Documentation created
- Serial reader read data, and outputs them - Sender send temperature - Receiver transmits data via serial
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.gitignore
vendored
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2024*.txt
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10DOF-pinout.webp
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10DOF-pinout.webp
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NRF24L01-pinout.webp
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README.md
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README.md
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# Cobra
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# CobraV2
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## Overview
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`reciever_module` - folder with code for reciver which will send data to the pc
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`sender_module` - folder with code for sender, which transmit data to the reciever and save it on the micro sd card
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`serial_read` - read serial input and save it
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## Modules
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### 10 DOF IMU
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- **SDA** (Serial Data)
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- **SCL** (Serial Clock)
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- **INT** (Interrupt) is a digital interrupt output
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- **FSYNC** is a frame sync signal
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### L76K GPS
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- **PPS** (Pulse per second) powers a led wich will blink and indicate that GPS is working
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- **RX** (UART communication)
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- **TX** (UART communication)
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### NRF24L01+
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- **CE** (Chip Enable) is an active-high pin. When enabled, the nRF24L01 will either transmit or receive, depending on the mode.
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- **CSN** (Chip Select Not) is an active-low pin that is typically held HIGH. When this pin goes low, the nRF24L01 begins listening for data on its SPI port and processes it accordingly.
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- **SCK** (Serial Clock) accepts clock pulses from the SPI bus master.
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- **MOSI** (Master Out Slave In) is the SPI input for the nRF24L01.
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- **MISO** (Master In Slave Out) is the SPI output of the nRF24L01.
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- **IRQ** is an interrupt pin that can notify the master when there is new data to process.
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## Wiring
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### 10 DOF IMU Sensor
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| Module | Arduino | Description |
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| ------ | ------- | -------------- |
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| VCC | 5V | Power input |
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| GND | GND | Power ground |
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| SDA | SDA | I2C data input |
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| SCL | SCL | I2C clock pin |
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### L76K GPS Module
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| Module | Arduino | Description |
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| ------ | ------- | -------------------- |
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| VCC | 3.3V | Power input |
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| GND | GND | Power ground |
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| TX | RX | Serial communication |
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| RX | TX | Serial communication |
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| PPS | NC | Pulse per second |
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### NRF24L01+ Module
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| Module | Arduino | Description |
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| ------ | ------- | --------------- |
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| VCC | 3.3V | Power input |
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| GND | GND | Power ground |
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| CE | 9~ | Chip enable |
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| CSN | 8 | Chip select not |
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| SCK | 13 | Serial Clock |
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| MOSI | 11~ | SPI master out |
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| MISO | 12 | SPI master in |
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## Sources
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Datasheets, documentation and sources
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- [Waveshare 10 DOF IMU Sensor (D) - Arduino guide](https://www.waveshare.com/wiki/Template:10_DOF_IMU_Sensor_D_Arduino_Guide)
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- [Waveshare 10 DOF IMU Sensor (C) - Demo code](https://files.waveshare.com/upload/c/c1/10_DOF_IMU_Sensor_D_Code.7z)
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- [Waveshare 10 DOF IMU Sensor (C) - Documentation](https://www.waveshare.com/wiki/10_DOF_IMU_Sensor_(C))
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- [Waveshare L76K GPS Module - Arduino guide](https://www.waveshare.com/wiki/L76K_GPS_Module#Working_With_Arduino)
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- [Waveshare L76K GPS Module - Demo code](https://files.waveshare.com/upload/9/94/L76K_GPS_Module_Arduino.zip)
