********************************************************************************************************* +*/ +void IIC_NAck(void) +{ + IIC_SDA_1(); /* CPU驱动SDA = 1 */ + IIC_Delay(); + IIC_SCL_1(); /* CPU产生1个时钟 */ + IIC_Delay(); + IIC_SCL_0(); + IIC_Delay(); +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_GPIO_Config +* 功能说明: 配置IIC总线的GPIO，采用模拟IO的方式实现 +* 形 参：无 +* 返 回 值: 无 +********************************************************************************************************* +*/ +void IIC_GPIO_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + + RCC_IIC_ENABLE; /* 打开GPIO时钟 */ + + GPIO_InitStructure.Pin = IIC_SDA_PIN; + GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH; + GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD; /* 开漏输出 */ + + HAL_GPIO_Init(GPIO_PORT_IIC, &GPIO_InitStructure); + + RCC_IIC_ENABLE; /* 打开GPIO时钟 */ + + GPIO_InitStructure.Pin = IIC_SCL_PIN; + GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH; + GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP; /* 推挽输出 */ + + HAL_GPIO_Init(GPIO_PORT_IIC, &GPIO_InitStructure); + + /* 给一个停止信号, 复位IIC总线上的所有设备到待机模式 */ + IIC_Stop(); +} + +/* +********************************************************************************************************* +* 函 数 名: IIC_CheckDevice +* 功能说明: 检测IIC总线设备，CPU向发送设备地址，然后读取设备应答来判断该设备是否存在 +* 形 参：_Address：设备的IIC总线地址 +* 返 回 值: 返回值 0 表示正确， 返回1表示未探测到 +********************************************************************************************************* +*/ +uint8_t IIC_CheckDevice(uint8_t _Address) +{ + uint8_t ucAck; + + IIC_GPIO_Init(); /* 配置GPIO */ + + IIC_Start(); /* 发送启动信号 */ + + /* 发送设备地址+读写控制bit（0 = w， 1 = r) bit7 先传 */ + IIC_Send_Byte(_Address | IIC_WR); + ucAck = IIC_Wait_Ack(); /* 检测设备的ACK应答 */ + + IIC_Stop(); /* 发送停止信号 */ + + return ucAck; +} + diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c new file mode 100644 index 0000000..21dce66 --- /dev/null +++ b/Core/Src/gpio.c @@ -0,0 +1,92 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file gpio.c + * @brief This file provides code for the configuration + * of all used GPIO pins. + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "gpio.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/*----------------------------------------------------------------------------*/ +/* Configure GPIO */ +/*----------------------------------------------------------------------------*/ +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ + +/** Configure pins as + * Analog + * Input + * Output + * EVENT_OUT + * EXTI +*/ +void MX_GPIO_Init(void) +{ + + GPIO_InitTypeDef GPIO_InitStruct = {0}; + + /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1|GPIO_PIN_7, GPIO_PIN_SET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11|GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_SET); + + /*Configure GPIO pins : PA1 PA7 */ + GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /*Configure GPIO pin : PA5 */ + GPIO_InitStruct.Pin = GPIO_PIN_5; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /*Configure GPIO pins : PB11 PB8 PB9 */ + GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_8|GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /*Configure GPIO pin : PB7 */ + GPIO_InitStruct.Pin = GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + +} + +/* USER CODE BEGIN 2 */ + +/* USER CODE END 2 */ diff --git a/Core/Src/inv_mpu.c b/Core/Src/inv_mpu.c new file mode 100644 index 0000000..2efe2e7 --- /dev/null +++ b/Core/Src/inv_mpu.c @@ -0,0 +1,3130 @@ +/* + * inv_mpu.c + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.c + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ +#include +#include +#include +#include +#include +#include "inv_mpu.h" +#include "inv_mpu_dmp_motion_driver.h" +#include "MPU6050.h" +#include "usart.h" + +#define MPU6050 // 定义我们使用的传感器为MPU6050 +#define MOTION_DRIVER_TARGET_MSP430 // 定义驱动部分,采用MSP430的驱动(移植到STM32F1) + +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin) + * labs(long x) + * fabsf(float x) + * min(int a, int b) + */ +#if defined MOTION_DRIVER_TARGET_MSP430 +// #include "msp430.h" +// #include "msp430_i2c.h" +// #include "msp430_clock.h" +// #include "msp430_interrupt.h" + +#define i2c_write MPU_Write_Len +#define i2c_read MPU_Read_Len +#define delay_ms delay_ms +#define get_ms mget_ms +// static inline int reg_int_cb(struct int_param_s *int_param) +//{ +// return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit, +// int_param->active_low); +// } +#define log_i printf // 打印信息 +#define log_e printf // 打印信息 +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a, b) ((a < b) ? a : b) +#elif defined EMPL_TARGET_MSP430 +#include "msp430.h" +#include "msp430_i2c.h" +#include "msp430_clock.h" +#include "msp430_interrupt.h" +#include "log.h" +#define i2c_write msp430_i2c_write +#define i2c_read msp430_i2c_read +#define delay_ms msp430_delay_ms +#define get_ms msp430_get_clock_ms +static inline int reg_int_cb(struct int_param_s *int_param) +{ + return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit, + int_param->active_low); +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a, b) ((a < b) ? a : b) +#elif defined EMPL_TARGET_UC3L0 +/* Instead of using the standard TWI driver from the ASF library, we're using + * a TWI driver that follows the slave address + register address convention. + */ +#include "twi.h" +#include "delay.h" +#include "sysclk.h" +#include "log.h" +#include "sensors_xplained.h" +#include "uc3l0_clock.h" +#define i2c_write(a, b, c, d) twi_write(a, b, d, c) +#define i2c_read(a, b, c, d) twi_read(a, b, d, c) +/* delay_ms is a function already defined in ASF. */ +#define get_ms uc3l0_get_clock_ms +static inline int reg_int_cb(struct int_param_s *int_param) +{ + sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg); + return 0; +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* UC3 is a 32-bit processor, so abs and labs are equivalent. */ +#define labs abs +#define fabs(x) (((x) > 0) ? (x) : -(x)) +#else +#error Gyro driver is missing the system layer implementations. +#endif + +#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250 +#error Which gyro are you using? Define MPUxxxx in your compiler options. +#endif + +/* Time for some messy macro work. =] + * #define MPU9150 + * is equivalent to.. + * #define MPU6050 + * #define AK8975_SECONDARY + * + * #define MPU9250 + * is equivalent to.. + * #define MPU6500 + * #define AK8963_SECONDARY + */ +#if defined MPU9150 +#ifndef MPU6050 +#define MPU6050 +#endif /* #ifndef MPU6050 */ +#if defined AK8963_SECONDARY +#error "MPU9150 and AK8963_SECONDARY cannot both be defined." +#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */ +#define AK8975_SECONDARY +#endif /* #if defined AK8963_SECONDARY */ +#elif defined MPU9250 /* #if defined MPU9150 */ +#ifndef MPU6500 +#define MPU6500 +#endif /* #ifndef MPU6500 */ +#if defined AK8975_SECONDARY +#error "MPU9250 and AK8975_SECONDARY cannot both be defined." +#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */ +#define AK8963_SECONDARY +#endif /* #if defined AK8975_SECONDARY */ +#endif /* #if defined MPU9150 */ + +#if defined AK8975_SECONDARY || defined AK8963_SECONDARY +#define AK89xx_SECONDARY +#else +/* #warning "No compass = less profit for Invensense. Lame." */ +#endif + +static int set_int_enable(unsigned char enable); + +/* Hardware registers needed by driver. */ +struct gyro_reg_s +{ + unsigned char who_am_i; + unsigned char rate_div; + unsigned char lpf; + unsigned char prod_id; + unsigned char user_ctrl; + unsigned char fifo_en; + unsigned char gyro_cfg; + unsigned char accel_cfg; + // unsigned char accel_cfg2; + // unsigned char lp_accel_odr; + unsigned char motion_thr; + unsigned char motion_dur; + unsigned char fifo_count_h; + unsigned char fifo_r_w; + unsigned char raw_gyro; + unsigned char raw_accel; + unsigned char temp; + unsigned char int_enable; + unsigned char dmp_int_status; + unsigned char int_status; + // unsigned char accel_intel; + unsigned char pwr_mgmt_1; + unsigned char pwr_mgmt_2; + unsigned char int_pin_cfg; + unsigned char mem_r_w; + unsigned char accel_offs; + unsigned char i2c_mst; + unsigned char bank_sel; + unsigned char mem_start_addr; + unsigned char prgm_start_h; +#if defined AK89xx_SECONDARY + unsigned char s0_addr; + unsigned char s0_reg; + unsigned char s0_ctrl; + unsigned char s1_addr; + unsigned char s1_reg; + unsigned char s1_ctrl; + unsigned char s4_ctrl; + unsigned char s0_do; + unsigned char s1_do; + unsigned char i2c_delay_ctrl; + unsigned char raw_compass; + /* The I2C_MST_VDDIO bit is in this register. */ + unsigned char yg_offs_tc; +#endif +}; + +/* Information specific to a particular device. */ +struct hw_s +{ + unsigned char addr; + unsigned short max_fifo; + unsigned char num_reg; + unsigned short temp_sens; + short temp_offset; + unsigned short bank_size; +#if defined AK89xx_SECONDARY + unsigned short compass_fsr; +#endif +}; + +/* When entering motion interrupt mode, the driver keeps track of the + * previous state so that it can be restored at a later time. + * TODO: This is tacky. Fix it. + */ +struct motion_int_cache_s +{ + unsigned short gyro_fsr; + unsigned char accel_fsr; + unsigned short lpf; + unsigned short sample_rate; + unsigned char sensors_on; + unsigned char fifo_sensors; + unsigned char dmp_on; +}; + +/* Cached chip configuration data. + * TODO: A lot of these can be handled with a bitmask. + */ +struct chip_cfg_s +{ + /* Matches gyro_cfg >> 3 & 0x03 */ + unsigned char gyro_fsr; + /* Matches accel_cfg >> 3 & 0x03 */ + unsigned char accel_fsr; + /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */ + unsigned char sensors; + /* Matches config register. */ + unsigned char lpf; + unsigned char clk_src; + /* Sample rate, NOT rate divider. */ + unsigned short sample_rate; + /* Matches fifo_en register. */ + unsigned char fifo_enable; + /* Matches int enable register. */ + unsigned char int_enable; + /* 1 if devices on auxiliary I2C bus appear on the primary. */ + unsigned char bypass_mode; + /* 1 if half-sensitivity. + * NOTE: This doesn't belong here, but everything else in hw_s is const, + * and this allows us to save some precious RAM. + */ + unsigned char accel_half; + /* 1 if device in low-power accel-only mode. */ + unsigned char lp_accel_mode; + /* 1 if interrupts are only triggered on motion events. */ + unsigned char int_motion_only; + struct motion_int_cache_s cache; + /* 1 for active low interrupts. */ + unsigned char active_low_int; + /* 1 for latched interrupts. */ + unsigned char latched_int; + /* 1 if DMP is enabled. */ + unsigned char dmp_on; + /* Ensures that DMP will only be loaded once. */ + unsigned char dmp_loaded; + /* Sampling rate used when DMP is enabled. */ + unsigned short dmp_sample_rate; +#ifdef AK89xx_SECONDARY + /* Compass sample rate. */ + unsigned short compass_sample_rate; + unsigned char compass_addr; + short mag_sens_adj[3]; +#endif +}; + +/* Information for self-test. */ +struct test_s +{ + unsigned long gyro_sens; + unsigned long accel_sens; + unsigned char reg_rate_div; + unsigned char reg_lpf; + unsigned char reg_gyro_fsr; + unsigned char reg_accel_fsr; + unsigned short wait_ms; + unsigned char packet_thresh; + float min_dps; + float max_dps; + float max_gyro_var; + float min_g; + float max_g; + float max_accel_var; +}; + +/* Gyro driver state variables. */ +struct gyro_state_s +{ + const struct gyro_reg_s *reg; + const struct hw_s *hw; + struct chip_cfg_s chip_cfg; + const struct test_s *test; +}; + +/* Filter configurations. */ +enum lpf_e +{ + INV_FILTER_256HZ_NOLPF2 = 0, + INV_FILTER_188HZ, + INV_FILTER_98HZ, + INV_FILTER_42HZ, + INV_FILTER_20HZ, + INV_FILTER_10HZ, + INV_FILTER_5HZ, + INV_FILTER_2100HZ_NOLPF, + NUM_FILTER +}; + +/* Full scale ranges. */ +enum gyro_fsr_e +{ + INV_FSR_250DPS = 0, + INV_FSR_500DPS, + INV_FSR_1000DPS, + INV_FSR_2000DPS, + NUM_GYRO_FSR +}; + +/* Full scale ranges. */ +enum accel_fsr_e +{ + INV_FSR_2G = 0, + INV_FSR_4G, + INV_FSR_8G, + INV_FSR_16G, + NUM_ACCEL_FSR +}; + +/* Clock sources. */ +enum clock_sel_e +{ + INV_CLK_INTERNAL = 0, + INV_CLK_PLL, + NUM_CLK +}; + +/* Low-power accel wakeup rates. */ +enum lp_accel_rate_e +{ +#if defined MPU6050 + INV_LPA_1_25HZ, + INV_LPA_5HZ, + INV_LPA_20HZ, + INV_LPA_40HZ +#elif defined MPU6500 + INV_LPA_0_3125HZ, + INV_LPA_0_625HZ, + INV_LPA_1_25HZ, + INV_LPA_2_5HZ, + INV_LPA_5HZ, + INV_LPA_10HZ, + INV_LPA_20HZ, + INV_LPA_40HZ, + INV_LPA_80HZ, + INV_LPA_160HZ, + INV_LPA_320HZ, + INV_LPA_640HZ +#endif +}; + +#define BIT_I2C_MST_VDDIO (0x80) +#define BIT_FIFO_EN (0x40) +#define BIT_DMP_EN (0x80) +#define BIT_FIFO_RST (0x04) +#define BIT_DMP_RST (0x08) +#define BIT_FIFO_OVERFLOW (0x10) +#define BIT_DATA_RDY_EN (0x01) +#define BIT_DMP_INT_EN (0x02) +#define BIT_MOT_INT_EN (0x40) +#define BITS_FSR (0x18) +#define BITS_LPF (0x07) +#define BITS_HPF (0x07) +#define BITS_CLK (0x07) +#define BIT_FIFO_SIZE_1024 (0x40) +#define BIT_FIFO_SIZE_2048 (0x80) +#define BIT_FIFO_SIZE_4096 (0xC0) +#define BIT_RESET (0x80) +#define BIT_SLEEP (0x40) +#define BIT_S0_DELAY_EN (0x01) +#define BIT_S2_DELAY_EN (0x04) +#define BITS_SLAVE_LENGTH (0x0F) +#define BIT_SLAVE_BYTE_SW (0x40) +#define BIT_SLAVE_GROUP (0x10) +#define BIT_SLAVE_EN (0x80) +#define BIT_I2C_READ (0x80) +#define BITS_I2C_MASTER_DLY (0x1F) +#define BIT_AUX_IF_EN (0x20) +#define BIT_ACTL (0x80) +#define BIT_LATCH_EN (0x20) +#define BIT_ANY_RD_CLR (0x10) +#define BIT_BYPASS_EN (0x02) +#define BITS_WOM_EN (0xC0) +#define BIT_LPA_CYCLE (0x20) +#define BIT_STBY_XA (0x20) +#define BIT_STBY_YA (0x10) +#define BIT_STBY_ZA (0x08) +#define BIT_STBY_XG (0x04) +#define BIT_STBY_YG (0x02) +#define BIT_STBY_ZG (0x01) +#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA) +#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG) + +#if defined AK8975_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x00) +#define AK89xx_FSR (9830) +#elif defined AK8963_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x10) +#define AK89xx_FSR (4915) +#endif + +#ifdef AK89xx_SECONDARY +#define AKM_REG_WHOAMI (0x00) + +#define AKM_REG_ST1 (0x02) +#define AKM_REG_HXL (0x03) +#define AKM_REG_ST2 (0x09) + +#define AKM_REG_CNTL (0x0A) +#define AKM_REG_ASTC (0x0C) +#define AKM_REG_ASAX (0x10) +#define AKM_REG_ASAY (0x11) +#define AKM_REG_ASAZ (0x12) + +#define AKM_DATA_READY (0x01) +#define AKM_DATA_OVERRUN (0x02) +#define AKM_OVERFLOW (0x80) +#define AKM_DATA_ERROR (0x40) + +#define AKM_BIT_SELF_TEST (0x40) + +#define AKM_POWER_DOWN (0x00 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_SINGLE_MEASUREMENT (0x01 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_FUSE_ROM_ACCESS (0x0F | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_MODE_SELF_TEST (0x08 | SUPPORTS_AK89xx_HIGH_SENS) + +#define AKM_WHOAMI (0x48) +#endif + +#if defined MPU6050 +// const struct gyro_reg_s reg = { +// .who_am_i = 0x75, +// .rate_div = 0x19, +// .lpf = 0x1A, +// .prod_id = 0x0C, +// .user_ctrl = 0x6A, +// .fifo_en = 0x23, +// .gyro_cfg = 0x1B, +// .accel_cfg = 0x1C, +// .motion_thr = 0x1F, +// .motion_dur = 0x20, +// .fifo_count_h = 0x72, +// .fifo_r_w = 0x74, +// .raw_gyro = 0x43, +// .raw_accel = 0x3B, +// .temp = 0x41, +// .int_enable = 0x38, +// .dmp_int_status = 0x39, +// .int_status = 0x3A, +// .pwr_mgmt_1 = 0x6B, +// .pwr_mgmt_2 = 0x6C, +// .int_pin_cfg = 0x37, +// .mem_r_w = 0x6F, +// .accel_offs = 0x06, +// .i2c_mst = 0x24, +// .bank_sel = 0x6D, +// .mem_start_addr = 0x6E, +// .prgm_start_h = 0x70 +// #ifdef AK89xx_SECONDARY +// ,.raw_compass = 0x49, +// .yg_offs_tc = 0x01, +// .s0_addr = 0x25, +// .s0_reg = 0x26, +// .s0_ctrl = 0x27, +// .s1_addr = 0x28, +// .s1_reg = 0x29, +// .s1_ctrl = 0x2A, +// .s4_ctrl = 0x34, +// .s0_do = 0x63, +// .s1_do = 0x64, +// .i2c_delay_ctrl = 0x67 +// #endif +// }; +const struct gyro_reg_s reg = { + 0x75, // who_am_i + 0x19, // rate_div + 0x1A, // lpf + 0x0C, // prod_id + 0x6A, // user_ctrl + 0x23, // fifo_en + 0x1B, // gyro_cfg + 0x1C, // accel_cfg + 0x1F, // motion_thr + 0x20, // motion_dur + 0x72, // fifo_count_h + 0x74, // fifo_r_w + 0x43, // raw_gyro + 0x3B, // raw_accel + 0x41, // temp + 0x38, // int_enable + 0x39, // dmp_int_status + 0x3A, // int_status + 0x6B, // pwr_mgmt_1 + 0x6C, // pwr_mgmt_2 + 0x37, // int_pin_cfg + 0x6F, // mem_r_w + 0x06, // accel_offs + 0x24, // i2c_mst + 0x6D, // bank_sel + 0x6E, // mem_start_addr + 0x70 // prgm_start_h +}; + +// const struct hw_s hw = { +// .addr = 0x68, +// .max_fifo = 1024, +// .num_reg = 118, +// .temp_sens = 340, +// .temp_offset = -521, +// .bank_size = 256 +// #if defined AK89xx_SECONDARY +// ,.compass_fsr = AK89xx_FSR +// #endif +// }; +const struct hw_s hw = { + 0x68, // addr + 1024, // max_fifo + 118, // num_reg + 340, // temp_sens + -521, // temp_offset + 256 // bank_size +}; + +// const struct test_s test = { +// .gyro_sens = 32768/250, +// .accel_sens = 32768/16, +// .reg_rate_div = 0, /* 1kHz. */ +// .reg_lpf = 1, /* 188Hz. */ +// .reg_gyro_fsr = 0, /* 250dps. */ +// .reg_accel_fsr = 0x18, /* 16g. */ +// .wait_ms = 50, +// .packet_thresh = 5, /* 5% */ +// .min_dps = 10.f, +// .max_dps = 105.f, +// .max_gyro_var = 0.14f, +// .min_g = 0.3f, +// .max_g = 0.95f, +// .max_accel_var = 0.14f +// }; +const struct test_s test = { + 32768 / 250, // gyro_sens + 32768 / 16, // accel_sens + 0, // reg_rate_div + 1, // reg_lpf + 0, // reg_gyro_fsr + 0x18, // reg_accel_fsr + 50, // wait_ms + 5, // packet_thresh + 10.0f, // min_dps + 105.0f, // max_dps + 0.14f, // max_gyro_var + 0.3f, // min_g + 0.95f, // max_g + 0.14f // max_accel_var +}; + +// static struct gyro_state_s st = { +// .reg = ®, +// .hw = &hw, +// .test = &test +// }; +static struct gyro_state_s st = { + ®, + &hw, + {0}, + &test}; + +#elif defined MPU6500 +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .accel_cfg2 = 0x1D, + .lp_accel_odr = 0x1E, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .accel_intel = 0x69, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x77, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + , + .raw_compass = 0x49, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 128, + .temp_sens = 321, + .temp_offset = 0, + .bank_size = 256 +#if defined AK89xx_SECONDARY + , + .compass_fsr = AK89xx_FSR +#endif +}; + +const struct test_s test = { + .gyro_sens = 32768 / 250, + .accel_sens = 32768 / 16, + .reg_rate_div = 0, /* 1kHz. */ + .reg_lpf = 1, /* 188Hz. */ + .reg_gyro_fsr = 0, /* 250dps. */ + .reg_accel_fsr = 0x18, /* 16g. */ + .wait_ms = 50, + .packet_thresh = 5, /* 5% */ + .min_dps = 10.f, + .max_dps = 105.f, + .max_gyro_var = 0.14f, + .min_g = 0.3f, + .max_g = 0.95f, + .max_accel_var = 0.14f}; + +static struct gyro_state_s st = { + .reg = ®, + .hw = &hw, + .test = &test}; +#endif + +#define MAX_PACKET_LENGTH (12) + +#ifdef AK89xx_SECONDARY +static int setup_compass(void); +#define MAX_COMPASS_SAMPLE_RATE (100) +#endif + +/** + * @brief Enable/disable data ready interrupt. + * If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready + * interrupt is used. + * @param[in] enable 1 to enable interrupt. + * @return 0 if successful. + */ +static int set_int_enable(unsigned char enable) +{ + unsigned char tmp; + + if (st.chip_cfg.dmp_on) + { + if (enable) + tmp = BIT_DMP_INT_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } + else + { + if (!st.chip_cfg.sensors) + return -1; + if (enable && st.chip_cfg.int_enable) + return 0; + if (enable) + tmp = BIT_DATA_RDY_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } + return 0; +} + +/** + * @brief Register dump for testing. + * @return 0 if successful. + */ +int mpu_reg_dump(void) +{ + unsigned char ii; + unsigned char data; + + for (ii = 0; ii < st.hw->num_reg; ii++) + { + if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w) + continue; + if (i2c_read(st.hw->addr, ii, 1, &data)) + return -1; + log_i("%#5x: %#5x\r\n", ii, data); + } + return 0; +} + +/** + * @brief Read from a single register. + * NOTE: The memory and FIFO read/write registers cannot be accessed. + * @param[in] reg Register address. + * @param[out] data Register data. + * @return 0 if successful. + */ +int mpu_read_reg(unsigned char reg, unsigned char *data) +{ + if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w) + return -1; + if (reg >= st.hw->num_reg) + return -1; + return i2c_read(st.hw->addr, reg, 1, data); +} + +/** + * @brief Initialize hardware. + * Initial configuration:\n + * Gyro FSR: +/- 2000DPS\n + * Accel FSR +/- 2G\n + * DLPF: 42Hz\n + * FIFO rate: 50Hz\n + * Clock source: Gyro PLL\n + * FIFO: Disabled.