/* * Acc_ICM20600.c * * Created on: July 12, 2020 * Author: lqh */ #include "Imu_ICM20600.h" #include "main.h" /* ICM20600 registers addresses */ #define SMPLRT_DIV 0x19 //陀螺仪采样率，典型值： #define CONFIG 0x1A //低通滤波频率，典型值： #define GYRO_CONFIG 0x1B //陀螺仪自检及测量范围，典型值： #define ACCEL_CONFIG 0x1C //加速计自检、测量范围及高通滤波频率，典型值 #define ACCEL_CONFIG1 0x1D //加速计自检、测量范围及高通滤波频率，典型值: #define FIFO_EN 0x23 #define FIFO_WM_TH1 0x60 #define FIFO_WM_TH2 0x61 #define FIFO_COUNTH 0x72 #define FIFO_COUNTL 0x73 #define FIFO_R_W 0x74 #define ACCEL_XOUT_H 0x3B //加速度计 x轴加速度 高8位 #define ACCEL_XOUT_L 0x3C //加速度计 x轴加速度 低8位 #define ACCEL_YOUT_H 0x3D //加速度计 y轴加速度 高8位 #define ACCEL_YOUT_L 0x3E //加速度计 y轴加速度 低8位 #define ACCEL_ZOUT_H 0x3F //加速度计 z轴加速度 高8位 #define ACCEL_ZOUT_L 0x40 //加速度计 z轴加速度 低8位 #define TEMP_OUT_H 0x41 //温度 高8位 #define TEMP_OUT_L 0x42 //温度 低8位 #define GYRO_XOUT_H 0x43 //陀螺仪 x轴陀螺仪 高8位 #define GYRO_XOUT_L 0x44 //陀螺仪 x轴陀螺仪 低8位 #define GYRO_YOUT_H 0x45 //陀螺仪 y轴陀螺仪 高8位 #define GYRO_YOUT_L 0x46 //陀螺仪 y轴陀螺仪 低8位 #define GYRO_ZOUT_H 0x47 //陀螺仪 z轴陀螺仪 高8位 #define GYRO_ZOUT_L 0x48 //陀螺仪 z轴陀螺仪 低8位 #define WHO_AM_I 0x75 //IIC地址寄存器(默认数值0x11，只读) #define USER_CONTROL 0x6A //0x10 I2C_IF_DIS ENABLE #define PWR_MGMT_1 0x6B //电源管理，典型值：0x00(正常启用) // WHOAMI values #define MPU_WHOAMI_20600 0x11 /** 初始化ADXL加速度计*/ int Imu_ICM20600_init(Imu_ICM20600_t *Imu, const char *name, SPI_DEV_t *dev, GPIO_EXIT_t *exti) { uint8_t ChipId; //Read ICM20600 Chip Infomation int rslt; uint8_t TxdBuf[4]; uint8_t RxdBuf[4]; rslt = 0; Imu->name = name; Imu->_dev = dev; Imu->exti = exti; Imu->Accx = 0; Imu->Accy = 0; Imu->Accz = 0; Imu->Gyrox = 0; Imu->Gyroy = 0; Imu->Gyroz = 0; Imu->At = 0; Imu->read_cnt = 0; Imu->exti->cnt = 0; Imu->cnt = 0; Imu->last_cnt = 0; Imu->pps = 0; Imu->acc_lsb_per_g = 2048.0f; Imu->gyro_lsb_per_deg_sec = 16.38; SPI_DEV_begin(Imu->_dev, -1); /* Quick verification test for boards */ TxdBuf[0] = 0x80 | WHO_AM_I; //Read ChipId TxdBuf[1] = 0x00; //Read ChipId SPI_DEV_select(dev); SPI_DEV_transfer(dev, TxdBuf, 2, RxdBuf, 2, 2); SPI_DEV_unselect(dev); ChipId = RxdBuf[1]; //If Target Chip is ICM20600, Set Chip Range & Turn on Accelerometer Mode if (ChipId == MPU_WHOAMI_20600) { //开始配置 TxdBuf[0] = PWR_MGMT_1; //Write ICM20600 PWR_MGMT_1 TxdBuf[1] = 0x00; //reset imu SPI_DEV_select(dev); SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2); SPI_DEV_unselect(dev); TxdBuf[0] = ACCEL_CONFIG; //Write ICM20600 ACCEL_CONFIG TxdBuf[1] = 0x18; //ACC ±16G SPI_DEV_select(dev); SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2); SPI_DEV_unselect(dev); TxdBuf[0] = CONFIG; //Write ICM20600 CONFIG TxdBuf[1] = 0x07; //Gyroscope Rate 8k hz SPI_DEV_select(dev); SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2); SPI_DEV_unselect(dev); TxdBuf[0] = SMPLRT_DIV; //Write ICM20600 SMPLRT_DIV TxdBuf[1] = 0x00; //INTERNAL_SAMPLE_RATE = 1kHz SPI_DEV_select(dev); SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2); SPI_DEV_unselect(dev); TxdBuf[0] = GYRO_CONFIG; //Write ICM20600 GYRO_CONFIG TxdBuf[1] = 0x18; //Gyro ±2000 dps