添加很多设备

BSP/at24cxx.c

@@ -0,0 +1,139 @@
+/*
+ * at24cxx.c
+ *
+ *  Created on: Mar 3, 2024
+ *      Author: gxms0
+ */
+#include "at24cxx.h"
+
+
+void at24cxx_init()
+{
+
+}
+/*
+
+uint8_t x24Cxx_ReadByte(uint16_t u16Addr)
+{
+    uint8_t u8Data = 0;
+    IIC_Start();//起始信号
+    IIC_WriteByte(DEV_ADDR | WRITE_CMD);//器件寻址+读/写选择
+    IIC_WaitAck();//等待应答
+    IIC_WriteByte((uint8_t)((u16Addr >> 8) & 0xFF));
+    IIC_WaitAck();//等待应答
+    IIC_WriteByte((uint8_t)(u16Addr & 0xFF));
+    IIC_WaitAck();//等待应答
+    IIC_Start();//起始信号
+    IIC_WriteByte(DEV_ADDR | READ_CMD);//器件寻址+读
+    IIC_WaitAck();//等待应答
+    u8Data = IIC_ReadByte();
+    IIC_NoAck();
+    IIC_Stop();//停止信号
+    return u8Data;
+}
+
+
+void at24cxx_WriteByte(uint16_t u16Addr, uint8_t u8Data)
+{
+   x24Cxx_WriteEnable();//使能写入
+   IIC_Start();//起始信号
+   IIC_WriteByte(DEV_ADDR | WRITE_CMD);//器件寻址+读/写选择
+   IIC_WaitAck();//等待应答
+   IIC_WriteByte((uint8_t)((u16Addr >> 8) & 0xFF));
+   IIC_WaitAck();//等待应答
+   IIC_WriteByte((uint8_t)(u16Addr & 0xFF));
+   IIC_WaitAck();//等待应答
+   IIC_WriteByte(u8Data);
+   IIC_WaitAck();//等待应答
+   IIC_Stop();//停止信号
+   x24Cxx_WriteDisble();//禁止写入
+}
+
+void x24Cxx_ReadPage(uint16_t u16Addr, uint8_t u8Len, uint8_t *pBuff)
+{
+    uint8_t i;
+    IIC_Start();//起始信号
+    IIC_WriteByte(DEV_ADDR | WRITE_CMD);//器件寻址+读/写选择
+    IIC_WaitAck();//等待应答
+    IIC_WriteByte((uint8_t)((u16Addr >> 8) & 0xFF));
+    IIC_WaitAck();//等待应答
+    IIC_WriteByte((uint8_t)(u16Addr & 0xFF));
+    IIC_WaitAck();//等待应答
+    IIC_Start();//起始信号
+    IIC_WriteByte(DEV_ADDR | READ_CMD);//器件寻址+读
+    IIC_WaitAck();//等待应答
+    if (u8Len > PAGE_SIZE)//长度大于页的长度
+    {
+        u8Len = PAGE_SIZE;
+    }
+    if ((u16Addr + (uint16_t)u8Len) > CAPACITY_SIZE)//超过容量
+    {
+        u8Len = (uint8_t)(CAPACITY_SIZE - u16Addr);
+    }
+    if (((u16Addr % PAGE_SIZE) + (uint16_t)u8Len) > PAGE_SIZE)//判断是否跨页
+    {
+        u8Len -= (uint8_t)((u16Addr + (uint16_t)u8Len) % PAGE_SIZE);//跨页，截掉跨页的部分
+    }
+    for (i = 0; i < (u8Len - 1); i++)
+    {
+        *(pBuff + i) = IIC_ReadByte();
+        IIC_Ack();//主机应答
+    }
+    *(pBuff + u8Len - 1) = IIC_ReadByte();
+    IIC_NoAck();//最后一个不应答
+    IIC_Stop();//停止信号
+}
+
+
+void at24cxx_WritePage(uint16_t u16Addr, uint8_t u8Len, uint8_t *pData)
+{
+    uint8_t i;
+    x24Cxx_WriteEnable();//使能写入
+    IIC_Start();//起始信号
+    IIC_WriteByte(DEV_ADDR | WRITE_CMD);//器件寻址+读/写选择
+    IIC_WaitAck();//等待应答
+    IIC_WriteByte((uint8_t)((u16Addr >> 8) & 0xFF));
+    IIC_WaitAck();//等待应答
+    IIC_WriteByte((uint8_t)(u16Addr & 0xFF));
+    IIC_WaitAck();//等待应答
+    if (u8Len > PAGE_SIZE)//长度大于页的长度
+    {
+        u8Len = PAGE_SIZE;
+    }
+    if ((u16Addr + (uint16_t)u8Len) > CAPACITY_SIZE)//超过容量
+    {
+        u8Len = (uint8_t)(CAPACITY_SIZE - u16Addr);
+    }
+    if (((u16Addr % PAGE_SIZE) + (uint16_t)u8Len) > PAGE_SIZE)//判断是否跨页
+    {
+        u8Len -= (uint8_t)((u16Addr + (uint16_t)u8Len) % PAGE_SIZE);//跨页，截掉跨页的部分
+    }
+
+    for (i = 0; i < u8Len; i++)
+    {
+        IIC_WriteByte(*(pData + i));
+        IIC_WaitAck();//等待应答
+    }
+    IIC_Stop();//停止信号
+    x24Cxx_WriteDisble();//禁止写入
+}
+*/
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