\n + * Data ready interrupt: Disabled, active low, unlatched. + * @param[in] int_param Platform-specific parameters to interrupt API. + * @return 0 if successful. + */ +int mpu_init(void) +{ + unsigned char data[6], rev; + + /* Reset device. */ + data[0] = BIT_RESET; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + HAL_Delay(100); + + /* Wake up chip. */ + data[0] = 0x00; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + +#if defined MPU6050 + /* Check product revision. */ + if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data)) + return -1; + rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) | + (data[1] & 0x01); + + if (rev) + { + /* Congrats, these parts are better. */ + if (rev == 1) + st.chip_cfg.accel_half = 1; + else if (rev == 2) + st.chip_cfg.accel_half = 0; + else + { + log_e("Unsupported software product rev %d.\n", rev); + return -1; + } + } + else + { + if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data)) + return -1; + rev = data[0] & 0x0F; + if (!rev) + { + log_e("Product ID read as 0 indicates device is either " + "incompatible or an MPU3050.\n"); + return -1; + } + else if (rev == 4) + { + log_i("Half sensitivity part found.\n"); + st.chip_cfg.accel_half = 1; + } + else + st.chip_cfg.accel_half = 0; + } +#elif defined MPU6500 +#define MPU6500_MEM_REV_ADDR (0x17) + if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev)) + return -1; + if (rev == 0x1) + st.chip_cfg.accel_half = 0; + else + { + log_e("Unsupported software product rev %d.\n", rev); + return -1; + } + + /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the + * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO. + */ + data[0] = BIT_FIFO_SIZE_1024 | 0x8; + if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data)) + return -1; +#endif + + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.bypass_mode = 0xFF; +#ifdef AK89xx_SECONDARY + st.chip_cfg.compass_sample_rate = 0xFFFF; +#endif + /* mpu_set_sensors always preserves this setting. */ + st.chip_cfg.clk_src = INV_CLK_PLL; + /* Handled in next call to mpu_set_bypass. */ + st.chip_cfg.active_low_int = 1; + st.chip_cfg.latched_int = 0; + st.chip_cfg.int_motion_only = 0; + st.chip_cfg.lp_accel_mode = 0; + memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache)); + st.chip_cfg.dmp_on = 0; + st.chip_cfg.dmp_loaded = 0; + st.chip_cfg.dmp_sample_rate = 0; + + if (mpu_set_gyro_fsr(2000)) + return -1; + if (mpu_set_accel_fsr(2)) + return -1; + if (mpu_set_lpf(42)) + return -1; + if (mpu_set_sample_rate(50)) + return -1; + if (mpu_configure_fifo(0)) + return -1; + + // if (int_param) + // reg_int_cb(int_param); + +#ifdef AK89xx_SECONDARY + setup_compass(); + if (mpu_set_compass_sample_rate(10)) + return -1; +#else + /* Already disabled by setup_compass. */ + if (mpu_set_bypass(0)) + return -1; +#endif + + mpu_set_sensors(0); + return 0; +} + +/** + * @brief Enter low-power accel-only mode. + * In low-power accel mode, the chip goes to sleep and only wakes up to sample + * the accelerometer at one of the following frequencies: + * \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz + * \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * \n If the requested rate is not one listed above, the device will be set to + * the next highest rate. Requesting a rate above the maximum supported + * frequency will result in an error. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e rate. + * @param[in] rate Minimum sampling rate, or zero to disable LP + * accel mode. + * @return 0 if successful. + */ +int mpu_lp_accel_mode(unsigned char rate) +{ + unsigned char tmp[2]; + + if (rate > 40) + return -1; + + if (!rate) + { + mpu_set_int_latched(0); + tmp[0] = 0; + tmp[1] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; + st.chip_cfg.lp_accel_mode = 0; + return 0; + } + /* For LP accel, we automatically configure the hardware to produce latched + * interrupts. In LP accel mode, the hardware cycles into sleep mode before + * it gets a chance to deassert the interrupt pin; therefore, we shift this + * responsibility over to the MCU. + * + * Any register read will clear the interrupt. + */ + mpu_set_int_latched(1); +#if defined MPU6050 + tmp[0] = BIT_LPA_CYCLE; + if (rate == 1) + { + tmp[1] = INV_LPA_1_25HZ; + mpu_set_lpf(5); + } + else if (rate <= 5) + { + tmp[1] = INV_LPA_5HZ; + mpu_set_lpf(5); + } + else if (rate <= 20) + { + tmp[1] = INV_LPA_20HZ; + mpu_set_lpf(10); + } + else + { + tmp[1] = INV_LPA_40HZ; + mpu_set_lpf(20); + } + tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; +#elif defined MPU6500 + /* Set wake frequency. */ + if (rate == 1) + tmp[0] = INV_LPA_1_25HZ; + else if (rate == 2) + tmp[0] = INV_LPA_2_5HZ; + else if (rate <= 5) + tmp[0] = INV_LPA_5HZ; + else if (rate <= 10) + tmp[0] = INV_LPA_10HZ; + else if (rate <= 20) + tmp[0] = INV_LPA_20HZ; + else if (rate <= 40) + tmp[0] = INV_LPA_40HZ; + else if (rate <= 80) + tmp[0] = INV_LPA_80HZ; + else if (rate <= 160) + tmp[0] = INV_LPA_160HZ; + else if (rate <= 320) + tmp[0] = INV_LPA_320HZ; + else + tmp[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp)) + return -1; + tmp[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp)) + return -1; +#endif + st.chip_cfg.sensors = INV_XYZ_ACCEL; + st.chip_cfg.clk_src = 0; + st.chip_cfg.lp_accel_mode = 1; + mpu_configure_fifo(0); + + return 0; +} + +/** + * @brief Read raw gyro data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_GYRO)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read raw accel data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_accel_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read temperature data directly from the registers. + * @param[out] data Data in q16 format. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_temperature(long *data, unsigned long *timestamp) +{ + unsigned char tmp[2]; + short raw; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp)) + return -1; + raw = (tmp[0] << 8) | tmp[1]; + if (timestamp) + get_ms(timestamp); + + data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L); + return 0; +} + +/** + * @brief Push biases to the accel bias registers. + * This function expects biases relative to the current sensor output, and + * these biases will be added to the factory-supplied values. + * @param[in] accel_bias New biases. + * @return 0 if successful. + */ +int mpu_set_accel_bias(const long *accel_bias) +{ + unsigned char data[6]; + short accel_hw[3]; + short got_accel[3]; + short fg[3]; + + if (!accel_bias) + return -1; + if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2]) + return 0; + + if (i2c_read(st.hw->addr, 3, 3, data)) + return -1; + fg[0] = ((data[0] >> 4) + 8) & 0xf; + fg[1] = ((data[1] >> 4) + 8) & 0xf; + fg[2] = ((data[2] >> 4) + 8) & 0xf; + + accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0])); + accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1])); + accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2])); + + if (i2c_read(st.hw->addr, 0x06, 6, data)) + return -1; + + got_accel[0] = ((short)data[0] << 8) | data[1]; + got_accel[1] = ((short)data[2] << 8) | data[3]; + got_accel[2] = ((short)data[4] << 8) | data[5]; + + accel_hw[0] += got_accel[0]; + accel_hw[1] += got_accel[1]; + accel_hw[2] += got_accel[2]; + + data[0] = (accel_hw[0] >> 8) & 0xff; + data[1] = (accel_hw[0]) & 0xff; + data[2] = (accel_hw[1] >> 8) & 0xff; + data[3] = (accel_hw[1]) & 0xff; + data[4] = (accel_hw[2] >> 8) & 0xff; + data[5] = (accel_hw[2]) & 0xff; + + if (i2c_write(st.hw->addr, 0x06, 6, data)) + return -1; + return 0; +} + +/** + * @brief Reset FIFO read/write pointers. + * @return 0 if successful. + */ +int mpu_reset_fifo(void) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + if (st.chip_cfg.dmp_on) + { + data = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + HAL_Delay(50); + data = BIT_DMP_EN | BIT_FIFO_EN; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + data |= BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.int_enable) + data = BIT_DMP_INT_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + data = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + } + else + { + data = BIT_FIFO_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + data = BIT_FIFO_EN; + else + data = BIT_FIFO_EN | BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + HAL_Delay(50); + if (st.chip_cfg.int_enable) + data = BIT_DATA_RDY_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable)) + return -1; + } + return 0; +} + +/** + * @brief Get the gyro full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_gyro_fsr(unsigned short *fsr) +{ + switch (st.chip_cfg.gyro_fsr) + { + case INV_FSR_250DPS: + fsr[0] = 250; + break; + case INV_FSR_500DPS: + fsr[0] = 500; + break; + case INV_FSR_1000DPS: + fsr[0] = 1000; + break; + case INV_FSR_2000DPS: + fsr[0] = 2000; + break; + default: + fsr[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set the gyro full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_gyro_fsr(unsigned short fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) + { + case 250: + data = INV_FSR_250DPS << 3; + break; + case 500: + data = INV_FSR_500DPS << 3; + break; + case 1000: + data = INV_FSR_1000DPS << 3; + break; + case 2000: + data = INV_FSR_2000DPS << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.gyro_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data)) + return -1; + st.chip_cfg.gyro_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the accel full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_accel_fsr(unsigned char *fsr) +{ + switch (st.chip_cfg.accel_fsr) + { + case INV_FSR_2G: + fsr[0] = 2; + break; + case INV_FSR_4G: + fsr[0] = 4; + break; + case INV_FSR_8G: + fsr[0] = 8; + break; + case INV_FSR_16G: + fsr[0] = 16; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + fsr[0] <<= 1; + return 0; +} + +/** + * @brief Set the accel full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_accel_fsr(unsigned char fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) + { + case 2: + data = INV_FSR_2G << 3; + break; + case 4: + data = INV_FSR_4G << 3; + break; + case 8: + data = INV_FSR_8G << 3; + break; + case 16: + data = INV_FSR_16G << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.accel_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data)) + return -1; + st.chip_cfg.accel_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the current DLPF setting. + * @param[out] lpf Current LPF setting. + * 0 if successful. + */ +int mpu_get_lpf(unsigned short *lpf) +{ + switch (st.chip_cfg.lpf) + { + case INV_FILTER_188HZ: + lpf[0] = 188; + break; + case INV_FILTER_98HZ: + lpf[0] = 98; + break; + case INV_FILTER_42HZ: + lpf[0] = 42; + break; + case INV_FILTER_20HZ: + lpf[0] = 20; + break; + case INV_FILTER_10HZ: + lpf[0] = 10; + break; + case INV_FILTER_5HZ: + lpf[0] = 5; + break; + case INV_FILTER_256HZ_NOLPF2: + case INV_FILTER_2100HZ_NOLPF: + default: + lpf[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set digital low pass filter. + * The following LPF settings are supported: 188, 98, 42, 20, 10, 5. + * @param[in] lpf Desired LPF setting. + * @return 0 if successful. + */ +int mpu_set_lpf(unsigned short lpf) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (lpf >= 188) + data = INV_FILTER_188HZ; + else if (lpf >= 98) + data = INV_FILTER_98HZ; + else if (lpf >= 42) + data = INV_FILTER_42HZ; + else if (lpf >= 20) + data = INV_FILTER_20HZ; + else if (lpf >= 10) + data = INV_FILTER_10HZ; + else + data = INV_FILTER_5HZ; + + if (st.chip_cfg.lpf == data) + return 0; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data)) + return -1; + st.chip_cfg.lpf = data; + return 0; +} + +/** + * @brief Get sampling rate. + * @param[out] rate Current sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_sample_rate(unsigned short *rate) +{ + if (st.chip_cfg.dmp_on) + return -1; + else + rate[0] = st.chip_cfg.sample_rate; + return 0; +} + +/** + * @brief Set sampling rate. + * Sampling rate must be between 4Hz and 1kHz. + * @param[in] rate Desired sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_sample_rate(unsigned short rate) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (st.chip_cfg.dmp_on) + return -1; + else + { + if (st.chip_cfg.lp_accel_mode) + { + if (rate && (rate <= 40)) + { + /* Just stay in low-power accel mode. */ + mpu_lp_accel_mode(rate); + return 0; + } + /* Requested rate exceeds the allowed frequencies in LP accel mode, + * switch back to full-power mode. + */ + mpu_lp_accel_mode(0); + } + if (rate < 4) + rate = 4; + else if (rate > 1000) + rate = 1000; + + data = 1000 / rate - 1; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data)) + return -1; + + st.chip_cfg.sample_rate = 1000 / (1 + data); + +#ifdef AK89xx_SECONDARY + mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE)); +#endif + + /* Automatically set LPF to 1/2 sampling rate. */ + mpu_set_lpf(st.chip_cfg.sample_rate >> 1); + return 0; + } +} + +/** + * @brief Get compass sampling rate. + * @param[out] rate Current compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_compass_sample_rate(unsigned short *rate) +{ +#ifdef AK89xx_SECONDARY + rate[0] = st.chip_cfg.compass_sample_rate; + return 0; +#else + rate[0] = 0; + return -1; +#endif +} + +/** + * @brief Set compass sampling rate. + * The compass on the auxiliary I2C bus is read by the MPU hardware at a + * maximum of 100Hz. The actual rate can be set to a fraction of the gyro + * sampling rate. + * + * \n WARNING: The new rate may be different than what was requested. Call + * mpu_get_compass_sample_rate to check the actual setting. + * @param[in] rate Desired compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_compass_sample_rate(unsigned short rate) +{ +#ifdef AK89xx_SECONDARY + unsigned char div; + if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE) + return -1; + + div = st.chip_cfg.sample_rate / rate - 1; + if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div)) + return -1; + st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get gyro sensitivity scale factor. + * @param[out] sens Conversion from hardware units to dps. + * @return 0 if successful. + */ +int mpu_get_gyro_sens(float *sens) +{ + switch (st.chip_cfg.gyro_fsr) + { + case INV_FSR_250DPS: + sens[0] = 131.f; + break; + case INV_FSR_500DPS: + sens[0] = 65.5f; + break; + case INV_FSR_1000DPS: + sens[0] = 32.8f; + break; + case INV_FSR_2000DPS: + sens[0] = 16.4f; + break; + default: + return -1; + } + return 0; +} + +/** + * @brief Get accel sensitivity scale factor. + * @param[out] sens Conversion from hardware units to g's. + * @return 0 if successful. + */ +int mpu_get_accel_sens(unsigned short *sens) +{ + switch (st.chip_cfg.accel_fsr) + { + case INV_FSR_2G: + sens[0] = 16384; + break; + case INV_FSR_4G: + sens[0] = 8092; + break; + case INV_FSR_8G: + sens[0] = 4096; + break; + case INV_FSR_16G: + sens[0] = 2048; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + sens[0] >>= 1; + return 0; +} + +/** + * @brief Get current FIFO configuration. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[out] sensors Mask of sensors in FIFO. + * @return 0 if successful. + */ +int mpu_get_fifo_config(unsigned char *sensors) +{ + sensors[0] = st.chip_cfg.fifo_enable; + return 0; +} + +/** + * @brief Select which sensors are pushed to FIFO. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[in] sensors Mask of sensors to push to FIFO. + * @return 0 if successful. + */ +int mpu_configure_fifo(unsigned char sensors) +{ + unsigned char prev; + int result = 0; + + /* Compass data isn't going into the FIFO. Stop trying. */ + sensors &= ~INV_XYZ_COMPASS; + + if (st.chip_cfg.dmp_on) + return 0; + else + { + if (!(st.chip_cfg.sensors)) + return -1; + prev = st.chip_cfg.fifo_enable; + st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors; + if (st.chip_cfg.fifo_enable != sensors) + /* You're not getting what you asked for. Some sensors are + * asleep. + */ + result = -1; + else + result = 0; + if (sensors || st.chip_cfg.lp_accel_mode) + set_int_enable(1); + else + set_int_enable(0); + if (sensors) + { + if (mpu_reset_fifo()) + { + st.chip_cfg.fifo_enable = prev; + return -1; + } + } + } + + return result; +} + +/** + * @brief Get current power state. + * @param[in] power_on 1 if turned on, 0 if suspended. + * @return 0 if successful. + */ +int mpu_get_power_state(unsigned char *power_on) +{ + if (st.chip_cfg.sensors) + power_on[0] = 1; + else + power_on[0] = 0; + return 0; +} + +/** + * @brief Turn specific sensors on/off. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_XYZ_COMPASS + * @param[in] sensors Mask of sensors to wake. + * @return 0 if successful. + */ +int mpu_set_sensors(unsigned char sensors) +{ + unsigned char data; +#ifdef AK89xx_SECONDARY + unsigned char user_ctrl; +#endif + + if (sensors & INV_XYZ_GYRO) + data = INV_CLK_PLL; + else if (sensors) + data = 0; + else + data = BIT_SLEEP; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) + { + st.chip_cfg.sensors = 0; + return -1; + } + st.chip_cfg.clk_src = data & ~BIT_SLEEP; + + data = 0; + if (!(sensors & INV_X_GYRO)) + data |= BIT_STBY_XG; + if (!(sensors & INV_Y_GYRO)) + data |= BIT_STBY_YG; + if (!(sensors & INV_Z_GYRO)) + data |= BIT_STBY_ZG; + if (!