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- [NRF24L01+ PA/LNA - Arduino guide](https://lastminuteengineers.com/nrf24l01-arduino-wireless-communication/)
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- [NRF24L01+ Guide - Guide](https://navody.dratek.cz/navody-k-produktum/arduino-wifi-modul-nrf24l01.html)
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- [NRF24L01+ PA/LNA - Datasheet](nrf24lo1-datasheet.pdf)
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- [NRF24L01+ PA/LNA - Demo code](https://img.gme.cz/files/eshop_data/eshop_data/10/775-034/prg.775-034.1.zip)
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nrf24lo1-datasheet.pdf
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nrf24lo1-datasheet.pdf
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reciver_module/nRF24L01_reciever.ino
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reciver_module/nRF24L01_reciever.ino
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#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.h>
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RF24 radio(9, 8); // CE, CSN
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const byte address[6] = "00001"; //address through which two modules communicate
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void setup() {
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while (!Serial)
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;
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Serial.begin(9600);
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Serial.println("Reciver init");
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radio.begin();
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radio.openReadingPipe(0, address); //set the address
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radio.startListening(); //Set module as receiver
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}
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void loop() {
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//Read the data if available in buffer
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if (radio.available()) {
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char text[32] = { 0 };
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radio.read(&text, sizeof(text));
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Serial.println(text);
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}
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}
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sender_module/Waveshare_10Dof-D.cpp
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sender_module/Waveshare_10Dof-D.cpp
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/**
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******************************************************************************
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* @file Waveshare_10Dof-D.cpp
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* @author Waveshare Team
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* @version V1.0
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* @date Dec-2018
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* @brief T
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******************************************************************************
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* @attention
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*
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* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
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* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
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* TIME. AS A RESULT, WAVESHARE SHALL NOT BE HELD LIABLE FOR ANY
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* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
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* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
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* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
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*
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* <h2><center>© COPYRIGHT 2018 Waveshare</center></h2>
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******************************************************************************
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*/
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#include "Waveshare_10Dof-D.h"
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#include <Wire.h>
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IMU_ST_SENSOR_DATA gstGyroOffset ={0,0,0};
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#ifdef __cplusplus
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extern "C" {
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#endif
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void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
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float invSqrt(float x);
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void icm20948init(void);
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bool icm20948Check(void);
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void icm20948GyroRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z);
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void icm20948AccelRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z);
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void icm20948MagRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z);
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bool icm20948MagCheck(void);
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void icm20948CalAvgValue(uint8_t *pIndex, int16_t *pAvgBuffer, int16_t InVal, int32_t *pOutVal);
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void icm20948GyroOffset(void);
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void icm20948ReadSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8Len, uint8_t *pu8data);