BSP/at24cxx.h

@@ -0,0 +1,60 @@
+/*
+ * at24cxx.h
+ *
+ *  Created on: Mar 3, 2024
+ *      Author: gxms0
+ */
+
+#ifndef BSP_AT24CXX_H_
+#define BSP_AT24CXX_H_
+
+#include "ch32v20x.h"
+#include <string.h>
+#include <stdlib.h>
+#include "drv_i2c.h"
+
+
+#define READ_CMD                1
+#define WRITE_CMD               0
+
+#define x24C32//器件名称，AT24C32、AT24C64、AT24C128、AT24C256、AT24C512
+#define DEV_ADDR                0xA0                    //设备硬件地址
+
+
+#ifdef x24C32
+    #define PAGE_NUM            128                     //页数
+    #define PAGE_SIZE           32                      //页面大小(字节)
+    #define CAPACITY_SIZE       (PAGE_NUM * PAGE_SIZE)  //总容量(字节)
+    #define ADDR_BYTE_NUM       2                       //地址字节个数
+#endif
+
+#ifdef x24C64
+    #define PAGE_NUM            256                     //页数
+    #define PAGE_SIZE           32                      //页面大小(字节)
+    #define CAPACITY_SIZE       (PAGE_NUM * PAGE_SIZE)  //总容量(字节)
+    #define ADDR_BYTE_NUM       2                       //地址字节个数
+#endif
+
+#ifdef x24C128
+    #define PAGE_NUM            256                     //页数
+    #define PAGE_SIZE           64                      //页面大小(字节)
+    #define CAPACITY_SIZE       (PAGE_NUM * PAGE_SIZE)  //总容量(字节)
+    #define ADDR_BYTE_NUM       2                       //地址字节个数
+#endif
+
+#ifdef x24C256
+    #define PAGE_NUM            512                     //页数
+    #define PAGE_SIZE           64                      //页面大小(字节)
+    #define CAPACITY_SIZE       (PAGE_NUM * PAGE_SIZE)  //总容量(字节)
+    #define ADDR_BYTE_NUM       2                       //地址字节个数
+#endif
+
+#ifdef x24C512
+    #define PAGE_NUM            512                     //页数
+    #define PAGE_SIZE           128                     //页面大小(字节)
+    #define CAPACITY_SIZE       (PAGE_NUM * PAGE_SIZE)  //总容量(字节)
+    #define ADDR_BYTE_NUM       2                       //地址字节个数
+#endif
+
+
+#endif /* BSP_AT24CXX_H_ */

BSP/bmp280.c

@@ -0,0 +1,8 @@
+/*
+ * bmp280.c
+ *
+ *  Created on: Mar 4, 2024
+ *      Author: gxms0
+ */
+
+

BSP/bmp280.h

@@ -0,0 +1,13 @@
+/*
+ * bmp280.h
+ *
+ *  Created on: Mar 4, 2024
+ *      Author: gxms0
+ */
+
+#ifndef BSP_BMP280_H_
+#define BSP_BMP280_H_
+
+
+
+#endif /* BSP_BMP280_H_ */

BSP/mpu6500.c

@@ -0,0 +1,8 @@
+/*
+ * mpu6500.c
+ *
+ *  Created on: Mar 4, 2024
+ *      Author: gxms0
+ */
+
+

BSP/mpu6500.h

@@ -0,0 +1,13 @@
+/*
+ * mpu6500.h
+ *
+ *  Created on: Mar 4, 2024
+ *      Author: gxms0
+ */
+
+#ifndef BSP_MPU6500_H_
+#define BSP_MPU6500_H_
+
+
+
+#endif /* BSP_MPU6500_H_ */