(sensors & INV_XYZ_ACCEL)) + data |= BIT_STBY_XYZA; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) + { + st.chip_cfg.sensors = 0; + return -1; + } + + if (sensors && (sensors != INV_XYZ_ACCEL)) + /* Latched interrupts only used in LP accel mode. */ + mpu_set_int_latched(0); + +#ifdef AK89xx_SECONDARY +#ifdef AK89xx_BYPASS + if (sensors & INV_XYZ_COMPASS) + mpu_set_bypass(1); + else + mpu_set_bypass(0); +#else + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; + /* Handle AKM power management. */ + if (sensors & INV_XYZ_COMPASS) + { + data = AKM_SINGLE_MEASUREMENT; + user_ctrl |= BIT_AUX_IF_EN; + } + else + { + data = AKM_POWER_DOWN; + user_ctrl &= ~BIT_AUX_IF_EN; + } + if (st.chip_cfg.dmp_on) + user_ctrl |= BIT_DMP_EN; + else + user_ctrl &= ~BIT_DMP_EN; + if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data)) + return -1; + /* Enable/disable I2C master mode. */ + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; +#endif +#endif + + st.chip_cfg.sensors = sensors; + st.chip_cfg.lp_accel_mode = 0; + HAL_Delay(50); + return 0; +} + +/** + * @brief Read the MPU interrupt status registers. + * @param[out] status Mask of interrupt bits. + * @return 0 if successful. + */ +int mpu_get_int_status(short *status) +{ + unsigned char tmp[2]; + if (!st.chip_cfg.sensors) + return -1; + if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp)) + return -1; + status[0] = (tmp[0] << 8) | tmp[1]; + return 0; +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more) +{ + /* Assumes maximum packet size is gyro (6) + accel (6). */ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_size = 0; + unsigned short fifo_count, index = 0; + + if (st.chip_cfg.dmp_on) + return -1; + + sensors[0] = 0; + if (!st.chip_cfg.sensors) + return -1; + if (!st.chip_cfg.fifo_enable) + return -1; + + if (st.chip_cfg.fifo_enable & INV_X_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Y_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Z_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) + packet_size += 6; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + fifo_count = (data[0] << 8) | data[1]; + if (fifo_count < packet_size) + return 0; + // log_i("FIFO count: %hd\n", fifo_count); + if (fifo_count > (st.hw->max_fifo >> 1)) + { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, data)) + return -1; + if (data[0] & BIT_FIFO_OVERFLOW) + { + mpu_reset_fifo(); + return -2; + } + } + get_ms((unsigned long *)timestamp); + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data)) + return -1; + more[0] = fifo_count / packet_size - 1; + sensors[0] = 0; + + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) + { + accel[0] = (data[index + 0] << 8) | data[index + 1]; + accel[1] = (data[index + 2] << 8) | data[index + 3]; + accel[2] = (data[index + 4] << 8) | data[index + 5]; + sensors[0] |= INV_XYZ_ACCEL; + index += 6; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) + { + gyro[0] = (data[index + 0] << 8) | data[index + 1]; + sensors[0] |= INV_X_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) + { + gyro[1] = (data[index + 0] << 8) | data[index + 1]; + sensors[0] |= INV_Y_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) + { + gyro[2] = (data[index + 0] << 8) | data[index + 1]; + sensors[0] |= INV_Z_GYRO; + index += 2; + } + + return 0; +} + +/** + * @brief Get one unparsed packet from the FIFO. + * This function should be used if the packet is to be parsed elsewhere. + * @param[in] length Length of one FIFO packet. + * @param[in] data FIFO packet. + * @param[in] more Number of remaining packets. + */ +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more) +{ + unsigned char tmp[2]; + unsigned short fifo_count; + if (!st.chip_cfg.dmp_on) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp)) + return -1; + fifo_count = (tmp[0] << 8) | tmp[1]; + if (fifo_count < length) + { + more[0] = 0; + return -1; + } + if (fifo_count > (st.hw->max_fifo >> 1)) + { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp)) + return -1; + if (tmp[0] & BIT_FIFO_OVERFLOW) + { + mpu_reset_fifo(); + return -2; + } + } + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data)) + return -1; + more[0] = fifo_count / length - 1; + return 0; +} + +/** + * @brief Set device to bypass mode. + * @param[in] bypass_on 1 to enable bypass mode. + * @return 0 if successful. + */ +int mpu_set_bypass(unsigned char bypass_on) +{ + unsigned char tmp; + + if (st.chip_cfg.bypass_mode == bypass_on) + return 0; + + if (bypass_on) + { + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + HAL_Delay(3); + tmp = BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } + else + { + /* Enable I2C master mode if compass is being used. */ + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + tmp |= BIT_AUX_IF_EN; + else + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + HAL_Delay(3); + if (st.chip_cfg.active_low_int) + tmp = BIT_ACTL; + else + tmp = 0; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } + st.chip_cfg.bypass_mode = bypass_on; + return 0; +} + +/** + * @brief Set interrupt level. + * @param[in] active_low 1 for active low, 0 for active high. + * @return 0 if successful. + */ +int mpu_set_int_level(unsigned char active_low) +{ + st.chip_cfg.active_low_int = active_low; + return 0; +} + +/** + * @brief Enable latched interrupts. + * Any MPU register will clear the interrupt. + * @param[in] enable 1 to enable, 0 to disable. + * @return 0 if successful. + */ +int mpu_set_int_latched(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.latched_int == enable) + return 0; + + if (enable) + tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR; + else + tmp = 0; + if (st.chip_cfg.bypass_mode) + tmp |= BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + st.chip_cfg.latched_int = enable; + return 0; +} + +#ifdef MPU6050 +static int get_accel_prod_shift(float *st_shift) +{ + unsigned char tmp[4], shift_code[3], ii; + + if (i2c_read(st.hw->addr, 0x0D, 4, tmp)) + return 0x07; + + shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4); + shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2); + shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03); + for (ii = 0; ii < 3; ii++) + { + if (!shift_code[ii]) + { + st_shift[ii] = 0.f; + continue; + } + /* Equivalent to.. + * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f) + */ + st_shift[ii] = 0.34f; + while (--shift_code[ii]) + st_shift[ii] *= 1.034f; + } + return 0; +} + +static int accel_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + float st_shift[3], st_shift_cust, st_shift_var; + + get_accel_prod_shift(st_shift); + for (jj = 0; jj < 3; jj++) + { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (st_shift[jj]) + { + st_shift_var = st_shift_cust / st_shift[jj] - 1.f; + if (fabs(st_shift_var) > test.max_accel_var) + result |= 1 << jj; + } + else if ((st_shift_cust < test.min_g) || + (st_shift_cust > test.max_g)) + result |= 1 << jj; + } + + return result; +} + +static int gyro_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + unsigned char tmp[3]; + float st_shift, st_shift_cust, st_shift_var; + + if (i2c_read(st.hw->addr, 0x0D, 3, tmp)) + return 0x07; + + tmp[0] &= 0x1F; + tmp[1] &= 0x1F; + tmp[2] &= 0x1F; + + for (jj = 0; jj < 3; jj++) + { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (tmp[jj]) + { + st_shift = 3275.f / test.gyro_sens; + while (--tmp[jj]) + st_shift *= 1.046f; + st_shift_var = st_shift_cust / st_shift - 1.f; + if (fabs(st_shift_var) > test.max_gyro_var) + result |= 1 << jj; + } + else if ((st_shift_cust < test.min_dps) || + (st_shift_cust > test.max_dps)) + result |= 1 << jj; + } + return result; +} + +#ifdef AK89xx_SECONDARY +static int compass_self_test(void) +{ + unsigned char tmp[6]; + unsigned char tries = 10; + int result = 0x07; + short data; + + mpu_set_bypass(1); + + tmp[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + return 0x07; + tmp[0] = AKM_BIT_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp)) + goto AKM_restore; + tmp[0] = AKM_MODE_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + goto AKM_restore; + + do + { + delay_ms(10); + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp)) + goto AKM_restore; + if (tmp[0] & AKM_DATA_READY) + break; + } while (tries--); + if (!(tmp[0] & AKM_DATA_READY)) + goto AKM_restore; + + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp)) + goto AKM_restore; + + result = 0; + data = (short)(tmp[1] << 8) | tmp[0]; + if ((data > 100) || (data < -100)) + result |= 0x01; + data = (short)(tmp[3] << 8) | tmp[2]; + if ((data > 100) || (data < -100)) + result |= 0x02; + data = (short)(tmp[5] << 8) | tmp[4]; + if ((data > -300) || (data < -1000)) + result |= 0x04; + +AKM_restore: + tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp); + tmp[0] = SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp); + mpu_set_bypass(0); + return result; +} +#endif +#endif + +static int get_st_biases(long *gyro, long *accel, unsigned char hw_test) +{ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_count, ii; + unsigned short fifo_count; + + data[0] = 0x01; + data[1] = 0; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + return -1; + HAL_Delay(200); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + data[0] = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + HAL_Delay(15); + data[0] = st.test->reg_lpf; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + data[0] = st.test->reg_rate_div; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data)) + return -1; + if (hw_test) + data[0] = st.test->reg_gyro_fsr | 0xE0; + else + data[0] = st.test->reg_gyro_fsr; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data)) + return -1; + + if (hw_test) + data[0] = st.test->reg_accel_fsr | 0xE0; + else + data[0] = test.reg_accel_fsr; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + return -1; + if (hw_test) + HAL_Delay(200); + + /* Fill FIFO for test.wait_ms milliseconds. */ + data[0] = BIT_FIFO_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + + data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + HAL_Delay(test.wait_ms); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + + fifo_count = (data[0] << 8) | data[1]; + packet_count = fifo_count / MAX_PACKET_LENGTH; + gyro[0] = gyro[1] = gyro[2] = 0; + accel[0] = accel[1] = accel[2] = 0; + + for (ii = 0; ii < packet_count; ii++) + { + short accel_cur[3], gyro_cur[3]; + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data)) + return -1; + accel_cur[0] = ((short)data[0] << 8) | data[1]; + accel_cur[1] = ((short)data[2] << 8) | data[3]; + accel_cur[2] = ((short)data[4] << 8) | data[5]; + accel[0] += (long)accel_cur[0]; + accel[1] += (long)accel_cur[1]; + accel[2] += (long)accel_cur[2]; + gyro_cur[0] = (((short)data[6] << 8) | data[7]); + gyro_cur[1] = (((short)data[8] << 8) | data[9]); + gyro_cur[2] = (((short)data[10] << 8) | data[11]); + gyro[0] += (long)gyro_cur[0]; + gyro[1] += (long)gyro_cur[1]; + gyro[2] += (long)gyro_cur[2]; + } +#ifdef EMPL_NO_64BIT + gyro[0] = (long)(((float)gyro[0] * 65536.f) / test.gyro_sens / packet_count); + gyro[1] = (long)(((float)gyro[1] * 65536.f) / test.gyro_sens / packet_count); + gyro[2] = (long)(((float)gyro[2] * 65536.f) / test.gyro_sens / packet_count); + if (has_accel) + { + accel[0] = (long)(((float)accel[0] * 65536.f) / test.accel_sens / + packet_count); + accel[1] = (long)(((float)accel[1] * 65536.f) / test.accel_sens / + packet_count); + accel[2] = (long)(((float)accel[2] * 65536.f) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + accel[2] -= 65536L; + } +#else + gyro[0] = (long)(((long long)gyro[0] << 16) / test.gyro_sens / packet_count); + gyro[1] = (long)(((long long)gyro[1] << 16) / test.gyro_sens / packet_count); + gyro[2] = (long)(((long long)gyro[2] << 16) / test.gyro_sens / packet_count); + accel[0] = (long)(((long long)accel[0] << 16) / test.accel_sens / + packet_count); + accel[1] = (long)(((long long)accel[1] << 16) / test.accel_sens / + packet_count); + accel[2] = (long)(((long long)accel[2] << 16) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + if (accel[2] > 0L) + accel[2] -= 65536L; + else + accel[2] += 65536L; +#endif + + return 0; +} + +/** + * @brief Trigger gyro/accel/compass self-test. + * On success/error, the self-test returns a mask representing the sensor(s) + * that failed. For each bit, a one (1) represents a "pass" case; conversely, + * a zero (0) indicates a failure. + * + * \n The mask is defined as follows: + * \n Bit 0: Gyro. + * \n Bit 1: Accel. + * \n Bit 2: Compass. + * + * \n Currently, the hardware self-test is unsupported for MPU6500. However, + * this function can still be used to obtain the accel and gyro biases. + * + * \n This function must be called with the device either face-up or face-down + * (z-axis is parallel to gravity). + * @param[out] gyro Gyro biases in q16 format. + * @param[out] accel Accel biases (if applicable) in q16 format. + * @return Result mask (see above). + */ +int mpu_run_self_test(long *gyro, long *accel) +{ +#ifdef MPU6050 + const unsigned char tries = 2; + long gyro_st[3], accel_st[3]; + unsigned char accel_result, gyro_result; +#ifdef AK89xx_SECONDARY + unsigned char compass_result; +#endif + int ii; +#endif + int result; + unsigned char accel_fsr, fifo_sensors, sensors_on; + unsigned short gyro_fsr, sample_rate, lpf; + unsigned char dmp_was_on; + + if (st.chip_cfg.dmp_on) + { + mpu_set_dmp_state(0); + dmp_was_on = 1; + } + else + dmp_was_on = 0; + + /* Get initial settings. */ + mpu_get_gyro_fsr(&gyro_fsr); + mpu_get_accel_fsr(&accel_fsr); + mpu_get_lpf(&lpf); + mpu_get_sample_rate(&sample_rate); + sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&fifo_sensors); + + /* For older chips, the self-test will be different. */ +#if defined MPU6050 + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro, accel, 0)) + break; + if (ii == tries) + { + /* If we reach this point, we most likely encountered an I2C error. + * We'll just report an error for all three sensors. + */ + result = 0; + goto restore; + } + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro_st, accel_st, 1)) + break; + if (ii == tries) + { + /* Again, probably an I2C error. */ + result = 0; + goto restore; + } + accel_result = accel_self_test(accel, accel_st); + gyro_result = gyro_self_test(gyro, gyro_st); + + result = 0; + if (!gyro_result) + result |= 0x01; + if (!accel_result) + result |= 0x02; + +#ifdef AK89xx_SECONDARY + compass_result = compass_self_test(); + if (!compass_result) + result |= 0x04; +#endif +restore: +#elif defined MPU6500 + /* For now, this function will return a "pass" result for all three sensors + * for compatibility with current test applications. + */ + get_st_biases(gyro, accel, 0); + result = 0x7; +#endif + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_gyro_fsr(gyro_fsr); + mpu_set_accel_fsr(accel_fsr); + mpu_set_lpf(lpf); + mpu_set_sample_rate(sample_rate); + mpu_set_sensors(sensors_on); + mpu_configure_fifo(fifo_sensors); + + if (dmp_was_on) + mpu_set_dmp_state(1); + + return result; +} + +/** + * @brief Write to the DMP memory. + * This function prevents I2C writes past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to write. + * @param[in] data Bytes to write to memory. + * @return 0 if successful. + */ +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Read from the DMP memory. + * This function prevents I2C reads past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to read. + * @param[out] data Bytes read from memory. + * @return 0 if successful. + */ +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Load and verify DMP image. + * @param[in] length Length of DMP image. + * @param[in] firmware DMP code. + * @param[in] start_addr Starting address of DMP code memory. + * @param[in] sample_rate Fixed sampling rate used when DMP is enabled. + * @return 0 if successful. + */ +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate) +{ + unsigned short ii; + unsigned short this_write; + /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */ +#define LOAD_CHUNK (16) + unsigned char cur[LOAD_CHUNK], tmp[2]; + + if (st.chip_cfg.dmp_loaded) + /* DMP should only be loaded once. */ + return -1; + + if (!firmware) + return -1; + for (ii = 0; ii < length; ii += this_write) + { + this_write = min(LOAD_CHUNK, length - ii); + if (mpu_write_mem(ii, this_write, (unsigned char *)&firmware[ii])) + return -1; + if (mpu_read_mem(ii, this_write, cur)) + return -1; + if (memcmp(firmware + ii, cur, this_write)) + return -2; + } + + /* Set program start address. */ + tmp[0] = start_addr >> 8; + tmp[1] = start_addr & 0xFF; + if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp)) + return -1; + + st.chip_cfg.dmp_loaded = 1; + st.chip_cfg.dmp_sample_rate = sample_rate; + return 0; +} + +/** + * @brief Enable/disable DMP support. + * @param[in] enable 1 to turn on the DMP. + * @return 0 if successful. + */ +int mpu_set_dmp_state(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.dmp_on == enable) + return 0; + + if (enable) + { + if (!st.chip_cfg.dmp_loaded) + return -1; + /* Disable data ready interrupt. */ + set_int_enable(0); + /* Disable bypass mode. */ + mpu_set_bypass(0); + /* Keep constant sample rate, FIFO rate controlled by DMP. */ + mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate); + /* Remove FIFO elements. */ + tmp = 0; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 1; + /* Enable DMP interrupt. */ + set_int_enable(1); + mpu_reset_fifo(); + } + else + { + /* Disable DMP interrupt. */ + set_int_enable(0); + /* Restore FIFO settings. */ + tmp = st.chip_cfg.fifo_enable; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 0; + mpu_reset_fifo(); + } + return 0; +} + +/** + * @brief Get DMP state. + * @param[out] enabled 1 if enabled. + * @return 0 if successful. + */ +int mpu_get_dmp_state(unsigned char *enabled) +{ + enabled[0] = st.chip_cfg.dmp_on; + return 0; +} + +/* This initialization is similar to the one in ak8975.c. */ +int setup_compass(void) +{ +#ifdef AK89xx_SECONDARY + unsigned char data[4], akm_addr; + + mpu_set_bypass(1); + + /* Find compass. Possible addresses range from 0x0C to 0x0F. */ + for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) + { + int result; + result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data); + if (!result && (data[0] == AKM_WHOAMI)) + break; + } + + if (akm_addr > 0x0F) + { + /* TODO: Handle this case in all compass-related functions. */ + log_e("Compass not found.\n"); + return -1; + } + + st.chip_cfg.compass_addr = akm_addr; + + data[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) + return -1; + delay_ms(1); + + data[0] = AKM_FUSE_ROM_ACCESS; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) + return -1; + delay_ms(1); + + /* Get sensitivity adjustment data from fuse ROM. */ + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data)) + return -1; + st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128; + st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128; + st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128; + + data[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) + return -1; + delay_ms(1); + + mpu_set_bypass(0); + + /* Set up master mode, master clock, and ES bit. */ + data[0] = 0x40; + if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) + return -1; + + /* Slave 0 reads from AKM data registers. */ + data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr; + if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data)) + return -1; + + /* Compass reads start at this register. */ + data[0] = AKM_REG_ST1; + if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data)) + return -1; + + /* Enable slave 0, 8-byte reads. */ + data[0] = BIT_SLAVE_EN | 8; + if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data)) + return -1; + + /* Slave 1 changes AKM measurement mode. */ + data[0] = st.chip_cfg.compass_addr; + if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data)) + return -1; + + /* AKM measurement mode register. */ + data[0] = AKM_REG_CNTL; + if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data)) + return -1; + + /* Enable slave 1, 1-byte writes. */ + data[0] = BIT_SLAVE_EN | 1; + if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data)) + return -1; + + /* Set slave 1 data. */ + data[0] = AKM_SINGLE_MEASUREMENT; + if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data)) + return -1; + + /* Trigger slave 0 and slave 1 actions at each sample. */ + data[0] = 0x03; + if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data)) + return -1; + +#ifdef MPU9150 + /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */ + data[0] = BIT_I2C_MST_VDDIO; + if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data)) + return -1; +#endif + + return 0; +#else + return -1; +#endif +} + +/** + * @brief Read raw compass data. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_compass_reg(short *data, unsigned long *timestamp) +{ +#ifdef AK89xx_SECONDARY + unsigned char tmp[9]; + + if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + return -1; + +#ifdef AK89xx_BYPASS + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp)) + return -1; + tmp[8] = AKM_SINGLE_MEASUREMENT; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp + 8)) + return -1; +#else + if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp)) + return -1; +#endif + +#if defined AK8975_SECONDARY + /* AK8975 doesn't have the overrun error bit. */ + if (!