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void icm20948WriteSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8data);
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bool icm20948Check(void);
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bool bmp280Check(void);
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void bmp280Init(void);
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/******************************************************************************
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* interface driver *
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******************************************************************************/
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uint8_t I2C_ReadOneByte(uint8_t DevAddr, uint8_t RegAddr)
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{
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uint8_t value;
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Wire.beginTransmission(DevAddr);
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Wire.write((byte)RegAddr);
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Wire.endTransmission();
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Wire.requestFrom(DevAddr, (byte)1);
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value = Wire.read();
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return value;
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}
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void I2C_WriteOneByte(uint8_t DevAddr, uint8_t RegAddr, uint8_t value)
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{
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Wire.beginTransmission(DevAddr);
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Wire.write(RegAddr);
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Wire.write(value);
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Wire.endTransmission();
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}
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/******************************************************************************
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* IMU module *
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******************************************************************************/
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#define Kp 4.50f // proportional gain governs rate of convergence to accelerometer/magnetometer
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#define Ki 1.0f // integral gain governs rate of convergence of gyroscope biases
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float angles[3];
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float q0, q1, q2, q3;
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void imuInit(IMU_EN_SENSOR_TYPE *penMotionSensorType, IMU_EN_SENSOR_TYPE *penPressureType)
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{
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bool bRet = false;
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Wire.begin();
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bRet = icm20948Check();
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if( true == bRet)
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{
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*penMotionSensorType = IMU_EN_SENSOR_TYPE_ICM20948;
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icm20948init();
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}
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else
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{
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*penMotionSensorType = IMU_EN_SENSOR_TYPE_NULL;
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}
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bRet = bmp280Check();
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if( true == bRet)
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{
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*penPressureType = IMU_EN_SENSOR_TYPE_BMP280;
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bmp280Init();
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}
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else
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{
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*penPressureType = IMU_EN_SENSOR_TYPE_NULL;
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}
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q0 = 1.0f;
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q1 = 0.0f;
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q2 = 0.0f;
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q3 = 0.0f;
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return;
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}
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void imuDataGet(IMU_ST_ANGLES_DATA *pstAngles,
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IMU_ST_SENSOR_DATA *pstGyroRawData,
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IMU_ST_SENSOR_DATA *pstAccelRawData,
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IMU_ST_SENSOR_DATA *pstMagnRawData)
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{
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float MotionVal[9];
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int16_t s16Gyro[3], s16Accel[3], s16Magn[3];
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icm20948AccelRead(&s16Accel[0], &s16Accel[1], &s16Accel[2]);
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icm20948GyroRead(&s16Gyro[0], &s16Gyro[1], &s16Gyro[2]);
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icm20948MagRead(&s16Magn[0], &s16Magn[1], &s16Magn[2]);
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MotionVal[0]=s16Gyro[0]/32.8;
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MotionVal[1]=s16Gyro[1]/32.8;
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MotionVal[2]=s16Gyro[2]/32.8;
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MotionVal[3]=s16Accel[0];