SPI_DEV_select(dev); SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2); SPI_DEV_unselect(dev); TxdBuf[0] = ACCEL_CONFIG1; //Write ICM20600 ACCEL_CONFIG1 TxdBuf[1] = 0x08; //Accelerometer rate 1k hz SPI_DEV_select(dev); SPI_DEV_transfer(dev, TxdBuf, 2, NULL, 0, 2); SPI_DEV_unselect(dev); } else { rslt = -1; } SPI_DEV_end(Imu->_dev); return rslt; } /** 读取ICM-20600值 */ bool Imu_ICM20600_update(Imu_ICM20600_t *Imu) { uint8_t TxdBuf[15]; uint8_t RxdBuf[15]; int i; int16_t TempAcceleratorData; bool rslt; if (SPI_DEV_begin(Imu->_dev, 0)) //进入临界区 { TxdBuf[0] = ((ACCEL_XOUT_H | 0x80)); //Read for (i = 1; i < 15; i++) { TxdBuf[i] = 0x00; //Dummy Byte 虚拟字节 } SPI_DEV_select(Imu->_dev); rslt = SPI_DEV_transfer(Imu->_dev, TxdBuf, 15, RxdBuf, 15, 3); SPI_DEV_unselect(Imu->_dev); SPI_DEV_end(Imu->_dev); //退出临界区 Imu->exti->cnt = 0; //中断计数清零 if (rslt) { Imu->cnt++; taskENTER_CRITICAL(); Imu->read_cnt++; /** Data combination for Acc Raw Data */ TempAcceleratorData = ((RxdBuf[1] << 8) | (RxdBuf[2])); if ((TempAcceleratorData & 0x0800) != 0) //Sign-extending for raw data { TempAcceleratorData |= 0xF000; } Imu->Accx = (float)TempAcceleratorData/Imu->acc_lsb_per_g; //Accumulated Value of ax x轴 //Data combination forAy Raw Data TempAcceleratorData = ((RxdBuf[3] << 8) | (RxdBuf[4])); if ((TempAcceleratorData & 0x0800) != 0) //Sign-extending for raw data { TempAcceleratorData |= 0xF000; } Imu->Accy = (float)TempAcceleratorData/Imu->acc_lsb_per_g; //Accumulated Value of ay y轴 //Data combination for Az Raw Data TempAcceleratorData = ((RxdBuf[5] << 8) | (RxdBuf[6])); if ((TempAcceleratorData & 0x0800) != 0) //Sign-extending for raw data { TempAcceleratorData |= 0xF000; } Imu->Accz = (float)TempAcceleratorData/Imu->acc_lsb_per_g; //Accumulated Value of az z轴 //Data combination for Temperature Raw Data TempAcceleratorData = ((RxdBuf[7] << 8) | RxdBuf[8]); if ((TempAcceleratorData & 0x0800) != 0) //Sign-extending for raw data { TempAcceleratorData |= 0xF000; } Imu->At = (float)((double)TempAcceleratorData/333.87+21); // IMU Value of Temperature 温度 /** Data combination for Gyro Raw Data */ TempAcceleratorData = ((RxdBuf[9] << 8) | (RxdBuf[10])); if ((TempAcceleratorData & 0x0800) != 0) //Sign-extending for raw data { TempAcceleratorData |= 0xF000; } Imu->Gyrox = (float)TempAcceleratorData/Imu->gyro_lsb_per_deg_sec; //Gyro Value of ax x轴 //Data combination forAy Raw Data TempAcceleratorData = ((RxdBuf[11] << 8) | (RxdBuf[12])); if ((TempAcceleratorData & 0x0800) != 0) //Sign-extending for raw data { TempAcceleratorData |= 0xF000; } Imu->Gyroy = (float)TempAcceleratorData/Imu->gyro_lsb_per_deg_sec; //Gyro Value of ay y轴 //Data combination for Az Raw Data TempAcceleratorData = ((RxdBuf[13] << 8) | (RxdBuf[14])); if ((TempAcceleratorData & 0x0800) != 0) //Sign-extending for raw data { TempAcceleratorData |= 0xF000; } Imu->Gyroz = (float)TempAcceleratorData/Imu->gyro_lsb_per_deg_sec; //Gyro Value of az z轴 taskEXIT_CRITICAL(); } } else { rslt = false; } return rslt; } void Imu_ICM20600_stats(Imu_ICM20600_t *Imu) { Imu->pps = Imu->cnt - Imu->last_cnt; Imu->last_cnt = Imu->cnt; }