(tmp[0] & AKM_DATA_READY)) + return -2; + if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR)) + return -3; +#elif defined AK8963_SECONDARY + /* AK8963 doesn't have the data read error bit. */ + if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN)) + return -2; + if (tmp[7] & AKM_OVERFLOW) + return -3; +#endif + data[0] = (tmp[2] << 8) | tmp[1]; + data[1] = (tmp[4] << 8) | tmp[3]; + data[2] = (tmp[6] << 8) | tmp[5]; + + data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8; + data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8; + data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8; + + if (timestamp) + get_ms(timestamp); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get the compass full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_compass_fsr(unsigned short *fsr) +{ +#ifdef AK89xx_SECONDARY + fsr[0] = st.hw->compass_fsr; + return 0; +#else + return -1; +#endif +} + +/** + * @brief Enters LP accel motion interrupt mode. + * The behavior of this feature is very different between the MPU6050 and the + * MPU6500. Each chip's version of this feature is explained below. + * + * \n MPU6050: + * \n When this mode is first enabled, the hardware captures a single accel + * sample, and subsequent samples are compared with this one to determine if + * the device is in motion. Therefore, whenever this "locked" sample needs to + * be changed, this function must be called again. + * + * \n The hardware motion threshold can be between 32mg and 8160mg in 32mg + * increments. + * + * \n Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 5Hz, 20Hz, 40Hz + * + * \n MPU6500: + * \n Unlike the MPU6050 version, the hardware does not "lock in" a reference + * sample. The hardware monitors the accel data and detects any large change + * over a short period of time. + * + * \n The hardware motion threshold can be between 4mg and 1020mg in 4mg + * increments. + * + * \n MPU6500 Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * + * \n\n NOTES: + * \n The driver will round down @e thresh to the nearest supported value if + * an unsupported threshold is selected. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e lpa_freq. + * \n The MPU6500 does not support a delay parameter. If this function is used + * for the MPU6500, the value passed to @e time will be ignored. + * \n To disable this mode, set @e lpa_freq to zero. The driver will restore + * the previous configuration. + * + * @param[in] thresh Motion threshold in mg. + * @param[in] time Duration in milliseconds that the accel data must + * exceed @e thresh before motion is reported. + * @param[in] lpa_freq Minimum sampling rate, or zero to disable. + * @return 0 if successful. + */ +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq) +{ + unsigned char data[3]; + + if (lpa_freq) + { + unsigned char thresh_hw; + +#if defined MPU6050 + /* TODO: Make these const/#defines. */ + /* 1LSb = 32mg. */ + if (thresh > 8160) + thresh_hw = 255; + else if (thresh < 32) + thresh_hw = 1; + else + thresh_hw = thresh >> 5; +#elif defined MPU6500 + /* 1LSb = 4mg. */ + if (thresh > 1020) + thresh_hw = 255; + else if (thresh < 4) + thresh_hw = 1; + else + thresh_hw = thresh >> 2; +#endif + + if (!time) + /* Minimum duration must be 1ms. */ + time = 1; + +#if defined MPU6050 + if (lpa_freq > 40) +#elif defined MPU6500 + if (lpa_freq > 640) +#endif + /* At this point, the chip has not been re-configured, so the + * function can safely exit. + */ + return -1; + + if (!st.chip_cfg.int_motion_only) + { + /* Store current settings for later. */ + if (st.chip_cfg.dmp_on) + { + mpu_set_dmp_state(0); + st.chip_cfg.cache.dmp_on = 1; + } + else + st.chip_cfg.cache.dmp_on = 0; + mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr); + mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr); + mpu_get_lpf(&st.chip_cfg.cache.lpf); + mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate); + st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors); + } + +#ifdef MPU6050 + /* Disable hardware interrupts for now. */ + set_int_enable(0); + + /* Enter full-power accel-only mode. */ + mpu_lp_accel_mode(0); + + /* Override current LPF (and HPF) settings to obtain a valid accel + * reading. + */ + data[0] = INV_FILTER_256HZ_NOLPF2; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + + /* NOTE: Digital high pass filter should be configured here. Since this + * driver doesn't modify those bits anywhere, they should already be + * cleared by default. + */ + + /* Configure the device to send motion interrupts. */ + /* Enable motion interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + /* Set motion interrupt parameters. */ + data[0] = thresh_hw; + data[1] = time; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 2, data)) + goto lp_int_restore; + + /* Force hardware to "lock" current accel sample. */ + delay_ms(5); + data[0] = (st.chip_cfg.accel_fsr << 3) | BITS_HPF; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + goto lp_int_restore; + + /* Set up LP accel mode. */ + data[0] = BIT_LPA_CYCLE; + if (lpa_freq == 1) + data[1] = INV_LPA_1_25HZ; + else if (lpa_freq <= 5) + data[1] = INV_LPA_5HZ; + else if (lpa_freq <= 20) + data[1] = INV_LPA_20HZ; + else + data[1] = INV_LPA_40HZ; + data[1] = (data[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#elif defined MPU6500 + /* Disable hardware interrupts. */ + set_int_enable(0); + + /* Enter full-power accel-only mode, no FIFO/DMP. */ + data[0] = 0; + data[1] = 0; + data[2] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data)) + goto lp_int_restore; + + /* Set motion threshold. */ + data[0] = thresh_hw; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data)) + goto lp_int_restore; + + /* Set wake frequency. */ + if (lpa_freq == 1) + data[0] = INV_LPA_1_25HZ; + else if (lpa_freq == 2) + data[0] = INV_LPA_2_5HZ; + else if (lpa_freq <= 5) + data[0] = INV_LPA_5HZ; + else if (lpa_freq <= 10) + data[0] = INV_LPA_10HZ; + else if (lpa_freq <= 20) + data[0] = INV_LPA_20HZ; + else if (lpa_freq <= 40) + data[0] = INV_LPA_40HZ; + else if (lpa_freq <= 80) + data[0] = INV_LPA_80HZ; + else if (lpa_freq <= 160) + data[0] = INV_LPA_160HZ; + else if (lpa_freq <= 320) + data[0] = INV_LPA_320HZ; + else + data[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data)) + goto lp_int_restore; + + /* Enable motion interrupt (MPU6500 version). */ + data[0] = BITS_WOM_EN; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; + + /* Enable cycle mode. */ + data[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + goto lp_int_restore; + + /* Enable interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#endif + } + else + { + /* Don't "restore" the previous state if no state has been saved. */ + int ii; + char *cache_ptr = (char *)&st.chip_cfg.cache; + for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) + { + if (cache_ptr[ii] != 0) + goto lp_int_restore; + } + /* If we reach this point, motion interrupt mode hasn't been used yet. */ + return -1; + } +lp_int_restore: + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_sensors(st.chip_cfg.cache.sensors_on); + mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr); + mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr); + mpu_set_lpf(st.chip_cfg.cache.lpf); + mpu_set_sample_rate(st.chip_cfg.cache.sample_rate); + mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors); + + if (st.chip_cfg.cache.dmp_on) + mpu_set_dmp_state(1); + +#ifdef MPU6500 + /* Disable motion interrupt (MPU6500 version). */ + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; +#endif + + st.chip_cfg.int_motion_only = 0; + return 0; +} +////////////////////////////////////////////////////////////////////////////////// +// 添加的代码部分 +////////////////////////////////////////////////////////////////////////////////// +// 本程序只供学习使用，未经作者许可，不得用于其它任何用途 +// ALIENTEK精英STM32开发板V3 +// MPU6050 DMP 驱动代码 +// 正点原子@ALIENTEK +// 技术论坛:www.openedv.com +// 创建日期:2015/1/17 +// 版本：V1.0 +// 版权所有，盗版必究。 +// Copyright(C) 广州市星翼电子科技有限公司 2009-2019 +// All rights reserved +////////////////////////////////////////////////////////////////////////////////// + +// q30格式,long转float时的除数. +#define q30 1073741824.0f + +// 陀螺仪方向设置 +static signed char gyro_orientation[9] = {1, 0, 0, + 0, 1, 0, + 0, 0, 1}; +// MPU6050自测试 +// 返回值:0,正常 +// 其他,失败 +uint8_t run_self_test(void) +{ + int result; + // char test_packet[4] = {0}; + long gyro[3], accel[3]; + result = mpu_run_self_test(gyro, accel); + if (result == 0x3) + { + /* Test passed. We can trust the gyro data here, so let's push it down + * to the DMP. + */ + float sens; + unsigned short accel_sens; + mpu_get_gyro_sens(&sens); + gyro[0] = (long)(gyro[0] * sens); + gyro[1] = (long)(gyro[1] * sens); + gyro[2] = (long)(gyro[2] * sens); + dmp_set_gyro_bias(gyro); + mpu_get_accel_sens(&accel_sens); + accel[0] *= accel_sens; + accel[1] *= accel_sens; + accel[2] *= accel_sens; + dmp_set_accel_bias(accel); + return 0; + } + else + return 1; +} +// 陀螺仪方向控制 +unsigned short inv_orientation_matrix_to_scalar( + const signed char *mtx) +{ + unsigned short scalar; + /* + XYZ 010_001_000 Identity Matrix + XZY 001_010_000 + YXZ 010_000_001 + YZX 000_010_001 + ZXY 001_000_010 + ZYX 000_001_010 + */ + + scalar = inv_row_2_scale(mtx); + scalar |= inv_row_2_scale(mtx + 3) << 3; + scalar |= inv_row_2_scale(mtx + 6) << 6; + + return scalar; +} +// 方向转换 +unsigned short inv_row_2_scale(const signed char *row) +{ + unsigned short b; + + if (row[0] > 0) + b = 0; + else if (row[0] < 0) + b = 4; + else if (row[1] > 0) + b = 1; + else if (row[1] < 0) + b = 5; + else if (row[2] > 0) + b = 2; + else if (row[2] < 0) + b = 6; + else + b = 7; // error + return b; +} +// 空函数,未用到. +void mget_ms(unsigned long *time) +{ +} +// mpu6050,dmp初始化 +// 返回值:0,正常 +// 其他,失败 +uint8_t mpu_dmp_init(void) +{ + uint8_t res = 0; + MPU_IIC_Init(); // 初始化IIC总线 + if (mpu_init() == 0) // 初始化MPU6050 + { + res = mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL); // 设置所需要的传感器 + if (res) + return 1; + res = mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL); // 设置FIFO + if (res) + return 2; + res = mpu_set_sample_rate(DEFAULT_MPU_HZ); // 设置采样率 + if (res) + return 3; + res = dmp_load_motion_driver_firmware(); // 加载dmp固件 + if (res) + return 4; + res = dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)); // 设置陀螺仪方向 + if (res) + return 5; + res = dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | // 设置dmp功能 + DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | + DMP_FEATURE_GYRO_CAL); + if (res) + return 6; + res = dmp_set_fifo_rate(DEFAULT_MPU_HZ); // 设置DMP输出速率(最大不超过200Hz) + if (res) + return 7; + res = run_self_test(); // 自检 + if (res) + return 8; + res = mpu_set_dmp_state(1); // 使能DMP + if (res) + return 9; + } + else + return 10; + return 0; +} +// 得到dmp处理后的数据(注意,本函数需要比较多堆栈,局部变量有点多) +// pitch:俯仰角 精度:0.1° 范围:-90.0° <---> +90.0° +// roll:横滚角 精度:0.1° 范围:-180.0°<---> +180.0° +// yaw:航向角 精度:0.1° 范围:-180.0°<---> +180.0° +// 返回值:0,正常 +// 其他,失败 +uint8_t mpu_dmp_get_data(float *pitch, float *roll, float *yaw) +{ + float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; + unsigned long sensor_timestamp; + short gyro[3], accel[3], sensors; + unsigned char more; + long quat[4]; + if (dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more)) + return 1; + /* Gyro and accel data are written to the FIFO by the DMP in chip frame and hardware units. + * This behavior is convenient because it keeps the gyro and accel outputs of dmp_read_fifo and mpu_read_fifo consistent. + **/ + /*if (sensors & INV_XYZ_GYRO ) + send_packet(PACKET_TYPE_GYRO, gyro); + if (sensors & INV_XYZ_ACCEL) + send_packet(PACKET_TYPE_ACCEL, accel); */ + /* Unlike gyro and accel, quaternions are written to the FIFO in the body frame, q30. + * The orientation is set by the scalar passed to dmp_set_orientation during initialization. + **/ + if (sensors & INV_WXYZ_QUAT) + { + q0 = quat[0] / q30; // q30格式转换为浮点数 + q1 = quat[1] / q30; + q2 = quat[2] / q30; + q3 = quat[3] / q30; + // 计算得到俯仰角/横滚角/航向角 + *pitch = asin(-2 * q1 * q3 + 2 * q0 * q2) * 57.3; // pitch + *roll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 57.3; // roll + *yaw = atan2(2 * (q1 * q2 + q0 * q3), q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * 57.3; // yaw + } + else + return 2; + return 0; +} + diff --git a/Core/Src/inv_mpu_dmp_motion_driver.c b/Core/Src/inv_mpu_dmp_motion_driver.c new file mode 100644 index 0000000..85ca5cf --- /dev/null +++ b/Core/Src/inv_mpu_dmp_motion_driver.c @@ -0,0 +1,1424 @@ +/* + * inv_mpu_dmp_motion_driver.c + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +/* + $License: + Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. + See included License.txt for License information. + $ + */ +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.c + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#include +#include +#include +#include +#include +#include "inv_mpu.h" +#include "inv_mpu_dmp_motion_driver.h" +#include "dmpKey.h" +#include "dmpmap.h" +#include "usart.h" + +// 定义目标板采用MSP430 +#define MOTION_DRIVER_TARGET_MSP430 + +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + */ +#if defined MOTION_DRIVER_TARGET_MSP430 +// #include "msp430.h" +// #include "msp430_clock.h" +#define delay_ms delay_ms +#define get_ms mget_ms +#define log_i printf +#define log_e printf + +#elif defined EMPL_TARGET_MSP430 +#include "msp430.h" +#include "msp430_clock.h" +#include "log.h" +#define delay_ms msp430_delay_ms +#define get_ms msp430_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#elif defined EMPL_TARGET_UC3L0 +/* Instead of using the standard TWI driver from the ASF library, we're using + * a TWI driver that follows the slave address + register address convention. + */ +#include "delay.h" +#include "sysclk.h" +#include "log.h" +#include "uc3l0_clock.h" +/* delay_ms is a function already defined in ASF. */ +#define get_ms uc3l0_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#else +#error Gyro driver is missing the system layer implementations. +#endif + +/* These defines are copied from dmpDefaultMPU6050.c in the general MPL + * releases. These defines may change for each DMP image, so be sure to modify + * these values when switching to a new image. + */ +#define CFG_LP_QUAT (2712) +#define END_ORIENT_TEMP (1866) +#define CFG_27 (2742) +#define CFG_20 (2224) +#define CFG_23 (2745) +#define CFG_FIFO_ON_EVENT (2690) +#define END_PREDICTION_UPDATE (1761) +#define CGNOTICE_INTR (2620) +#define X_GRT_Y_TMP (1358) +#define CFG_DR_INT (1029) +#define CFG_AUTH (1035) +#define UPDATE_PROP_ROT (1835) +#define END_COMPARE_Y_X_TMP2 (1455) +#define SKIP_X_GRT_Y_TMP (1359) +#define SKIP_END_COMPARE (1435) +#define FCFG_3 (1088) +#define FCFG_2 (1066) +#define FCFG_1 (1062) +#define END_COMPARE_Y_X_TMP3 (1434) +#define FCFG_7 (1073) +#define FCFG_6 (1106) +#define FLAT_STATE_END (1713) +#define SWING_END_4 (1616) +#define SWING_END_2 (1565) +#define SWING_END_3 (1587) +#define SWING_END_1 (1550) +#define CFG_8 (2718) +#define CFG_15 (2727) +#define CFG_16 (2746) +#define CFG_EXT_GYRO_BIAS (1189) +#define END_COMPARE_Y_X_TMP (1407) +#define DO_NOT_UPDATE_PROP_ROT (1839) +#define CFG_7 (1205) +#define FLAT_STATE_END_TEMP (1683) +#define END_COMPARE_Y_X (1484) +#define SKIP_SWING_END_1 (1551) +#define SKIP_SWING_END_3 (1588) +#define SKIP_SWING_END_2 (1566) +#define TILTG75_START (1672) +#define CFG_6 (2753) +#define TILTL75_END (1669) +#define END_ORIENT (1884) +#define CFG_FLICK_IN (2573) +#define TILTL75_START (1643) +#define CFG_MOTION_BIAS (1208) +#define X_GRT_Y (1408) +#define TEMPLABEL (2324) +#define CFG_ANDROID_ORIENT_INT (1853) +#define CFG_GYRO_RAW_DATA (2722) +#define X_GRT_Y_TMP2 (1379) + +#define D_0_22 (22 + 512) +#define D_0_24 (24 + 512) + +#define D_0_36 (36) +#define D_0_52 (52) +#define D_0_96 (96) +#define D_0_104 (104) +#define D_0_108 (108) +#define D_0_163 (163) +#define D_0_188 (188) +#define D_0_192 (192) +#define D_0_224 (224) +#define D_0_228 (228) +#define D_0_232 (232) +#define D_0_236 (236) + +#define D_1_2 (256 + 2) +#define D_1_4 (256 + 4) +#define D_1_8 (256 + 8) +#define D_1_10 (256 + 10) +#define D_1_24 (256 + 24) +#define D_1_28 (256 + 28) +#define D_1_36 (256 + 36) +#define D_1_40 (256 + 40) +#define D_1_44 (256 + 44) +#define D_1_72 (256 + 72) +#define D_1_74 (256 + 74) +#define D_1_79 (256 + 79) +#define D_1_88 (256 + 88) +#define D_1_90 (256 + 90) +#define D_1_92 (256 + 92) +#define D_1_96 (256 + 96) +#define D_1_98 (256 + 98) +#define D_1_106 (256 + 106) +#define D_1_108 (256 + 108) +#define D_1_112 (256 + 112) +#define D_1_128 (256 + 144) +#define D_1_152 (256 + 12) +#define D_1_160 (256 + 160) +#define D_1_176 (256 + 176) +#define D_1_178 (256 + 178) +#define D_1_218 (256 + 218) +#define D_1_232 (256 + 232) +#define D_1_236 (256 + 236) +#define D_1_240 (256 + 240) +#define D_1_244 (256 + 244) +#define D_1_250 (256 + 250) +#define D_1_252 (256 + 252) +#define D_2_12 (512 + 12) +#define D_2_96 (512 + 96) +#define D_2_108 (512 + 108) +#define D_2_208 (512 + 208) +#define D_2_224 (512 + 224) +#define D_2_236 (512 + 236) +#define D_2_244 (512 + 244) +#define D_2_248 (512 + 248) +#define D_2_252 (512 + 252) + +#define CPASS_BIAS_X (35 * 16 + 4) +#define CPASS_BIAS_Y (35 * 16 + 8) +#define CPASS_BIAS_Z (35 * 16 + 12) +#define CPASS_MTX_00 (36 * 16) +#define CPASS_MTX_01 (36 * 16 + 4) +#define CPASS_MTX_02 (36 * 16 + 8) +#define CPASS_MTX_10 (36 * 16 + 12) +#define CPASS_MTX_11 (37 * 16) +#define CPASS_MTX_12 (37 * 16 + 4) +#define CPASS_MTX_20 (37 * 16 + 8) +#define CPASS_MTX_21 (37 * 16 + 12) +#define CPASS_MTX_22 (43 * 16 + 12) +#define D_EXT_GYRO_BIAS_X (61 * 16) +#define D_EXT_GYRO_BIAS_Y (61 * 16) + 4 +#define D_EXT_GYRO_BIAS_Z (61 * 16) + 8 +#define D_ACT0 (40 * 16) +#define D_ACSX (40 * 16 + 4) +#define D_ACSY (40 * 16 + 8) +#define D_ACSZ (40 * 16 + 12) + +#define FLICK_MSG (45 * 16 + 4) +#define FLICK_COUNTER (45 * 16 + 8) +#define FLICK_LOWER (45 * 16 + 12) +#define FLICK_UPPER (46 * 16 + 12) + +#define D_AUTH_OUT (992) +#define D_AUTH_IN (996) +#define D_AUTH_A (1000) +#define D_AUTH_B (1004) + +#define D_PEDSTD_BP_B (768 + 0x1C) +#define D_PEDSTD_HP_A (768 + 0x78) +#define D_PEDSTD_HP_B (768 + 0x7C) +#define D_PEDSTD_BP_A4 (768 + 0x40) +#define D_PEDSTD_BP_A3 (768 + 0x44) +#define D_PEDSTD_BP_A2 (768 + 0x48) +#define D_PEDSTD_BP_A1 (768 + 0x4C) +#define D_PEDSTD_INT_THRSH (768 + 0x68) +#define D_PEDSTD_CLIP (768 + 0x6C) +#define D_PEDSTD_SB (768 + 0x28) +#define D_PEDSTD_SB_TIME (768 + 0x2C) +#define D_PEDSTD_PEAKTHRSH (768 + 0x98) +#define D_PEDSTD_TIML (768 + 0x2A) +#define D_PEDSTD_TIMH (768 + 0x2E) +#define D_PEDSTD_PEAK (768 + 0X94) +#define D_PEDSTD_STEPCTR (768 + 0x60) +#define D_PEDSTD_TIMECTR (964) +#define D_PEDSTD_DECI (768 + 0xA0) + +#define D_HOST_NO_MOT (976) +#define D_ACCEL_BIAS (660) + +#define D_ORIENT_GAP (76) + +#define D_TILT0_H (48) +#define D_TILT0_L (50) +#define D_TILT1_H (52) +#define D_TILT1_L (54) +#define D_TILT2_H (56) +#define D_TILT2_L (58) +#define D_TILT3_H (60) +#define D_TILT3_L (62) + +#define DMP_CODE_SIZE (3062) + +static const unsigned char dmp_memory[DMP_CODE_SIZE] = { + /* bank # 0 */ + 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, + 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01, + 0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e, + 0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, + 0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1, + 0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2, + 0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00, + 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, + 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf, + 0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00, + 0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65, + 0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, + 0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 1 */ + 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, + 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, + 0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00, + 0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00, + 0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28, + 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00, + /* bank # 2 */ + 0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, + 0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e, + 0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c, + 0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64, + 0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 3 */ + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00, + 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + + /* bank # 4 */ + 0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e, + 0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf, + 0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9, + 0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96, + 0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83, + 0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1, + 0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 0xb1, 0xa3, 0x83, 0x93, 0xf0, 0x00, 0x28, 0x50, 0xf5, 0xb2, + 0xb6, 0xaa, 0x83, 0x93, 0x28, 0x54, 0x7c, 0xf1, 0xb9, 0xa3, 0x82, 0x93, 0x61, 0xba, 0xa2, 0xda, + 0xde, 0xdf, 0xdb, 0x81, 0x9a, 0xb9, 0xae, 0xf5, 0x60, 0x68, 0x70, 0xf1, 0xda, 0xba, 0xa2, 0xdf, + 0xd9, 0xba, 0xa2, 0xfa, 0xb9, 0xa3, 0x82, 0x92, 0xdb, 0x31, 0xba, 0xa2, 0xd9, 0xba, 0xa2, 0xf8, + 0xdf, 0x85, 0xa4, 0xd0, 0xc1, 0xbb, 0xad, 0x83, 0xc2, 0xc5, 0xc7, 0xb8, 0xa2, 0xdf, 0xdf, 0xdf, + 0xba, 0xa0, 0xdf, 0xdf, 0xdf, 0xd8, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, + 0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xa7, 0x0e, 0x16, 0x1e, 0xb4, 0x9a, + 0xb8, 0xaa, 0x87, 0x2c, 0x54, 0x7c, 0xba, 0xa4, 0xb0, 0x8a, 0xb6, 0x91, 0x32, 0x56, 0x76, 0xb2, + 0x84, 0x94, 0xa4, 0xc8, 0x08, 0xcd, 0xd8, 0xb8, 0xb4, 0xb0, 0xf1, 0x99, 0x82, 0xa8, 0x2d, 0x55, + 0x7d, 0x98, 0xa8, 0x0e, 0x16, 0x1e, 0xa2, 0x2c, 0x54, 0x7c, 0x92, 0xa4, 0xf0, 0x2c, 0x50, 0x78, + /* bank # 5 */ + 0xf1, 0x84, 0xa8, 0x98, 0xc4, 0xcd, 0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba, + 0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8, + 0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88, + 0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7, + 0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1, + 0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1, + 0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29, + 0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a, + 0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7, + 0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e, + 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c, + 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8, + 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88, + 0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94, + 0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2, + 0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82, + /* bank # 6 */ + 0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1, + 0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98, + 0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88, + 0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02, + 0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 0xf3, 0xc1, 0xda, 0x85, 0xa5, 0xf3, 0xdf, + 0xd8, 0x85, 0x95, 0xa8, 0xf3, 0x09, 0xda, 0xa5, 0xfa, 0xd8, 0x82, 0x92, 0xa8, 0xf5, 0x78, 0xf1, + 0x88, 0x1a, 0x84, 0x9f, 0x26, 0x88, 0x98, 0x21, 0xda, 0xf4, 0x1d, 0xf3, 0xd8, 0x87, 0x9f, 0x39, + 0xd1, 0xaf, 0xd9, 0xdf, 0xdf, 0xfb, 0xf9, 0xf4, 0x0c, 0xf3, 0xd8, 0xfa, 0xd0, 0xf8, 0xda, 0xf9, + 0xf9, 0xd0, 0xdf, 0xd9, 0xf9, 0xd8, 0xf4, 0x0b, 0xd8, 0xf3, 0x87, 0x9f, 0x39, 0xd1, 0xaf, 0xd9, + 0xdf, 0xdf, 0xf4, 0x1d, 0xf3, 0xd8, 0xfa, 0xfc, 0xa8, 0x69, 0xf9, 0xf9, 0xaf, 0xd0, 0xda, 0xde, + 0xfa, 0xd9, 0xf8, 0x8f, 0x9f, 0xa8, 0xf1, 0xcc, 0xf3, 0x98, 0xdb, 0x45, 0xd9, 0xaf, 0xdf, 0xd0, + 0xf8, 0xd8, 0xf1, 0x8f, 0x9f, 0xa8, 0xca, 0xf3, 0x88, 0x09, 0xda, 0xaf, 0x8f, 0xcb, 0xf8, 0xd8, + 0xf2, 0xad, 0x97, 0x8d, 0x0c, 0xd9, 0xa5, 0xdf, 0xf9, 0xba, 0xa6, 0xf3, 0xfa, 0xf4, 0x12, 0xf2, + 0xd8, 0x95, 0x0d, 0xd1, 0xd9, 0xba, 0xa6, 0xf3, 0xfa, 0xda, 0xa5, 0xf2, 0xc1, 0xba, 0xa6, 0xf3, + 0xdf, 0xd8, 0xf1, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xca, 0xf3, 0x49, 0xda, 0xa6, 0xcb, + 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8, + /* bank # 7 */ + 0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb, + 0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28, + 0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2, + 0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a, + 0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb, + 0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6, + 0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8, + 0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1, + 0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99, + 0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb, + 0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9, + 0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9, + 0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac, + 0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6, + 0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0, + 0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf, + /* bank # 8 */ + 0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30, + 0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9, + 0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0, + 0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1, + 0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6, + 0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, + 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda, + 0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde, + 0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde, + 0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88, + 0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf, + 0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8, + 0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5, + 0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8, + 0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7, + 0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8, + /* bank # 9 */ + 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0, + 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b, + 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab, + 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0, + 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0, + 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59, + 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31, + 0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28, + 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0, + 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9, + 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c, + 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e, + 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0, + 0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf, + 0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2, + 0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83, + /* bank # 10 */ + 0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6, + 0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, + 0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb, + 0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c, + 0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8, + 0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9, + 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2, + 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84, + 0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0, + 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3, + 0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9, + 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, + 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90, + 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, + /* bank # 11 */ + 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83, + 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19, + 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39, + 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7, + 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80, + 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9, + 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26, + 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89, + 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, + 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, + 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22, + 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, + 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00, + 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10, + 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88, + 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff}; + +static const unsigned short sStartAddress = 0x0400; + +/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */ + +#define INT_SRC_TAP (0x01) +#define INT_SRC_ANDROID_ORIENT (0x08) + +#define DMP_FEATURE_SEND_ANY_GYRO (DMP_FEATURE_SEND_RAW_GYRO | \ + DMP_FEATURE_SEND_CAL_GYRO) + +#define MAX_PACKET_LENGTH (32) + +#define DMP_SAMPLE_RATE (200) +#define GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE) + +#define FIFO_CORRUPTION_CHECK +#ifdef FIFO_CORRUPTION_CHECK +#define QUAT_ERROR_THRESH (1L << 24) +#define QUAT_MAG_SQ_NORMALIZED (1L << 28) +#define QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH) +#define QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH) +#endif + +struct dmp_s +{ + void (*tap_cb)(unsigned char count, unsigned char direction); + void (*android_orient_cb)(unsigned char orientation); + unsigned short orient; + unsigned short feature_mask; + unsigned short fifo_rate; + unsigned char packet_length; +}; + +// static struct dmp_s dmp = { +// .tap_cb = NULL, +// .android_orient_cb = NULL, +// .orient = 0, +// .feature_mask = 0, +// .fifo_rate = 0, +// .packet_length = 0 +// }; + +static struct dmp_s dmp = { + NULL, + NULL, + 0, + 0, + 0, + 0}; + +/** + * @brief Load the DMP with this image. + * @return 0 if successful. + */ +int dmp_load_motion_driver_firmware(void) +{ + return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress, + DMP_SAMPLE_RATE); +} + +/** + * @brief Push gyro and accel orientation to the DMP. + * The orientation is represented here as the output of + * @e inv_orientation_matrix_to_scalar. + * @param[in] orient Gyro and accel orientation in body frame. + * @return 0 if successful. + */ +int dmp_set_orientation(unsigned short orient) +{ + unsigned char gyro_regs[3], accel_regs[3]; + const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C}; + const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C}; + const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76}; + const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66}; + + gyro_regs[0] = gyro_axes[orient & 3]; + gyro_regs[1] = gyro_axes[(orient >> 3) & 3]; + gyro_regs[2] = gyro_axes[(orient >> 6) & 3]; + accel_regs[0] = accel_axes[orient & 3]; + accel_regs[1] = accel_axes[(orient >> 3) & 3]; + accel_regs[2] = accel_axes[(orient >> 6) & 3]; + + /* Chip-to-body, axes only. */ + if (mpu_write_mem(FCFG_1, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_2, 3, accel_regs)) + return -1; + + memcpy(gyro_regs, gyro_sign, 3); + memcpy(accel_regs, accel_sign, 3); + if (orient & 4) + { + gyro_regs[0] |= 1; + accel_regs[0] |= 1; + } + if (orient & 0x20) + { + gyro_regs[1] |= 1; + accel_regs[1] |= 1; + } + if (orient & 0x100) + { + gyro_regs[2] |= 1; + accel_regs[2] |= 1; + } + + /* Chip-to-body, sign only. */ + if (mpu_write_mem(FCFG_3, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_7, 3, accel_regs)) + return -1; + dmp.orient = orient; + return 0; +} + +/** + * @brief Push gyro biases to the DMP. + * Because the gyro integration is handled in the DMP, any gyro biases + * calculated by the MPL should be pushed down to DMP memory to remove + * 3-axis quaternion drift. + * \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will + * overwrite the biases written to this location once a new one is computed. + * @param[in] bias Gyro biases in q16. + * @return 0 if successful. + */ +int dmp_set_gyro_bias(long *bias) +{ + long gyro_bias_body[3]; + unsigned char regs[4]; + + gyro_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + gyro_bias_body[0] *= -1; + gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + gyro_bias_body[1] *= -1; + gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + gyro_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f); + gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f); + gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f); +#else + gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30); + gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30); + gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30); +#endif + + regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF); + return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs); +} + +/** + * @brief Push accel biases to the DMP. + * These biases will be removed from the DMP 6-axis quaternion. + * @param[in] bias Accel biases in q16. + * @return 0 if successful. + */ +int dmp_set_accel_bias(long *bias) +{ + long accel_bias_body[3]; + unsigned char regs[12]; + long long accel_sf; + unsigned short accel_sens; + + mpu_get_accel_sens(&accel_sens); + accel_sf = (long long)accel_sens << 15; + //__no_operation(); + + accel_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + accel_bias_body[0] *= -1; + accel_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + accel_bias_body[1] *= -1; + accel_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + accel_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f); + accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f); + accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f); +#else + accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30); + accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30); + accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30); +#endif + + regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF); + regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF); + regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF); + regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF); + regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF); + regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF); + regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF); + regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF); + regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF); + return mpu_write_mem(D_ACCEL_BIAS, 12, regs); +} + +/** + * @brief Set DMP output rate. + * Only used when DMP is on. + * @param[in] rate Desired fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_set_fifo_rate(unsigned short rate) +{ + const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB, + 0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF}; + unsigned short div; + unsigned char tmp[8]; + + if (rate > DMP_SAMPLE_RATE) + return -1; + div = DMP_SAMPLE_RATE / rate - 1; + tmp[0] = (unsigned char)((div >> 8) & 0xFF); + tmp[1] = (unsigned char)(div & 0xFF); + if (mpu_write_mem(D_0_22, 2, tmp)) + return -1; + if (mpu_write_mem(CFG_6, 12, (unsigned char *)regs_end)) + return -1; + + dmp.fifo_rate = rate; + return 0; +} + +/** + * @brief Get DMP output rate. + * @param[out] rate Current fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_get_fifo_rate(unsigned short *rate) +{ + rate[0] = dmp.fifo_rate; + return 0; +} + +/** + * @brief Set tap threshold for a specific axis. + * @param[in] axis 1, 2, and 4 for XYZ accel, respectively. + * @param[in] thresh Tap threshold, in mg/ms. + * @return 0 if successful. + */ +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh) +{ + unsigned char tmp[4], accel_fsr; + float scaled_thresh; + unsigned short dmp_thresh, dmp_thresh_2; + if (!(axis & TAP_XYZ) || thresh > 1600) + return -1; + + scaled_thresh = (float)thresh / DMP_SAMPLE_RATE; + + mpu_get_accel_fsr(&accel_fsr); + switch (accel_fsr) + { + case 2: + dmp_thresh = (unsigned short)(scaled_thresh * 16384); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288); + break; + case 4: + dmp_thresh = (unsigned short)(scaled_thresh * 8192); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144); + break; + case 8: + dmp_thresh = (unsigned short)(scaled_thresh * 4096); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072); + break; + case 16: + dmp_thresh = (unsigned short)(scaled_thresh * 2048); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536); + break; + default: + return -1; + } + tmp[0] = (unsigned char)(dmp_thresh >> 8); + tmp[1] = (unsigned char)(dmp_thresh & 0xFF); + tmp[2] = (unsigned char)(dmp_thresh_2 >> 8); + tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF); + + if (axis & TAP_X) + { + if (mpu_write_mem(DMP_TAP_THX, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_36, 2, tmp + 2)) + return -1; + } + if (axis & TAP_Y) + { + if (mpu_write_mem(DMP_TAP_THY, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_40, 2, tmp + 2)) + return -1; + } + if (axis & TAP_Z) + { + if (mpu_write_mem(DMP_TAP_THZ, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_44, 2, tmp + 2)) + return -1; + } + return 0; +} + +/** + * @brief Set which axes will register a tap. + * @param[in] axis 1, 2, and 4 for XYZ, respectively. + * @return 0 if successful. + */ +int dmp_set_tap_axes(unsigned char axis) +{ + unsigned char tmp = 0; + + if (axis & TAP_X) + tmp |= 0x30; + if (axis & TAP_Y) + tmp |= 0x0C; + if (axis & TAP_Z) + tmp |= 0x03; + return mpu_write_mem(D_1_72, 1, &tmp); +} + +/** + * @brief Set minimum number of taps needed for an interrupt. + * @param[in] min_taps Minimum consecutive taps (1-4). + * @return 0 if successful. + */ +int dmp_set_tap_count(unsigned char min_taps) +{ + unsigned char tmp; + + if (min_taps < 1) + min_taps = 1; + else if (min_taps > 4) + min_taps = 4; + + tmp = min_taps - 1; + return mpu_write_mem(D_1_79, 1, &tmp); +} + +/** + * @brief Set length between valid taps. + * @param[in] time Milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(DMP_TAPW_MIN, 2, tmp); +} + +/** + * @brief Set max time between taps to register as a multi-tap. + * @param[in] time Max milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time_multi(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(D_1_218, 2, tmp); +} + +/** + * @brief Set shake rejection threshold. + * If the DMP detects a gyro sample larger than @e thresh, taps are rejected. + * @param[in] sf Gyro scale factor. + * @param[in] thresh Gyro threshold in dps. + * @return 0 if successful. + */ +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh) +{ + unsigned char tmp[4]; + long thresh_scaled = sf / 1000 * thresh; + tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF); + tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF); + tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF); + tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF); + return mpu_write_mem(D_1_92, 4, tmp); +} + +/** + * @brief Set shake rejection time. + * Sets the length of time that the gyro must be outside of the threshold set + * by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_time(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_90, 2, tmp); +} + +/** + * @brief Set shake rejection timeout. + * Sets the length of time after a shake rejection that the gyro must stay + * inside of the threshold before taps can be detected again. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_timeout(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_88, 2, tmp); +} + +/** + * @brief Get current step count. + * @param[out] count Number of steps detected. + * @return 0 if successful. + */ +int dmp_get_pedometer_step_count(unsigned long *count) +{ + unsigned char tmp[4]; + if (!count) + return -1; + + if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp)) + return -1; + + count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]; + return 0; +} + +/** + * @brief Overwrite current step count. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] count New step count. + * @return 0 if successful. + */ +int dmp_set_pedometer_step_count(unsigned long count) +{ + unsigned char tmp[4]; + + tmp[0] = (unsigned char)((count >> 24) & 0xFF); + tmp[1] = (unsigned char)((count >> 16) & 0xFF); + tmp[2] = (unsigned char)((count >> 8) & 0xFF); + tmp[3] = (unsigned char)(count & 0xFF); + return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp); +} + +/** + * @brief Get duration of walking time. + * @param[in] time Walk time in milliseconds. + * @return 0 if successful. + */ +int dmp_get_pedometer_walk_time(unsigned long *time) +{ + unsigned char tmp[4]; + if (!time) + return -1; + + if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp)) + return -1; + + time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]) * + 20; + return 0; +} + +/** + * @brief Overwrite current walk time. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] time New walk time in milliseconds. + */ +int dmp_set_pedometer_walk_time(unsigned long time) +{ + unsigned char tmp[4]; + + time /= 20; + + tmp[0] = (unsigned char)((time >> 24) & 0xFF); + tmp[1] = (unsigned char)((time >> 16) & 0xFF); + tmp[2] = (unsigned char)((time >> 8) & 0xFF); + tmp[3] = (unsigned char)(time & 0xFF); + return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp); +} + +/** + * @brief Enable DMP features. + * The following \#define's are used in the input mask: + * \n DMP_FEATURE_TAP + * \n DMP_FEATURE_ANDROID_ORIENT + * \n DMP_FEATURE_LP_QUAT + * \n DMP_FEATURE_6X_LP_QUAT + * \n DMP_FEATURE_GYRO_CAL + * \n DMP_FEATURE_SEND_RAW_ACCEL + * \n DMP_FEATURE_SEND_RAW_GYRO + * \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually + * exclusive. + * \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also + * mutually exclusive. + * @param[in] mask Mask of features to enable. + * @return 0 if successful. + */ +int dmp_enable_feature(unsigned short mask) +{ + unsigned char tmp[10]; + + /* TODO: All of these settings can probably be integrated into the default + * DMP image. + */ + /* Set integration scale factor. */ + tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF); + tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF); + tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF); + tmp[3] = (unsigned char)(GYRO_SF & 0xFF); + mpu_write_mem(D_0_104, 4, tmp); + + /* Send sensor data to the FIFO. */ + tmp[0] = 0xA3; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) + { + tmp[1] = 0xC0; + tmp[2] = 0xC8; + tmp[3] = 0xC2; + } + else + { + tmp[1] = 0xA3; + tmp[2] = 0xA3; + tmp[3] = 0xA3; + } + if (mask & DMP_FEATURE_SEND_ANY_GYRO) + { + tmp[4] = 0xC4; + tmp[5] = 0xCC; + tmp[6] = 0xC6; + } + else + { + tmp[4] = 0xA3; + tmp[5] = 0xA3; + tmp[6] = 0xA3; + } + tmp[7] = 0xA3; + tmp[8] = 0xA3; + tmp[9] = 0xA3; + mpu_write_mem(CFG_15, 10, tmp); + + /* Send gesture data to the FIFO. */ + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + tmp[0] = DINA20; + else + tmp[0] = 0xD8; + mpu_write_mem(CFG_27, 1, tmp); + + if (mask & DMP_FEATURE_GYRO_CAL) + dmp_enable_gyro_cal(1); + else + dmp_enable_gyro_cal(0); + + if (mask & DMP_FEATURE_SEND_ANY_GYRO) + { + if (mask & DMP_FEATURE_SEND_CAL_GYRO) + { + tmp[0] = 0xB2; + tmp[1] = 0x8B; + tmp[2] = 0xB6; + tmp[3] = 0x9B; + } + else + { + tmp[0] = DINAC0; + tmp[1] = DINA80; + tmp[2] = DINAC2; + tmp[3] = DINA90; + } + mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp); + } + + if (mask & DMP_FEATURE_TAP) + { + /* Enable tap. */ + tmp[0] = 0xF8; + mpu_write_mem(CFG_20, 1, tmp); + dmp_set_tap_thresh(TAP_XYZ, 250); + dmp_set_tap_axes(TAP_XYZ); + dmp_set_tap_count(1); + dmp_set_tap_time(100); + dmp_set_tap_time_multi(500); + + dmp_set_shake_reject_thresh(GYRO_SF, 200); + dmp_set_shake_reject_time(40); + dmp_set_shake_reject_timeout(10); + } + else + { + tmp[0] = 0xD8; + mpu_write_mem(CFG_20, 1, tmp); + } + + if (mask & DMP_FEATURE_ANDROID_ORIENT) + { + tmp[0] = 0xD9; + } + else + tmp[0] = 0xD8; + mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp); + + if (mask & DMP_FEATURE_LP_QUAT) + dmp_enable_lp_quat(1); + else + dmp_enable_lp_quat(0); + + if (mask & DMP_FEATURE_6X_LP_QUAT) + dmp_enable_6x_lp_quat(1); + else + dmp_enable_6x_lp_quat(0); + + /* Pedometer is always enabled. */ + dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER; + mpu_reset_fifo(); + + dmp.packet_length = 0; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) + dmp.packet_length += 6; + if (mask & DMP_FEATURE_SEND_ANY_GYRO) + dmp.packet_length += 6; + if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) + dmp.packet_length += 16; + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + dmp.packet_length += 4; + + return 0; +} + +/** + * @brief Get list of currently enabled DMP features. + * @param[out] Mask of enabled features. + * @return 0 if successful. + */ +int dmp_get_enabled_features(unsigned short *mask) +{ + mask[0] = dmp.feature_mask; + return 0; +} + +/** + * @brief Calibrate the gyro data in the DMP. + * After eight seconds of no motion, the DMP will compute gyro biases and + * subtract them from the quaternion output. If @e dmp_enable_feature is + * called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be + * subtracted from the gyro output. + * @param[in] enable 1 to enable gyro calibration. + * @return 0 if successful. + */ +int dmp_enable_gyro_cal(unsigned char enable) +{ + if (enable) + { + unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } + else + { + unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } +} + +/** + * @brief Generate 3-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 3-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) + { + regs[0] = DINBC0; + regs[1] = DINBC2; + regs[2] = DINBC4; + regs[3] = DINBC6; + } + else + memset(regs, 0x8B, 4); + + mpu_write_mem(CFG_LP_QUAT, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Generate 6-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 6-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_6x_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) + { + regs[0] = DINA20; + regs[1] = DINA28; + regs[2] = DINA30; + regs[3] = DINA38; + } + else + memset(regs, 0xA3, 4); + + mpu_write_mem(CFG_8, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Decode the four-byte gesture data and execute any callbacks. + * @param[in] gesture Gesture data from DMP packet. + * @return 0 if successful. + */ +static int decode_gesture(unsigned char *gesture) +{ + unsigned char tap, android_orient; + + android_orient = gesture[3] & 0xC0; + tap = 0x3F & gesture[3]; + + if (gesture[1] & INT_SRC_TAP) + { + unsigned char direction, count; + direction = tap >> 3; + count = (tap % 8) + 1; + if (dmp.tap_cb) + dmp.tap_cb(direction, count); + } + + if (gesture[1] & INT_SRC_ANDROID_ORIENT) + { + if (dmp.android_orient_cb) + dmp.android_orient_cb(android_orient >> 6); + } + + return 0; +} + +/** + * @brief Specify when a DMP interrupt should occur. + * A DMP interrupt can be configured to trigger on either of the two + * conditions below: + * \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate). + * \n b. A tap event has been detected. + * @param[in] mode DMP_INT_GESTURE or DMP_INT_CONTINUOUS. + * @return 0 if successful. + */ +int dmp_set_interrupt_mode(unsigned char mode) +{ + const unsigned char regs_continuous[11] = + {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9}; + const unsigned char regs_gesture[11] = + {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda}; + + switch (mode) + { + case DMP_INT_CONTINUOUS: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char *)regs_continuous); + case DMP_INT_GESTURE: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char *)regs_gesture); + default: + return -1; + } +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_WXYZ_QUAT + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] quat 3-axis quaternion data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more) +{ + unsigned char fifo_data[MAX_PACKET_LENGTH]; + unsigned char ii = 0; + + /* TODO: sensors[0] only changes when dmp_enable_feature is called. We can + * cache this value and save some cycles. + */ + sensors[0] = 0; + + /* Get a packet. */ + if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more)) + return -1; + + /* Parse DMP packet. */ + if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) + { +#ifdef FIFO_CORRUPTION_CHECK + long quat_q14[4], quat_mag_sq; +#endif + quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) | + ((long)fifo_data[2] << 8) | fifo_data[3]; + quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) | + ((long)fifo_data[6] << 8) | fifo_data[7]; + quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) | + ((long)fifo_data[10] << 8) | fifo_data[11]; + quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) | + ((long)fifo_data[14] << 8) | fifo_data[15]; + ii += 16; +#ifdef FIFO_CORRUPTION_CHECK + /* We can detect a corrupted FIFO by monitoring the quaternion data and + * ensuring that the magnitude is always normalized to one. This + * shouldn't happen in normal operation, but if an I2C error occurs, + * the FIFO reads might become misaligned. + * + * Let's start by scaling down the quaternion data to avoid long long + * math. + */ + quat_q14[0] = quat[0] >> 16; + quat_q14[1] = quat[1] >> 16; + quat_q14[2] = quat[2] >> 16; + quat_q14[3] = quat[3] >> 16; + quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] + + quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3]; + if ((quat_mag_sq < QUAT_MAG_SQ_MIN) || + (quat_mag_sq > QUAT_MAG_SQ_MAX)) + { + /* Quaternion is outside of the acceptable threshold. */ + mpu_reset_fifo(); + sensors[0] = 0; + return -1; + } + sensors[0] |= INV_WXYZ_QUAT; +#endif + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) + { + accel[0] = ((short)fifo_data[ii + 0] << 8) | fifo_data[ii + 1]; + accel[1] = ((short)fifo_data[ii + 2] << 8) | fifo_data[ii + 3]; + accel[2] = ((short)fifo_data[ii + 4] << 8) | fifo_data[ii + 5]; + ii += 6; + sensors[0] |= INV_XYZ_ACCEL; + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) + { + gyro[0] = ((short)fifo_data[ii + 0] << 8) | fifo_data[ii + 1]; + gyro[1] = ((short)fifo_data[ii + 2] << 8) | fifo_data[ii + 3]; + gyro[2] = ((short)fifo_data[ii + 4] << 8) | fifo_data[ii + 5]; + ii += 6; + sensors[0] |= INV_XYZ_GYRO; + } + + /* Gesture data is at the end of the DMP packet. Parse it and call + * the gesture callbacks (if registered). + */ + if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + decode_gesture(fifo_data + ii); + + get_ms(timestamp); + return 0; +} + +/** + * @brief Register a function to be executed on a tap event. + * The tap direction is represented by one of the following: + * \n TAP_X_UP + * \n TAP_X_DOWN + * \n TAP_Y_UP + * \n TAP_Y_DOWN + * \n TAP_Z_UP + * \n TAP_Z_DOWN + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)) +{ + dmp.tap_cb = func; + return 0; +} + +/** + * @brief Register a function to be executed on a android orientation event. + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)) +{ + dmp.android_orient_cb = func; + return 0; +} + +/** + * @} + */ + diff --git a/Core/Src/main.c b/Core/Src/main.c new file mode 100644 index 0000000..a40f8f7 --- /dev/null +++ b/Core/Src/main.c @@ -0,0 +1,252 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : main.c + * @brief : Main program body + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +#include "tim.h" +#include "usart.h" +#include "gpio.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ +#include "stdio.h" +#include "IIC.h" +#include "mpu6050.h" +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ + +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ + +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +void SystemClock_Config(void); +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ +#ifdef __GNUC__ +#define PUTCHAR_PROTOTYPE int __io_putchar(int ch) +#else +#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f) +#endif +PUTCHAR_PROTOTYPE +{ + HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF); + return ch; +} +/* USER CODE END 0 */ + +/** + * @brief The application entry point. + * @retval int + */ +int main(void) +{ + /* USER CODE BEGIN 1 */ + uint8_t t = 0; + float pitch, roll, yaw; + short aacx, aacy, aacz; + short gyrox, gyroy, gyroz; + short temp; + /* USER CODE END 1 */ + + /* MCU Configuration--------------------------------------------------------*/ + + /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); + + /* USER CODE BEGIN Init */ + + /* USER CODE END Init */ + + /* Configure the system clock */ + SystemClock_Config(); + + /* USER CODE BEGIN SysInit */ + + /* USER CODE END SysInit */ + + /* Initialize all configured peripherals */ + MX_GPIO_Init(); + MX_USART1_UART_Init(); + MX_TIM1_Init(); + MX_TIM4_Init(); + /* USER CODE BEGIN 2 */ + MPU_Init(); + while (mpu_dmp_init()) + { + printf("MPU6050 Error!!!\r\n"); + HAL_Delay(500); + } + printf("MPU6050 OK\r\n"); + /* USER CODE END 2 */ + + /* Infinite loop */ + /* USER CODE BEGIN WHILE */ + while (1) + { + if (mpu_dmp_get_data(&pitch, &roll, &yaw) == 0) + { + temp = MPU_Get_Temperature(); + MPU_Get_Accelerometer(&aacx, &aacy, &aacz); + MPU_Get_Gyroscope(&gyrox, &gyroy, &gyroz); + if (1) + { + if ((t % 10) == 0) + { +// if (temp < 0) +// { +// temp = -temp; // 转为正数 +// printf(" Temp: -%d.%dC\r\n", temp / 100, temp % 10); +// } +// else +// printf(" Temp: %d.%dC\r\n", temp / 100, temp % 10); + + // pitch�?????? + temp = yaw * 10; + if (temp < 0) + { + temp = -temp; // 转为正数 + printf("-%d.%d\r\n", temp / 10, temp % 10); + } + else + printf("%d.%d\r\n", temp / 10, temp % 10); + +// // roll�?????? +// temp = roll * 10; +// if (temp < 0) +// { +// temp = -temp; // 转为正数 +// printf(" Roll: -%d.%dC\r\n", temp / 10, temp % 10); +// } +// else +// printf(" Roll: %d.%dC\r\n", temp / 10, temp % 10); +// +// temp = yaw * 10; +// if (temp < 0) +// { +// temp = -temp; // 转为正数 +// printf(" Yaw: -%d.%dC\r\n", temp / 10, temp % 10); +// } +// else +// printf(" Yaw: %d.%dC\r\n", temp / 10, temp % 10); +// +// printf("\r\n"); + t = 0; + } + } + } + } + /* USER CODE END WHILE */ + + /* USER CODE BEGIN 3 */ + /* USER CODE END 3 */ +} + +/** + * @brief System Clock Configuration + * @retval None + */ +void SystemClock_Config(void) +{ + RCC_OscInitTypeDef RCC_OscInitStruct = {0}; + RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; + + /** Initializes the RCC Oscillators according to the specified parameters + * in the RCC_OscInitTypeDef structure. + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; + RCC_OscInitStruct.HSIState = RCC_HSI_ON; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /** Initializes the CPU, AHB and APB buses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK + |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; + RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; + + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) + { + Error_Handler(); + } +} + +/* USER CODE BEGIN 4 */ + +/* USER CODE END 4 */ + +/** + * @brief This function is executed in case of error occurrence. + * @retval None + */ +void Error_Handler(void) +{ + /* USER CODE BEGIN Error_Handler_Debug */ + /* User can add his own implementation to report the HAL error return state */ + __disable_irq(); + while (1) + { + } + /* USER CODE END Error_Handler_Debug */ +} + +#ifdef USE_FULL_ASSERT +/** + * @brief Reports the name of the source file and the source line number + * where the assert_param error has occurred. + * @param file: pointer to the source file name + * @param line: assert_param error line source number + * @retval None + */ +void assert_failed(uint8_t *file, uint32_t line) +{ + /* USER CODE BEGIN 6 */ + /* User can add his own implementation to report the file name and line number, + ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ + /* USER CODE END 6 */ +} +#endif /* USE_FULL_ASSERT */ diff --git a/Core/Src/mpu6050.c b/Core/Src/mpu6050.c new file mode 100644 index 0000000..265507f --- /dev/null +++ b/Core/Src/mpu6050.c @@ -0,0 +1,256 @@ +/* + * mpu6050.c + * + * Created on: Jul 11, 2023 + * Author: zzy + */ + +#include "mpu6050.h" + +// 初始化MPU6050 +// 返回值:0,成功 +// 其他,错误代码 +uint8_t MPU_Init(void) +{ + uint8_t res; + + MPU_IIC_Init(); // 初始化IIC总线 + MPU_Write_Byte(MPU_PWR_MGMT1_REG, 0X80); // 复位MPU6050 + delay_ms(100); + MPU_Write_Byte(MPU_PWR_MGMT1_REG, 0X00); // 唤醒MPU6050 + MPU_Set_Gyro_Fsr(3); // 陀螺仪传感器,±2000dps + MPU_Set_Accel_Fsr(0); // 加速度传感器,±2g + MPU_Set_Rate(50); // 设置采样率50Hz + MPU_Write_Byte(MPU_INT_EN_REG, 0X00); // 关闭所有中断 + MPU_Write_Byte(MPU_USER_CTRL_REG, 0X00); // I2C主模式关闭 + MPU_Write_Byte(MPU_FIFO_EN_REG, 0X00); // 关闭FIFO + MPU_Write_Byte(MPU_INTBP_CFG_REG, 0X80); // INT引脚低电平有效 + res = MPU_Read_Byte(MPU_DEVICE_ID_REG); + if (res == MPU_ADDR) // 器件ID正确 + { + MPU_Write_Byte(MPU_PWR_MGMT1_REG, 0X01); // 设置CLKSEL,PLL X轴为参考 + MPU_Write_Byte(MPU_PWR_MGMT2_REG, 0X00); // 加速度与陀螺仪都工作 + MPU_Set_Rate(50); // 设置采样率为50Hz + } + else + return 1; + return 0; +} + +// 设置MPU6050陀螺仪传感器满量程范围 +// fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps +// 返回值:0,设置成功 +// 其他,设置失败 +uint8_t MPU_Set_Gyro_Fsr(uint8_t fsr) +{ + return MPU_Write_Byte(MPU_GYRO_CFG_REG, fsr << 3); // 设置陀螺仪满量程范围 +} + +// 设置MPU6050加速度传感器满量程范围 +// fsr:0,±2g;1,±4g;2,±8g;3,±16g +// 返回值:0,设置成功 +// 其他,设置失败 +uint8_t MPU_Set_Accel_Fsr(uint8_t fsr) +{ + return MPU_Write_Byte(MPU_ACCEL_CFG_REG, fsr << 3); // 设置加速度传感器满量程范围 +} + +// 设置MPU6050的数字低通滤波器 +// lpf:数字低通滤波频率(Hz) +// 返回值:0,设置成功 +// 其他,设置失败 +uint8_t MPU_Set_LPF(uint16_t lpf) +{ + uint8_t data = 0; + if (lpf >= 188) + data = 1; + else if (lpf >= 98) + data = 2; + else if (lpf >= 42) + data = 3; + else if (lpf >= 20) + data = 4; + else if (lpf >= 10) + data = 5; + else + data = 6; + return MPU_Write_Byte(MPU_CFG_REG, data); // 设置数字低通滤波器 +} + +// 设置MPU6050的采样率(假定Fs=1KHz) +// rate:4~1000(Hz) +// 返回值:0,设置成功 +// 其他,设置失败 +uint8_t MPU_Set_Rate(uint16_t rate) +{ + uint8_t data; + if (rate > 1000) + rate = 1000; + if (rate < 4) + rate = 4; + data = 1000 / rate - 1; + data = MPU_Write_Byte(MPU_SAMPLE_RATE_REG, data); // 设置数字低通滤波器 + return MPU_Set_LPF(rate / 2); // 自动设置LPF为采样率的一半 +} + +// 得到温度值 +// 返回值:温度值(扩大了100倍) +short MPU_Get_Temperature(void) +{ + uint8_t buf[2]; + short raw; + float temp; + MPU_Read_Len(MPU_ADDR, MPU_TEMP_OUTH_REG, 2, buf); + raw = ((uint16_t)buf[0] << 8) | buf[1]; + temp = 36.53 + ((double)raw) / 340; + return temp * 100; + ; +} + +// 得到陀螺仪值(原始值) +// gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号) +// 返回值:0,成功 +// 其他,错误代码 +uint8_t MPU_Get_Gyroscope(short *gx, short *gy, short *gz) +{ + uint8_t buf[6], res; + res = MPU_Read_Len(MPU_ADDR, MPU_GYRO_XOUTH_REG, 6, buf); + if (res == 0) + { + *gx = ((uint16_t)buf[0] << 8) | buf[1]; + *gy = ((uint16_t)buf[2] << 8) | buf[3]; + *gz = ((uint16_t)buf[4] << 8) | buf[5]; + } + return res; + ; +} + +// 得到加速度值(原始值) +// gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号) +// 返回值:0,成功 +// 其他,错误代码 +uint8_t MPU_Get_Accelerometer(short *ax, short *ay, short *az) +{ + uint8_t buf[6], res; + res = MPU_Read_Len(MPU_ADDR, MPU_ACCEL_XOUTH_REG, 6, buf); + if (res == 0) + { + *ax = ((uint16_t)buf[0] << 8) | buf[1]; + *ay = ((uint16_t)buf[2] << 8) | buf[3]; + *az = ((uint16_t)buf[4] << 8) | buf[5]; + } + return res; + ; +} + +// IIC连续写 +// addr:器件地址 +// reg:寄存器地址 +// len:写入长度 +// buf:数据区 +// 返回值:0,正常 +// 其他,错误代码 +uint8_t MPU_Write_Len(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf) +{ + uint8_t i; + MPU_IIC_Start(); + MPU_IIC_Send_Byte((addr << 1) | 0); // 发送器件地址+写命令 + if (MPU_IIC_Wait_Ack()) // 等待应答 + { + MPU_IIC_Stop(); + return 1; + } + MPU_IIC_Send_Byte(reg); // 写寄存器地址 + MPU_IIC_Wait_Ack(); // 等待应答 + for (i = 0; i < len; i++) + { + MPU_IIC_Send_Byte(buf[i]); // 发送数据 + if (MPU_IIC_Wait_Ack()) // 等待ACK + { + MPU_IIC_Stop(); + return 1; + } + } + MPU_IIC_Stop(); + return 0; +} + +// IIC连续读 +// addr:器件地址 +// reg:要读取的寄存器地址 +// len:要读取的长度 +// buf:读取到的数据存储区 +// 返回值:0,正常 +// 其他,错误代码 +uint8_t MPU_Read_Len(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf) +{ + MPU_IIC_Start(); + MPU_IIC_Send_Byte((addr << 1) | 0); // 发送器件地址+写命令 + if (MPU_IIC_Wait_Ack()) // 等待应答 + { + MPU_IIC_Stop(); + return 1; + } + MPU_IIC_Send_Byte(reg); // 写寄存器地址 + MPU_IIC_Wait_Ack(); // 等待应答 + MPU_IIC_Start(); + MPU_IIC_Send_Byte((addr << 1) | 1); // 发送器件地址+读命令 + MPU_IIC_Wait_Ack(); // 等待应答 + while (len) + { + if (len == 1) + *buf = MPU_IIC_Read_Byte(0); // 读数据,发送nACK + else + *buf = MPU_IIC_Read_Byte(1); // 读数据,发送ACK + len--; + buf++; + } + MPU_IIC_Stop(); // 产生一个停止条件 + return 0; +} + +// IIC写一个字节 +// reg:寄存器地址 +// data:数据 +// 返回值:0,正常 +// 其他,错误代码 +uint8_t MPU_Write_Byte(uint8_t reg, uint8_t data) +{ + MPU_IIC_Start(); + MPU_IIC_Send_Byte((MPU_ADDR << 1) | 0); // 发送器件地址+写命令 + if (MPU_IIC_Wait_Ack()) // 等待应答 + { + MPU_IIC_Stop(); + return 1; + } + MPU_IIC_Send_Byte(reg); // 写寄存器地址 + MPU_IIC_Wait_Ack(); // 等待应答 + MPU_IIC_Send_Byte(data); // 发送数据 + if (MPU_IIC_Wait_Ack()) // 等待ACK + { + MPU_IIC_Stop(); + return 1; + } + MPU_IIC_Stop(); + return 0; +} + +// IIC读一个字节 +// reg:寄存器地址 +// 返回值:读到的数据 +uint8_t MPU_Read_Byte(uint8_t reg) +{ + uint8_t res; + MPU_IIC_Start(); + MPU_IIC_Send_Byte((MPU_ADDR << 1) | 0); // 发送器件地址+写命令 + MPU_IIC_Wait_Ack(); // 等待应答 + MPU_IIC_Send_Byte(reg); // 写寄存器地址 + MPU_IIC_Wait_Ack(); // 等待应答 + MPU_IIC_Start(); + MPU_IIC_Send_Byte((MPU_ADDR << 1) | 1); // 发送器件地址+读命令 + MPU_IIC_Wait_Ack(); // 等待应答 + res = MPU_IIC_Read_Byte(0); // 读取数据,发送nACK + MPU_IIC_Stop(); // 产生一个停止条件 + return res; +} + diff --git a/Core/Src/stm32f1xx_hal_msp.c b/Core/Src/stm32f1xx_hal_msp.c new file mode 100644 index 0000000..9f76a2a --- /dev/null +++ b/Core/Src/stm32f1xx_hal_msp.c @@ -0,0 +1,85 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f1xx_hal_msp.c + * @brief This file provides code for the MSP Initialization + * and de-Initialization codes. + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN TD */ + +/* USER CODE END TD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN Define */ + +/* USER CODE END Define */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN Macro */ + +/* USER CODE END Macro */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* External functions --------------------------------------------------------*/ +/* USER CODE BEGIN ExternalFunctions */ + +/* USER CODE END ExternalFunctions */ + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ +/** + * Initializes the Global MSP. + */ +void HAL_MspInit(void) +{ + /* USER CODE BEGIN MspInit 0 */ + + /* USER CODE END MspInit 0 */ + + __HAL_RCC_AFIO_CLK_ENABLE(); + __HAL_RCC_PWR_CLK_ENABLE(); + + /* System interrupt init*/ + + /** NOJTAG: JTAG-DP Disabled and SW-DP Enabled + */ + __HAL_AFIO_REMAP_SWJ_NOJTAG(); + + /* USER CODE BEGIN MspInit 1 */ + + /* USER CODE END MspInit 1 */ +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c new file mode 100644 index 0000000..d706d3d --- /dev/null +++ b/Core/Src/stm32f1xx_it.c @@ -0,0 +1,203 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f1xx_it.c + * @brief Interrupt Service Routines. + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +#include "stm32f1xx_it.h" +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN TD */ + +/* USER CODE END TD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/* External variables --------------------------------------------------------*/ + +/* USER CODE BEGIN EV */ + +/* USER CODE END EV */ + +/******************************************************************************/ +/* Cortex-M3 Processor Interruption and Exception Handlers */ +/******************************************************************************/ +/** + * @brief This function handles Non maskable interrupt. + */ +void NMI_Handler(void) +{ + /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ + + /* USER CODE END NonMaskableInt_IRQn 0 */ + /* USER CODE BEGIN NonMaskableInt_IRQn 1 */ + while (1) + { + } + /* USER CODE END NonMaskableInt_IRQn 1 */ +} + +/** + * @brief This function handles Hard fault interrupt. + */ +void HardFault_Handler(void) +{ + /* USER CODE BEGIN HardFault_IRQn 0 */ + + /* USER CODE END HardFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_HardFault_IRQn 0 */ + /* USER CODE END W1_HardFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Memory management fault. + */ +void MemManage_Handler(void) +{ + /* USER CODE BEGIN MemoryManagement_IRQn 0 */ + + /* USER CODE END MemoryManagement_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ + /* USER CODE END W1_MemoryManagement_IRQn 0 */ + } +} + +/** + * @brief This function handles Prefetch fault, memory access fault. + */ +void BusFault_Handler(void) +{ + /* USER CODE BEGIN BusFault_IRQn 0 */ + + /* USER CODE END BusFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_BusFault_IRQn 0 */ + /* USER CODE END W1_BusFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Undefined instruction or illegal state. + */ +void UsageFault_Handler(void) +{ + /* USER CODE BEGIN UsageFault_IRQn 0 */ + + /* USER CODE END UsageFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ + /* USER CODE END W1_UsageFault_IRQn 0 */ + } +} + +/** + * @brief This function handles System service call via SWI instruction. + */ +void SVC_Handler(void) +{ + /* USER CODE BEGIN SVCall_IRQn 0 */ + + /* USER CODE END SVCall_IRQn 0 */ + /* USER CODE BEGIN SVCall_IRQn 1 */ + + /* USER CODE END SVCall_IRQn 1 */ +} + +/** + * @brief This function handles Debug monitor. + */ +void DebugMon_Handler(void) +{ + /* USER CODE BEGIN DebugMonitor_IRQn 0 */ + + /* USER CODE END DebugMonitor_IRQn 0 */ + /* USER CODE BEGIN DebugMonitor_IRQn 1 */ + + /* USER CODE END DebugMonitor_IRQn 1 */ +} + +/** + * @brief This function handles Pendable request for system service. + */ +void PendSV_Handler(void) +{ + /* USER CODE BEGIN PendSV_IRQn 0 */ + + /* USER CODE END PendSV_IRQn 0 */ + /* USER CODE BEGIN PendSV_IRQn 1 */ + + /* USER CODE END PendSV_IRQn 1 */ +} + +/** + * @brief This function handles System tick timer. + */ +void SysTick_Handler(void) +{ + /* USER CODE BEGIN SysTick_IRQn 0 */ + + /* USER CODE END SysTick_IRQn 0 */ + HAL_IncTick(); + /* USER CODE BEGIN SysTick_IRQn 1 */ + + /* USER CODE END SysTick_IRQn 1 */ +} + +/******************************************************************************/ +/* STM32F1xx Peripheral Interrupt Handlers */ +/* Add here the Interrupt Handlers for the used peripherals. */ +/* For the available peripheral interrupt handler names, */ +/* please refer to the startup file (startup_stm32f1xx.s). */ +/******************************************************************************/ + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/Core/Src/syscalls.c b/Core/Src/syscalls.c new file mode 100644 index 0000000..fadb992 --- /dev/null +++ b/Core/Src/syscalls.c @@ -0,0 +1,155 @@ +/** + ****************************************************************************** + * @file syscalls.c + * @author Auto-generated by STM32CubeIDE + * @brief STM32CubeIDE Minimal System calls file + * + * For more information about which c-functions + * need which of these lowlevel functions + * please consult the Newlib libc-manual + ****************************************************************************** + * @attention + * + * Copyright (c) 2022 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes */ +#include +#include +#include +#include +#include +#include +#include +#include + + +/* Variables */ +extern int __io_putchar(int ch) __attribute__((weak)); +extern int __io_getchar(void) __attribute__((weak)); + + +char *__env[1] = { 0 }; +char **environ = __env; + + +/* Functions */ +void initialise_monitor_handles() +{ +} + +int _getpid(void) +{ + return 1; +} + +int _kill(int pid, int sig) +{ + errno = EINVAL; + return -1; +} + +void _exit (int status) +{ + _kill(status, -1); + while (1) {} /* Make sure we hang here */ +} + +__attribute__((weak)) int _read(int file, char *ptr, int len) +{ + int DataIdx; + + for (DataIdx = 0; DataIdx < len; DataIdx++) + { + *ptr++ = __io_getchar(); + } + +return len; +} + +__attribute__((weak)) int _write(int file, char *ptr, int len) +{ + int DataIdx; + + for (DataIdx = 0; DataIdx < len; DataIdx++) + { + __io_putchar(*ptr++); + } + return len; +} + +int _close(int file) +{ + return -1; +} + + +int _fstat(int file, struct stat *st) +{ + st->st_mode = S_IFCHR; + return 0; +} + +int _isatty(int file) +{ + return 1; +} + +int _lseek(int file, int ptr, int dir) +{ + return 0; +} + +int _open(char *path, int flags, ...) +{ + /* Pretend like we always fail */ + return -1; +} + +int _wait(int *status) +{ + errno = ECHILD; + return -1; +} + +int _unlink(char *name) +{ + errno = ENOENT; + return -1; +} + +int _times(struct tms *buf) +{ + return -1; +} + +int _stat(char *file, struct stat *st) +{ + st->st_mode = S_IFCHR; + return 0; +} + +int _link(char *old, char *new) +{ + errno = EMLINK; + return -1; +} + +int _fork(void) +{ + errno = EAGAIN; + return -1; +} + +int _execve(char *name, char **argv, char **env) +{ + errno = ENOMEM; + return -1; +} diff --git a/Core/Src/sysmem.c b/Core/Src/sysmem.c new file mode 100644 index 0000000..54081ac --- /dev/null +++ b/Core/Src/sysmem.c @@ -0,0 +1,79 @@ +/** + ****************************************************************************** + * @file sysmem.c + * @author Generated by STM32CubeIDE + * @brief STM32CubeIDE System Memory calls file + * + * For more information about which C functions + * need which of these lowlevel functions + * please consult the newlib libc manual + ****************************************************************************** + * @attention + * + * Copyright (c) 2022 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes */ +#include +#include + +/** + * Pointer to the current high watermark of the heap usage + */ +static uint8_t *__sbrk_heap_end = NULL; + +/** + * @brief _sbrk() allocates memory to the newlib heap and is used by malloc + * and others from the C library + * + * @verbatim + * ############################################################################ + * # .data # .bss # newlib heap # MSP stack # + * # # # # Reserved by _Min_Stack_Size # + * ############################################################################ + * ^-- RAM start ^-- _end _estack, RAM end --^ + * @endverbatim + * + * This implementation starts allocating at the '_end' linker symbol + * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack + * The implementation considers '_estack' linker symbol to be RAM end + * NOTE: If the MSP stack, at any point during execution, grows larger than the + * reserved size, please increase the '_Min_Stack_Size'. + * + * @param incr Memory size + * @return Pointer to allocated memory + */ +void *_sbrk(ptrdiff_t incr) +{ + extern uint8_t _end; /* Symbol defined in the linker script */ + extern uint8_t _estack; /* Symbol defined in the linker script */ + extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */ + const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size; + const uint8_t *max_heap = (uint8_t *)stack_limit; + uint8_t *prev_heap_end; + + /* Initialize heap end at first call */ + if (NULL == __sbrk_heap_end) + { + __sbrk_heap_end = &_end; + } + + /* Protect heap from growing into the reserved MSP stack */ + if (__sbrk_heap_end + incr > max_heap) + { + errno = ENOMEM; + return (void *)-1; + } + + prev_heap_end = __sbrk_heap_end; + __sbrk_heap_end += incr; + + return (void *)prev_heap_end; +} diff --git a/Core/Src/system_stm32f1xx.c b/Core/Src/system_stm32f1xx.c new file mode 100644 index 0000000..3e277e6 --- /dev/null +++ b/Core/Src/system_stm32f1xx.c @@ -0,0 +1,406 @@ +/** + ****************************************************************************** + * @file system_stm32f1xx.c + * @author MCD Application Team + * @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Source File. + * + * 1. This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier + * factors, AHB/APBx prescalers and Flash settings). + * This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f1xx_xx.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * 2. After each device reset the HSI (8 MHz) is used as system clock source. + * Then SystemInit() function is called, in "startup_stm32f1xx_xx.s" file, to + * configure the system clock before to branch to main program. + * + * 4. The default value of HSE crystal is set to 8 MHz (or 25 MHz, depending on + * the product used), refer to "HSE_VALUE". + * When HSE is used as system clock source, directly or through PLL, and you + * are using different crystal you have to adapt the HSE value to your own + * configuration. + * + ****************************************************************************** + * @attention + * + * Copyright (c) 2017-2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f1xx_system + * @{ + */ + +/** @addtogroup STM32F1xx_System_Private_Includes + * @{ + */ + +#include "stm32f1xx.h" + +/** + * @} + */ + +/** @addtogroup STM32F1xx_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F1xx_System_Private_Defines + * @{ + */ + +#if !defined (HSE_VALUE) + #define HSE_VALUE 8000000U /*!< Default value of the External oscillator in Hz. + This value can be provided and adapted by the user application. */ +#endif /* HSE_VALUE */ + +#if !defined (HSI_VALUE) + #define HSI_VALUE 8000000U /*!< Default value of the Internal oscillator in Hz. + This value can be provided and adapted by the user application. */ +#endif /* HSI_VALUE */ + +/*!< Uncomment the following line if you need to use external SRAM */ +#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG) +/* #define DATA_IN_ExtSRAM */ +#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */ + +/* Note: Following vector table addresses must be defined in line with linker + configuration. */ +/*!< Uncomment the following line if you need to relocate the vector table + anywhere in Flash or Sram, else the vector table is kept at the automatic + remap of boot address selected */ +/* #define USER_VECT_TAB_ADDRESS */ + +#if defined(USER_VECT_TAB_ADDRESS) +/*!< Uncomment the following line if you need to relocate your vector Table + in Sram else user remap will be done in Flash. */ +/* #define VECT_TAB_SRAM */ +#if defined(VECT_TAB_SRAM) +#define VECT_TAB_BASE_ADDRESS SRAM_BASE /*!< Vector Table base address field. + This value must be a multiple of 0x200. */ +#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +#else +#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field. + This value must be a multiple of 0x200. */ +#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +#endif /* VECT_TAB_SRAM */ +#endif /* USER_VECT_TAB_ADDRESS */ + +/******************************************************************************/ + +/** + * @} + */ + +/** @addtogroup STM32F1xx_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F1xx_System_Private_Variables + * @{ + */ + + /* This variable is updated in three ways: + 1) by calling CMSIS function SystemCoreClockUpdate() + 2) by calling HAL API function HAL_RCC_GetHCLKFreq() + 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency + Note: If you use this function to configure the system clock; then there + is no need to call the 2 first functions listed above, since SystemCoreClock + variable is updated automatically. + */ +uint32_t SystemCoreClock = 16000000; +const uint8_t AHBPrescTable[16U] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; +const uint8_t APBPrescTable[8U] = {0, 0, 0, 0, 1, 2, 3, 4}; + +/** + * @} + */ + +/** @addtogroup STM32F1xx_System_Private_FunctionPrototypes + * @{ + */ + +#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG) +#ifdef DATA_IN_ExtSRAM + static void SystemInit_ExtMemCtl(void); +#endif /* DATA_IN_ExtSRAM */ +#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */ + +/** + * @} + */ + +/** @addtogroup STM32F1xx_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemCoreClock variable. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +void SystemInit (void) +{ +#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG) + #ifdef DATA_IN_ExtSRAM + SystemInit_ExtMemCtl(); + #endif /* DATA_IN_ExtSRAM */ +#endif + + /* Configure the Vector Table location -------------------------------------*/ +#if defined(USER_VECT_TAB_ADDRESS) + SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */ +#endif /* USER_VECT_TAB_ADDRESS */ +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f1xx.h file (default value + * 8 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f1xx.h file (default value + * 8 MHz or 25 MHz, depending on the product used), user has to ensure + * that HSE_VALUE is same as the real frequency of the crystal used. + * Otherwise, this function may have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * @param None + * @retval None + */ +void SystemCoreClockUpdate (void) +{ + uint32_t tmp = 0U, pllmull = 0U, pllsource = 0U; + +#if defined(STM32F105xC) || defined(STM32F107xC) + uint32_t prediv1source = 0U, prediv1factor = 0U, prediv2factor = 0U, pll2mull = 0U; +#endif /* STM32F105xC */ + +#if defined(STM32F100xB) || defined(STM32F100xE) + uint32_t prediv1factor = 0U; +#endif /* STM32F100xB or STM32F100xE */ + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00U: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04U: /* HSE used as system clock */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08U: /* PLL used as system clock */ + + /* Get PLL clock source and multiplication factor ----------------------*/ + pllmull = RCC->CFGR & RCC_CFGR_PLLMULL; + pllsource = RCC->CFGR & RCC_CFGR_PLLSRC; + +#if !defined(STM32F105xC) && !defined(STM32F107xC) + pllmull = ( pllmull >> 18U) + 2U; + + if (pllsource == 0x00U) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1U) * pllmull; + } + else + { + #if defined(STM32F100xB) || defined(STM32F100xE) + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U; + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + #else + /* HSE selected as PLL clock entry */ + if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET) + {/* HSE oscillator clock divided by 2 */ + SystemCoreClock = (HSE_VALUE >> 1U) * pllmull; + } + else + { + SystemCoreClock = HSE_VALUE * pllmull; + } + #endif + } +#else + pllmull = pllmull >> 18U; + + if (pllmull != 0x0DU) + { + pllmull += 2U; + } + else + { /* PLL multiplication factor = PLL input clock * 6.5 */ + pllmull = 13U / 2U; + } + + if (pllsource == 0x00U) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1U) * pllmull; + } + else + {/* PREDIV1 selected as PLL clock entry */ + + /* Get PREDIV1 clock source and division factor */ + prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC; + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U; + + if (prediv1source == 0U) + { + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + } + else + {/* PLL2 clock selected as PREDIV1 clock entry */ + + /* Get PREDIV2 division factor and PLL2 multiplication factor */ + prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4U) + 1U; + pll2mull = ((RCC->CFGR2 & RCC_CFGR2_PLL2MUL) >> 8U) + 2U; + SystemCoreClock = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull; + } + } +#endif /* STM32F105xC */ + break; + + default: + SystemCoreClock = HSI_VALUE; + break; + } + + /* Compute HCLK clock frequency ----------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)]; + /* HCLK clock frequency */ + SystemCoreClock >>= tmp; +} + +#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG) +/** + * @brief Setup the external memory controller. Called in startup_stm32f1xx.s + * before jump to __main + * @param None + * @retval None + */ +#ifdef DATA_IN_ExtSRAM +/** + * @brief Setup the external memory controller. + * Called in startup_stm32f1xx_xx.s/.c before jump to main. + * This function configures the external SRAM mounted on STM3210E-EVAL + * board (STM32 High density devices). This SRAM will be used as program + * data memory (including heap and stack). + * @param None + * @retval None + */ +void SystemInit_ExtMemCtl(void) +{ + __IO uint32_t tmpreg; + /*!< FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is + required, then adjust the Register Addresses */ + + /* Enable FSMC clock */ + RCC->AHBENR = 0x00000114U; + + /* Delay after an RCC peripheral clock enabling */ + tmpreg = READ_BIT(RCC->AHBENR, RCC_AHBENR_FSMCEN); + + /* Enable GPIOD, GPIOE, GPIOF and GPIOG clocks */ + RCC->APB2ENR = 0x000001E0U; + + /* Delay after an RCC peripheral clock enabling */ + tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_IOPDEN); + + (void)(tmpreg); + +/* --------------- SRAM Data lines, NOE and NWE configuration ---------------*/ +/*---------------- SRAM Address lines configuration -------------------------*/ +/*---------------- NOE and NWE configuration --------------------------------*/ +/*---------------- NE3 configuration ----------------------------------------*/ +/*---------------- NBL0, NBL1 configuration ---------------------------------*/ + + GPIOD->CRL = 0x44BB44BBU; + GPIOD->CRH = 0xBBBBBBBBU; + + GPIOE->CRL = 0xB44444BBU; + GPIOE->CRH = 0xBBBBBBBBU; + + GPIOF->CRL = 0x44BBBBBBU; + GPIOF->CRH = 0xBBBB4444U; + + GPIOG->CRL = 0x44BBBBBBU; + GPIOG->CRH = 0x444B4B44U; + +/*---------------- FSMC Configuration ---------------------------------------*/ +/*---------------- Enable FSMC Bank1_SRAM Bank ------------------------------*/ + + FSMC_Bank1->BTCR[4U] = 0x00001091U; + FSMC_Bank1->BTCR[5U] = 0x00110212U; +} +#endif /* DATA_IN_ExtSRAM */ +#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ diff --git a/Core/Src/tim.c b/Core/Src/tim.c new file mode 100644 index 0000000..a12de0d --- /dev/null +++ b/Core/Src/tim.c @@ -0,0 +1,170 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file tim.c + * @brief This file provides code for the configuration + * of the TIM instances. + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Includes ------------------------------------------------------------------*/ +#include "tim.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +TIM_HandleTypeDef htim1; +TIM_HandleTypeDef htim4; + +/* TIM1 init function */ +void MX_TIM1_Init(void) +{ + + /* USER CODE BEGIN TIM1_Init 0 */ + + /* USER CODE END TIM1_Init 0 */ + + TIM_SlaveConfigTypeDef sSlaveConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + + /* USER CODE BEGIN TIM1_Init 1 */ + + /* USER CODE END TIM1_Init 1 */ + htim1.Instance = TIM1; + htim1.Init.Prescaler = 0; + htim1.Init.CounterMode = TIM_COUNTERMODE_UP; + htim1.Init.Period = 65535; + htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim1.Init.RepetitionCounter = 0; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sSlaveConfig.SlaveMode = TIM_SLAVEMODE_DISABLE; + sSlaveConfig.InputTrigger = TIM_TS_ITR0; + if (HAL_TIM_SlaveConfigSynchro(&htim1, &sSlaveConfig) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM1_Init 2 */ + + /* USER CODE END TIM1_Init 2 */ + +} +/* TIM4 init function */ +void MX_TIM4_Init(void) +{ + + /* USER CODE BEGIN TIM4_Init 0 */ + + /* USER CODE END TIM4_Init 0 */ + + TIM_SlaveConfigTypeDef sSlaveConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + + /* USER CODE BEGIN TIM4_Init 1 */ + + /* USER CODE END TIM4_Init 1 */ + htim4.Instance = TIM4; + htim4.Init.Prescaler = 0; + htim4.Init.CounterMode = TIM_COUNTERMODE_UP; + htim4.Init.Period = 65535; + htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim4) != HAL_OK) + { + Error_Handler(); + } + sSlaveConfig.SlaveMode = TIM_SLAVEMODE_EXTERNAL1; + sSlaveConfig.InputTrigger = TIM_TS_ITR0; + if (HAL_TIM_SlaveConfigSynchro(&htim4, &sSlaveConfig) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM4_Init 2 */ + + /* USER CODE END TIM4_Init 2 */ + +} + +void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle) +{ + + if(tim_baseHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspInit 0 */ + + /* USER CODE END TIM1_MspInit 0 */ + /* TIM1 clock enable */ + __HAL_RCC_TIM1_CLK_ENABLE(); + /* USER CODE BEGIN TIM1_MspInit 1 */ + + /* USER CODE END TIM1_MspInit 1 */ + } + else if(tim_baseHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspInit 0 */ + + /* USER CODE END TIM4_MspInit 0 */ + /* TIM4 clock enable */ + __HAL_RCC_TIM4_CLK_ENABLE(); + /* USER CODE BEGIN TIM4_MspInit 1 */ + + /* USER CODE END TIM4_MspInit 1 */ + } +} + +void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle) +{ + + if(tim_baseHandle->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspDeInit 0 */ + + /* USER CODE END TIM1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM1_CLK_DISABLE(); + /* USER CODE BEGIN TIM1_MspDeInit 1 */ + + /* USER CODE END TIM1_MspDeInit 1 */ + } + else if(tim_baseHandle->Instance==TIM4) + { + /* USER CODE BEGIN TIM4_MspDeInit 0 */ + + /* USER CODE END TIM4_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM4_CLK_DISABLE(); + /* USER CODE BEGIN TIM4_MspDeInit 1 */ + + /* USER CODE END TIM4_MspDeInit 1 */ + } +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c new file mode 100644 index 0000000..e51fda6 --- /dev/null +++ b/Core/Src/usart.c @@ -0,0 +1,117 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file usart.c + * @brief This file provides code for the configuration + * of the USART instances. + ****************************************************************************** + * @attention + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Includes ------------------------------------------------------------------*/ +#include "usart.h" + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +UART_HandleTypeDef huart1; + +/* USART1 init function */ + +void MX_USART1_UART_Init(void) +{ + + /* USER CODE BEGIN USART1_Init 0 */ + + /* USER CODE END USART1_Init 0 */ + + /* USER CODE BEGIN USART1_Init 1 */ + + /* USER CODE END USART1_Init 1 */ + huart1.Instance = USART1; + huart1.Init.BaudRate = 115200; + huart1.Init.WordLength = UART_WORDLENGTH_8B; + huart1.Init.StopBits = UART_STOPBITS_1; + huart1.Init.Parity = UART_PARITY_NONE; + huart1.Init.Mode = UART_MODE_TX_RX; + huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart1.Init.OverSampling = UART_OVERSAMPLING_16; + if (HAL_UART_Init(&huart1) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN USART1_Init 2 */ + + /* USER CODE END USART1_Init 2 */ + +} + +void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) +{ + + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(uartHandle->Instance==USART1) + { + /* USER CODE BEGIN USART1_MspInit 0 */ + + /* USER CODE END USART1_MspInit 0 */ + /* USART1 clock enable */ + __HAL_RCC_USART1_CLK_ENABLE(); + + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**USART1 GPIO Configuration + PA9 ------> USART1_TX + PA10 ------> USART1_RX + */ + GPIO_InitStruct.Pin = GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_10; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* USER CODE BEGIN USART1_MspInit 1 */ + + /* USER CODE END USART1_MspInit 1 */ + } +} + +void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) +{ + + if(uartHandle->Instance==USART1) + { + /* USER CODE BEGIN USART1_MspDeInit 0 */ + + /* USER CODE END USART1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_USART1_CLK_DISABLE(); + + /**USART1 GPIO Configuration + PA9 ------> USART1_TX + PA10 ------> USART1_RX + */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10); + + /* USER CODE BEGIN USART1_MspDeInit 1 */ + + /* USER CODE END USART1_MspDeInit 1 */ + } +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/Core/Startup/startup_stm32f103c8tx.s b/Core/Startup/startup_stm32f103c8tx.s new file mode 100644 index 0000000..7614285 --- /dev/null +++ b/Core/Startup/startup_stm32f103c8tx.s @@ -0,0 +1,364 @@ +/** + *************** (C) COPYRIGHT 2017 STMicroelectronics ************************ + * @file startup_stm32f103xb.s + * @author MCD Application Team + * @brief STM32F103xB Devices vector table for Atollic toolchain. + * This module performs: + * - Set the initial SP + * - Set the initial PC == Reset_Handler, + * - Set the vector table entries with the exceptions ISR address + * - Configure the clock system + * - Branches to main in the C library (which eventually + * calls main()). + * After Reset the Cortex-M3 processor is in Thread mode, + * priority is Privileged, and the Stack is set to Main. + ****************************************************************************** + * @attention + * + * Copyright (c) 2017-2021 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + .syntax unified + .cpu cortex-m3 + .fpu softvfp + .thumb + +.global g_pfnVectors +.global Default_Handler + +/* start address for the initialization values of the .data section. +defined in linker script */ +.word _sidata +/* start address for the .data section. defined in linker script */ +.word _sdata +/* end address for the .data section. defined in linker script */ +.word _edata +/* start address for the .bss section. defined in linker script */ +.word _sbss +/* end address for the .bss section. defined in linker script */ +.word _ebss + +.equ BootRAM, 0xF108F85F +/** + * @brief This is the code that gets called when the processor first + * starts execution following a reset event. Only the absolutely + * necessary set is performed, after which the application + * supplied main() routine is called. + * @param None + * @retval : None +*/ + + .section .text.Reset_Handler + .weak Reset_Handler + .type Reset_Handler, %function +Reset_Handler: + +/* Call the clock system initialization function.*/ + bl SystemInit + +/* Copy the data segment initializers from flash to SRAM */ + ldr r0, =_sdata + ldr r1, =_edata + ldr r2, =_sidata + movs r3, #0 + b LoopCopyDataInit + +CopyDataInit: + ldr r4, [r2, r3] + str r4, [r0, r3] + adds r3, r3, #4 + +LoopCopyDataInit: + adds r4, r0, r3 + cmp r4, r1 + bcc CopyDataInit + +/* Zero fill the bss segment. */ + ldr r2, =_sbss + ldr r4, =_ebss + movs r3, #0 + b LoopFillZerobss + +FillZerobss: + str r3, [r2] + adds r2, r2, #4 + +LoopFillZerobss: + cmp r2, r4 + bcc FillZerobss + +/* Call static constructors */ + bl __libc_init_array +/* Call the application's entry point.*/ + bl main + bx lr +.size Reset_Handler, .-Reset_Handler + +/** + * @brief This is the code that gets called when the processor receives an + * unexpected interrupt. This simply enters an infinite loop, preserving + * the system state for examination by a debugger. + * + * @param None + * @retval : None +*/ + .section .text.Default_Handler,"ax",%progbits +Default_Handler: +Infinite_Loop: + b Infinite_Loop + .size Default_Handler, .-Default_Handler +/****************************************************************************** +* +* The minimal vector table for a Cortex M3. Note that the proper constructs +* must be placed on this to ensure that it ends up at physical address +* 0x0000.0000. +* +******************************************************************************/ + .section .isr_vector,"a",%progbits + .type g_pfnVectors, %object + .size g_pfnVectors, .-g_pfnVectors + + +g_pfnVectors: + + .word _estack + .word Reset_Handler + .word NMI_Handler + .word HardFault_Handler + .word MemManage_Handler + .word BusFault_Handler + .word UsageFault_Handler + .word 0 + .word 0 + .word 0 + .word 0 + .word SVC_Handler + .word DebugMon_Handler + .word 0 + .word PendSV_Handler + .word SysTick_Handler + .word WWDG_IRQHandler + .word PVD_IRQHandler + .word TAMPER_IRQHandler + .word RTC_IRQHandler + .word FLASH_IRQHandler + .word RCC_IRQHandler + .word EXTI0_IRQHandler + .word EXTI1_IRQHandler + .word EXTI2_IRQHandler + .word EXTI3_IRQHandler + .word EXTI4_IRQHandler + .word DMA1_Channel1_IRQHandler + .word DMA1_Channel2_IRQHandler + .word DMA1_Channel3_IRQHandler + .word DMA1_Channel4_IRQHandler + .word DMA1_Channel5_IRQHandler + .word DMA1_Channel6_IRQHandler + .word DMA1_Channel7_IRQHandler + .word ADC1_2_IRQHandler + .word USB_HP_CAN1_TX_IRQHandler + .word USB_LP_CAN1_RX0_IRQHandler + .word CAN1_RX1_IRQHandler + .word CAN1_SCE_IRQHandler + .word EXTI9_5_IRQHandler + .word TIM1_BRK_IRQHandler + .word TIM1_UP_IRQHandler + .word TIM1_TRG_COM_IRQHandler + .word TIM1_CC_IRQHandler + .word TIM2_IRQHandler + .word TIM3_IRQHandler + .word TIM4_IRQHandler + .word I2C1_EV_IRQHandler + .word I2C1_ER_IRQHandler + .word I2C2_EV_IRQHandler + .word I2C2_ER_IRQHandler + .word SPI1_IRQHandler + .word SPI2_IRQHandler + .word USART1_IRQHandler + .word USART2_IRQHandler + .word USART3_IRQHandler + .word EXTI15_10_IRQHandler + .word RTC_Alarm_IRQHandler + .word USBWakeUp_IRQHandler + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word 0 + .word BootRAM /* @0x108. This is for boot in RAM mode for + STM32F10x Medium Density devices. */ + +/******************************************************************************* +* +* Provide weak aliases for each Exception handler to the Default_Handler. +* As they are weak aliases, any function with the same name will override +* this definition. +* +*******************************************************************************/ + + .weak NMI_Handler + .thumb_set NMI_Handler,Default_Handler + + .weak HardFault_Handler + .thumb_set HardFault_Handler,Default_Handler + + .weak MemManage_Handler + .thumb_set MemManage_Handler,Default_Handler + + .weak BusFault_Handler + .thumb_set BusFault_Handler,Default_Handler + + .weak UsageFault_Handler + .thumb_set UsageFault_Handler,Default_Handler + + .weak SVC_Handler + .thumb_set SVC_Handler,Default_Handler + + .weak DebugMon_Handler + .thumb_set DebugMon_Handler,Default_Handler + + .weak PendSV_Handler + .thumb_set PendSV_Handler,Default_Handler + + .weak SysTick_Handler + .thumb_set SysTick_Handler,Default_Handler + + .weak WWDG_IRQHandler + .thumb_set WWDG_IRQHandler,Default_Handler + + .weak PVD_IRQHandler + .thumb_set PVD_IRQHandler,Default_Handler + + .weak TAMPER_IRQHandler + .thumb_set TAMPER_IRQHandler,Default_Handler + + .weak RTC_IRQHandler + .thumb_set RTC_IRQHandler,Default_Handler + + .weak FLASH_IRQHandler + .thumb_set FLASH_IRQHandler,Default_Handler + + .weak RCC_IRQHandler + .thumb_set RCC_IRQHandler,Default_Handler + + .weak EXTI0_IRQHandler + .thumb_set EXTI0_IRQHandler,Default_Handler + + .weak EXTI1_IRQHandler + .thumb_set EXTI1_IRQHandler,Default_Handler + + .weak EXTI2_IRQHandler + .thumb_set EXTI2_IRQHandler,Default_Handler + + .weak EXTI3_IRQHandler + .thumb_set EXTI3_IRQHandler,Default_Handler + + .weak EXTI4_IRQHandler + .thumb_set EXTI4_IRQHandler,Default_Handler + + .weak DMA1_Channel1_IRQHandler + .thumb_set DMA1_Channel1_IRQHandler,Default_Handler + + .weak DMA1_Channel2_IRQHandler + .thumb_set DMA1_Channel2_IRQHandler,Default_Handler + + .weak DMA1_Channel3_IRQHandler + .thumb_set DMA1_Channel3_IRQHandler,Default_Handler + + .weak DMA1_Channel4_IRQHandler + .thumb_set DMA1_Channel4_IRQHandler,Default_Handler + + .weak DMA1_Channel5_IRQHandler + .thumb_set DMA1_Channel5_IRQHandler,Default_Handler + + .weak DMA1_Channel6_IRQHandler + .thumb_set DMA1_Channel6_IRQHandler,Default_Handler + + .weak DMA1_Channel7_IRQHandler + .thumb_set DMA1_Channel7_IRQHandler,Default_Handler + + .weak ADC1_2_IRQHandler + .thumb_set ADC1_2_IRQHandler,Default_Handler + + .weak USB_HP_CAN1_TX_IRQHandler + .thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler + + .weak USB_LP_CAN1_RX0_IRQHandler + .thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler + + .weak CAN1_RX1_IRQHandler + .thumb_set CAN1_RX1_IRQHandler,Default_Handler + + .weak CAN1_SCE_IRQHandler + .thumb_set CAN1_SCE_IRQHandler,Default_Handler + + .weak EXTI9_5_IRQHandler + .thumb_set EXTI9_5_IRQHandler,Default_Handler + + .weak TIM1_BRK_IRQHandler + .thumb_set TIM1_BRK_IRQHandler,Default_Handler + + .weak TIM1_UP_IRQHandler + .thumb_set TIM1_UP_IRQHandler,Default_Handler + + .weak TIM1_TRG_COM_IRQHandler + .thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler + + .weak TIM1_CC_IRQHandler + .thumb_set TIM1_CC_IRQHandler,Default_Handler + + .weak TIM2_IRQHandler + .thumb_set TIM2_IRQHandler,Default_Handler + + .weak TIM3_IRQHandler + .thumb_set TIM3_IRQHandler,Default_Handler + + .weak TIM4_IRQHandler + .thumb_set TIM4_IRQHandler,Default_Handler + + .weak I2C1_EV_IRQHandler + .thumb_set I2C1_EV_IRQHandler,Default_Handler + + .weak I2C1_ER_IRQHandler + .thumb_set I2C1_ER_IRQHandler,Default_Handler + + .weak I2C2_EV_IRQHandler + .thumb_set I2C2_EV_IRQHandler,Default_Handler + + .weak I2C2_ER_IRQHandler + .thumb_set I2C2_ER_IRQHandler,Default_Handler + + .weak SPI1_IRQHandler + .thumb_set SPI1_IRQHandler,Default_Handler + + .weak SPI2_IRQHandler + .thumb_set SPI2_IRQHandler,Default_Handler + + .weak USART1_IRQHandler + .thumb_set USART1_IRQHandler,Default_Handler + + .weak USART2_IRQHandler + .thumb_set USART2_IRQHandler,Default_Handler + + .weak USART3_IRQHandler + .thumb_set USART3_IRQHandler,Default_Handler + + .weak EXTI15_10_IRQHandler + .thumb_set EXTI15_10_IRQHandler,Default_Handler + + .weak RTC_Alarm_IRQHandler + .thumb_set RTC_Alarm_IRQHandler,Default_Handler + + .weak USBWakeUp_IRQHandler + .thumb_set USBWakeUp_IRQHandler,Default_Handler + + diff --git a/Debug/Core/Src/IIC.d b/Debug/Core/Src/IIC.d new file mode 100644 index 0000000..d7ab406 --- /dev/null +++ b/Debug/Core/Src/IIC.d @@ -0,0 +1,53 @@ +Core/Src/IIC.o: ../Core/Src/IIC.c ../Core/Inc/IIC.h ../Core/Inc/main.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h \ + ../Core/Inc/stm32f1xx_hal_conf.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h \ + ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h \ + ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h \ + ../Drivers/CMSIS/Include/core_cm3.h \ + ../Drivers/CMSIS/Include/cmsis_version.h \ + ../Drivers/CMSIS/Include/cmsis_compiler.h \ + ../Drivers/CMSIS/Include/cmsis_gcc.h \ + ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h +../Core/Inc/IIC.h: +../Core/Inc/main.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h: +../Core/Inc/stm32f1xx_hal_conf.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h: +../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h: +../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h: +../Drivers/CMSIS/Include/core_cm3.h: +../Drivers/CMSIS/Include/cmsis_version.h: +../Drivers/CMSIS/Include/cmsis_compiler.h: +../Drivers/CMSIS/Include/cmsis_gcc.h: +../Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_gpio_ex.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_exti.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_dma_ex.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_cortex.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_flash_ex.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h: +../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h: diff --git a/Debug/Core/Src/IIC.o b/Debug/Core/Src/IIC.o new file mode 100644 index 0000000000000000000000000000000000000000..e6c83585bc65a8671720baedb4b9400d90e6720e GIT binary patch literal 757108 zcmcG$XIxds7B_tMIlG;GdR6Q-_TFRcy(Y0Fu||!F8a38fVpPD2^de0Z0i{_eA}U1` z0TodJL9qjNv7jOrRNntOklcHpFYoi^$?x91X7#n_%$`}ZW^m)MvBMdLk^S=@BWo@D 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16 static +../Core/Src/IIC.c:207:6:IIC_Ack 8 static +../Core/Src/IIC.c:226:6:IIC_NAck 8 static +../Core/Src/IIC.c:244:6:IIC_GPIO_Init 32 static +../Core/Src/IIC.c:276:9:IIC_CheckDevice 24 static diff --git a/Debug/Core/Src/gpio.d b/Debug/Core/Src/gpio.d new file mode 100644 index 0000000..811558e --- /dev/null +++ b/Debug/Core/Src/gpio.d @@ -0,0 +1,53 @@ +Core/Src/gpio.o: ../Core/Src/gpio.c ../Core/Inc/gpio.h ../Core/Inc/main.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h \ + ../Core/Inc/stm32f1xx_hal_conf.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h \ + ../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_def.h \ + ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h \ + ../Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h \ + ../Drivers/CMSIS/Include/core_cm3.h \ + ../Drivers/CMSIS/Include/cmsis_version.h \ + ../Drivers/CMSIS/Include/cmsis_compiler.h \ + ../Drivers/CMSIS/Include/cmsis_gcc.h \ + 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