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MotionVal[4]=s16Accel[1];
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MotionVal[5]=s16Accel[2];
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MotionVal[6]=s16Magn[0];
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MotionVal[7]=s16Magn[1];
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MotionVal[8]=s16Magn[2];
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imuAHRSupdate((float)MotionVal[0] * 0.0175, (float)MotionVal[1] * 0.0175, (float)MotionVal[2] * 0.0175,
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(float)MotionVal[3], (float)MotionVal[4], (float)MotionVal[5],
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(float)MotionVal[6], (float)MotionVal[7], MotionVal[8]);
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pstAngles->fPitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; // pitch
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pstAngles->fRoll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
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pstAngles->fYaw = atan2(-2 * q1 * q2 - 2 * q0 * q3, 2 * q2 * q2 + 2 * q3 * q3 - 1) * 57.3;
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pstGyroRawData->s16X = s16Gyro[0];
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pstGyroRawData->s16Y = s16Gyro[1];
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pstGyroRawData->s16Z = s16Gyro[2];
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pstAccelRawData->s16X = s16Accel[0];
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pstAccelRawData->s16Y = s16Accel[1];
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pstAccelRawData->s16Z = s16Accel[2];
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pstMagnRawData->s16X = s16Magn[0];
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pstMagnRawData->s16Y = s16Magn[1];
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pstMagnRawData->s16Z = s16Magn[2];
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return;
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}
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void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz)
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{
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float norm;
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float hx, hy, hz, bx, bz;
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float vx, vy, vz, wx, wy, wz;
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float exInt = 0.0, eyInt = 0.0, ezInt = 0.0;
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float ex, ey, ez, halfT = 0.024f;
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float q0q0 = q0 * q0;
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float q0q1 = q0 * q1;
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float q0q2 = q0 * q2;
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float q0q3 = q0 * q3;
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float q1q1 = q1 * q1;
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float q1q2 = q1 * q2;
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float q1q3 = q1 * q3;
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float q2q2 = q2 * q2;
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float q2q3 = q2 * q3;
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float q3q3 = q3 * q3;
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norm = invSqrt(ax * ax + ay * ay + az * az);
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ax = ax * norm;
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ay = ay * norm;
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az = az * norm;
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norm = invSqrt(mx * mx + my * my + mz * mz);
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mx = mx * norm;
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my = my * norm;
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mz = mz * norm;
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// compute reference direction of flux
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hx = 2 * mx * (0.5f - q2q2 - q3q3) + 2 * my * (q1q2 - q0q3) + 2 * mz * (q1q3 + q0q2);
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hy = 2 * mx * (q1q2 + q0q3) + 2 * my * (0.5f - q1q1 - q3q3) + 2 * mz * (q2q3 - q0q1);
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hz = 2 * mx * (q1q3 - q0q2) + 2 * my * (q2q3 + q0q1) + 2 * mz * (0.5f - q1q1 - q2q2);
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bx = sqrt((hx * hx) + (hy * hy));
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bz = hz;
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// estimated direction of gravity and flux (v and w)
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vx = 2 * (q1q3 - q0q2);
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vy = 2 * (q0q1 + q2q3);
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vz = q0q0 - q1q1 - q2q2 + q3q3;
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wx = 2 * bx * (0.5 - q2q2 - q3q3) + 2 * bz * (q1q3 - q0q2);
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wy = 2 * bx * (q1q2 - q0q3) + 2 * bz * (q0q1 + q2q3);
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wz = 2 * bx * (q0q2 + q1q3) + 2 * bz * (0.5 - q1q1 - q2q2);
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// error is sum of cross product between reference direction of fields and direction measured by sensors
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ex = (ay * vz - az * vy) + (my * wz - mz * wy);
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ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
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ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
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if(ex != 0.0f && ey != 0.0f && ez != 0.0f)
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{
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exInt = exInt + ex * Ki * halfT;
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eyInt = eyInt + ey * Ki * halfT;
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ezInt = ezInt + ez * Ki * halfT;