BSP/pmw3901.c

@@ -0,0 +1,122 @@
+/*
+ * pmw3901.c
+ *
+ *  Created on: Mar 2, 2024
+ *      Author: gxms0
+ */
+
+#include "pmw3901.h"
+
+PMW_t pmw3901_1;
+
+
+void pmw3901_init()
+{
+    pmw3901_1.parser.stage = 0;
+
+}
+
+void pmw3901_thread()
+{
+    pmw3901_update(&pmw3901_1);
+}
+
+
+
+void pmw3901_update(PMW_ptr ptr)
+{
+    uint8_t buff[50];
+
+    size_t len = usart_read(&uart3, buff, sizeof(buff));
+
+    if (len) {
+        for(int i = 0;i< len;i++)
+        {
+            int rst = pmw3901_parser_char(&ptr->parser, buff[i]);
+            switch(rst)
+            {
+            case 1:
+            {
+
+                ptr->dx = (int16_t)(ptr->parser.buff[3] << 8) | ptr->parser.buff[2];
+                ptr->dy = (int16_t)(ptr->parser.buff[5] << 8) | ptr->parser.buff[4];
+                ptr->dz = (int16_t)(ptr->parser.buff[7] << 8) | ptr->parser.buff[6];
+                ptr->quality = ptr->parser.buff[9];
+            }break;
+            }
+        }
+    }
+
+
+
+
+}
+
+int pmw3901_parser_char(Parser_t *parser, uint8_t c)
+{
+    int rslt = -1;
+
+    switch (parser->stage)
+    {
+    case 0:
+        if (c == 0xFE)
+        {
+            parser->stage++;
+            parser->idx = 0;
+            parser->id = 0;
+            parser->buff[parser->idx++] = c;
+        }
+        break;
+    case 1:
+        parser->len = c+2;
+        parser->stage++;
+        parser->buff[parser->idx++] = c;
+        parser->sum = 0;
+        break;
+    case 2:
+        parser->buff[parser->idx++] = c;
+        parser->sum += c;
+        if (parser->idx == (parser->len+2))
+        {
+            parser->stage++;
+        }
+        break;
+    case 3:
+        parser->buff[parser->idx++] = c;
+        parser->sum_r = c;
+        parser->stage++;
+
+        break;
+    case 4:
+        parser->buff[parser->idx++] = c;
+        parser->stage++;
+
+        break;
+    case 5:
+        if (c == 0xAA)
+        {
+            if((parser->sum & 0xff) == parser->sum_r)
+            {
+                parser->id = 1;
+                rslt = parser->id;
+            }
+        }
+        parser->stage = 0;
+        break;
+    default:
+        parser->stage = 0;
+        break;
+    }
+
+    return rslt;
+}
+
+
+
+
+
+
+
+
+
+

BSP/pmw3901.h

@@ -0,0 +1,58 @@
+/*
+ * pmw3901.h
+ *
+ *  Created on: Mar 2, 2024
+ *      Author: gxms0
+ */
+
+#ifndef BSP_PMW3901_H_
+#define BSP_PMW3901_H_
+
+#include "ch32v20x.h"
+#include <string.h>
+#include <stdlib.h>
+#include "drv_uart.h"
+
+
+typedef struct{
+    int stage;
+    uint16_t idx;
+    uint16_t len;
+    uint8_t seq;
+    uint16_t id;
+    uint8_t sum;
+    uint8_t sum_r;
+    uint32_t head_err_cnt;
+    uint8_t buff[50];
+} Parser_t;
+
+typedef struct sPMW {
+
+    UART_ptr uart;
+
+    Parser_t parser;
+
+    float dx;
+    float dy;
+    float dz;
+    uint8_t count;
+    uint8_t quality;
+    uint8_t valid;
+
+}PMW_t;
+
+typedef PMW_t* PMW_ptr;
+
+extern PMW_t pmw3901_1;
+
+void pmw3901_init();
+
+void pmw3901_thread();
+
+void pmw3901_update();
+
+int pmw3901_parser_char(Parser_t *parser, uint8_t c);
+
+
+
+#endif /* BSP_PMW3901_H_ */

BSP/qmc5883l.c

@@ -0,0 +1,8 @@
+/*
+ * qmc5883l.c
+ *
+ *  Created on: Mar 4, 2024
+ *      Author: gxms0
+ */
+
+

BSP/qmc5883l.h

@@ -0,0 +1,13 @@
+/*
+ * qmc5883l.h
+ *
+ *  Created on: Mar 4, 2024
+ *      Author: gxms0
+ */
+
+#ifndef BSP_QMC5883L_H_
+#define BSP_QMC5883L_H_
+
+
+
+#endif /* BSP_QMC5883L_H_ */

BSP/si24r1.c

@@ -0,0 +1,8 @@
+/*
+ * si24r1.c
+ *
+ *  Created on: Mar 4, 2024
+ *      Author: gxms0
+ */
+
+

BSP/si24r1.h

@@ -0,0 +1,13 @@
+/*
+ * si24r1.h
+ *
+ *  Created on: Mar 4, 2024
+ *      Author: gxms0
+ */
+
+#ifndef BSP_SI24R1_H_
+#define BSP_SI24R1_H_
+
+
+
+#endif /* BSP_SI24R1_H_ */