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gx = gx + Kp * ex + exInt;
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gy = gy + Kp * ey + eyInt;
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gz = gz + Kp * ez + ezInt;
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}
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q0 = q0 + (-q1 * gx - q2 * gy - q3 * gz) * halfT;
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q1 = q1 + (q0 * gx + q2 * gz - q3 * gy) * halfT;
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q2 = q2 + (q0 * gy - q1 * gz + q3 * gx) * halfT;
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q3 = q3 + (q0 * gz + q1 * gy - q2 * gx) * halfT;
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norm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
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q0 = q0 * norm;
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q1 = q1 * norm;
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q2 = q2 * norm;
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q3 = q3 * norm;
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}
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float invSqrt(float x)
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{
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float halfx = 0.5f * x;
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float y = x;
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long i = *(long*)&y; //get bits for floating value
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i = 0x5f3759df - (i >> 1); //gives initial guss you
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y = *(float*)&i; //convert bits back to float
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y = y * (1.5f - (halfx * y * y)); //newtop step, repeating increases accuracy
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return y;
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}
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/******************************************************************************
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* icm20948 sensor device *
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******************************************************************************/
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void icm20948init(void)
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{
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/* user bank 0 register */
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I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0);
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I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_PWR_MIGMT_1, REG_VAL_ALL_RGE_RESET);
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delay(10);
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I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_PWR_MIGMT_1, REG_VAL_RUN_MODE);
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/* user bank 2 register */
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I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_2);
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I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_GYRO_SMPLRT_DIV, 0x07);
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I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_GYRO_CONFIG_1,
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REG_VAL_BIT_GYRO_DLPCFG_6 | REG_VAL_BIT_GYRO_FS_1000DPS | REG_VAL_BIT_GYRO_DLPF);
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I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_ACCEL_SMPLRT_DIV_2, 0x07);
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I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_ACCEL_CONFIG,
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REG_VAL_BIT_ACCEL_DLPCFG_6 | REG_VAL_BIT_ACCEL_FS_2g | REG_VAL_BIT_ACCEL_DLPF);
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/* user bank 0 register */
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I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0);
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||||
|
||||
delay(100);
|
||||
/* offset */
|
||||
icm20948GyroOffset();
|
||||
|
||||
icm20948MagCheck();
|
||||
|
||||
icm20948WriteSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_WRITE,
|
||||
REG_ADD_MAG_CNTL2, REG_VAL_MAG_MODE_20HZ);
|
||||
return;
|
||||
}
|
||||
|
||||
bool icm20948Check(void)
|
||||
{
|
||||
bool bRet = false;
|
||||
if(REG_VAL_WIA == I2C_ReadOneByte(I2C_ADD_ICM20948, REG_ADD_WIA))
|
||||
{
|
||||
bRet = true;
|
||||
}
|
||||
return bRet;
|
||||
}
|
||||
void icm20948GyroRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z)
|
||||
{
|
||||
uint8_t u8Buf[6];
|
||||
int16_t s16Buf[3] = {0};
|
||||
uint8_t i;
|
||||
int32_t s32OutBuf[3] = {0};
|
||||
static ICM20948_ST_AVG_DATA sstAvgBuf[3];
|
||||
static int16_t ss16c = 0;
|
||||
ss16c++;
|
||||
|
||||
u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_XOUT_L);
|
||||
u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_XOUT_H);
|
||||
s16Buf[0]= (u8Buf[1]<<8)|u8Buf[0];
|
||||
|
||||
u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_YOUT_L);
|
||||
u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_YOUT_H);
|
||||
s16Buf[1]= (u8Buf[1]<<8)|u8Buf[0];
|
||||
|
||||
u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_ZOUT_L);
|
||||
u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_ZOUT_H);
|
||||
s16Buf[2]= (u8Buf[1]<<8)|u8Buf[0];
|
||||
|
||||
for(i = 0; i < 3; i ++)
|
||||
{
|
||||
icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i);
|
||||
}
|
||||
*ps16X = s32OutBuf[0] - gstGyroOffset.s16X;
|
||||
*ps16Y = s32OutBuf[1] - gstGyroOffset.s16Y;
|
||||
*ps16Z = s32OutBuf[2] - gstGyroOffset.s16Z;
|
||||
|
||||
return;
|
||||
}
|
||||
void icm20948AccelRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z)
|
||||
{
|
||||
uint8_t u8Buf[2];
|
||||
int16_t s16Buf[3] = {0};
|
||||
uint8_t i;
|
||||
int32_t s32OutBuf[3] = {0};
|
||||
static ICM20948_ST_AVG_DATA sstAvgBuf[3];
|
||||
|
||||
u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_XOUT_L);
|
||||
u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_XOUT_H);
|
||||
s16Buf[0]= (u8Buf[1]<<8)|u8Buf[0];
|
||||
|
||||
u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_YOUT_L);
|
||||
u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_YOUT_H);
|
||||
s16Buf[1]= (u8Buf[1]<<8)|u8Buf[0];
|
||||
|
||||
u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_ZOUT_L);
|
||||
u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_ZOUT_H);
|
||||
s16Buf[2]= (u8Buf[1]<<8)|u8Buf[0];
|
||||
|
||||
for(i = 0; i < 3; i ++)
|
||||
{
|
||||
icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i);
|
||||
}
|
||||
*ps16X = s32OutBuf[0];
|
||||
*ps16Y = s32OutBuf[1];
|
||||
*ps16Z = s32OutBuf[2];
|
||||
|
||||
return;
|
||||
|
||||
}
|
||||
void icm20948MagRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z)
|
||||
{
|
||||
uint8_t counter = 20;
|
||||
uint8_t u8Data[MAG_DATA_LEN];
|
||||
int16_t s16Buf[3] = {0};
|
||||
uint8_t i;
|
||||
int32_t s32OutBuf[3] = {0};
|
||||
static ICM20948_ST_AVG_DATA sstAvgBuf[3];
|
||||
while( counter>0 )
|
||||
{
|
||||
delay(10);
|
||||
icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ,
|
||||
REG_ADD_MAG_ST2, 1, u8Data);
|
||||
|
||||
if ((u8Data[0] & 0x01) != 0)
|
||||
break;
|
||||
|
||||
counter--;
|
||||
}
|
||||
|
||||
if(counter != 0)
|
||||
{
|
||||
icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ,
|
||||
REG_ADD_MAG_DATA,
|
||||
MAG_DATA_LEN,
|
||||
u8Data);
|
||||
s16Buf[0] = ((int16_t)u8Data[1]<<8) | u8Data[0];
|
||||
s16Buf[1] = ((int16_t)u8Data[3]<<8) | u8Data[2];
|
||||
s16Buf[2] = ((int16_t)u8Data[5]<<8) | u8Data[4];
|
||||
}
|
||||
|
||||
for(i = 0; i < 3; i ++)
|
||||
{
|
||||
icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i);
|
||||
}
|
||||
|
||||
*ps16X = s32OutBuf[0];
|
||||
*ps16Y = -s32OutBuf[1];
|
||||
*ps16Z = -s32OutBuf[2];
|
||||
return;
|
||||
}
|
||||
|
||||
void icm20948ReadSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8Len, uint8_t *pu8data)
|
||||
{
|
||||
uint8_t i;
|
||||
uint8_t u8Temp;
|
||||
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3); //swtich bank3
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_ADDR, u8I2CAddr);
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_REG, u8RegAddr);
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_CTRL, REG_VAL_BIT_SLV0_EN|u8Len);
|
||||
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0
|
||||
|
||||
u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_USER_CTRL);
|
||||
u8Temp |= REG_VAL_BIT_I2C_MST_EN;
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp);
|
||||
delay(5);
|
||||
u8Temp &= ~REG_VAL_BIT_I2C_MST_EN;
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp);
|
||||
|
||||
for(i=0; i<u8Len; i++)
|
||||
{
|
||||
*(pu8data+i) = I2C_ReadOneByte(I2C_ADD_ICM20948, REG_ADD_EXT_SENS_DATA_00+i);
|
||||
|
||||
}
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3); //swtich bank3
|
||||
|
||||
u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_I2C_SLV0_CTRL);
|
||||
u8Temp &= ~((REG_VAL_BIT_I2C_MST_EN)&(REG_VAL_BIT_MASK_LEN));
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_CTRL, u8Temp);
|
||||
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0
|
||||
|
||||
}
|
||||
|
||||
void icm20948WriteSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8data)
|
||||
{
|
||||
uint8_t u8Temp;
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3); //swtich bank3
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV1_ADDR, u8I2CAddr);
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV1_REG, u8RegAddr);
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV1_DO, u8data);
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV1_CTRL, REG_VAL_BIT_SLV0_EN|1);
|
||||
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0
|
||||
|
||||
u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_USER_CTRL);
|
||||
u8Temp |= REG_VAL_BIT_I2C_MST_EN;
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp);
|
||||
delay(5);
|
||||
u8Temp &= ~REG_VAL_BIT_I2C_MST_EN;
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp);
|
||||
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3); //swtich bank3
|
||||
|
||||
u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_I2C_SLV0_CTRL);
|
||||
u8Temp &= ~((REG_VAL_BIT_I2C_MST_EN)&(REG_VAL_BIT_MASK_LEN));
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_CTRL, u8Temp);
|
||||
|
||||
I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void icm20948CalAvgValue(uint8_t *pIndex, int16_t *pAvgBuffer, int16_t InVal, int32_t *pOutVal)
|
||||
{
|
||||
uint8_t i;
|
||||
|
||||
*(pAvgBuffer + ((*pIndex) ++)) = InVal;
|
||||
*pIndex &= 0x07;
|
||||
|
||||
*pOutVal = 0;
|
||||
for(i = 0; i < 8; i ++)
|
||||
{
|
||||
*pOutVal += *(pAvgBuffer + i);
|
||||
}
|
||||
*pOutVal >>= 3;
|
||||
}
|
||||
|
||||
void icm20948GyroOffset(void)
|
||||
{
|
||||
uint8_t i;
|
||||
int16_t s16Gx = 0, s16Gy = 0, s16Gz = 0;
|
||||
int32_t s32TempGx = 0, s32TempGy = 0, s32TempGz = 0;
|
||||
for(i = 0; i < 32; i ++)
|
||||
{
|
||||
icm20948GyroRead(&s16Gx, &s16Gy, &s16Gz);
|
||||
s32TempGx += s16Gx;
|
||||
s32TempGy += s16Gy;
|
||||
s32TempGz += s16Gz;
|
||||
delay(10);
|
||||
}
|
||||
gstGyroOffset.s16X = s32TempGx >> 5;
|
||||
gstGyroOffset.s16Y = s32TempGy >> 5;
|
||||
gstGyroOffset.s16Z = s32TempGz >> 5;
|
||||
return;
|
||||
}
|
||||
|
||||
bool icm20948MagCheck(void)
|
||||
{
|
||||
bool bRet = false;
|
||||
uint8_t u8Ret[2];
|
||||
|
||||
icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ,
|
||||
REG_ADD_MAG_WIA1, 2,u8Ret);
|
||||
if( (u8Ret[0] == REG_VAL_MAG_WIA1) && ( u8Ret[1] == REG_VAL_MAG_WIA2) )
|
||||
{
|
||||
bRet = true;
|
||||
}
|
||||
|
||||
return bRet;
|
||||
}
|
||||
|
||||
/******************************************************************************
|
||||
* BMP280 sensor device *
|
||||
******************************************************************************/
|
||||
typedef struct {
|
||||
uint16_t T1; /*<calibration T1 data*/
|
||||
int16_t T2; /*<calibration T2 data*/
|
||||
int16_t T3; /*<calibration T3 data*/
|
||||
uint16_t P1; /*<calibration P1 data*/
|
||||
int16_t P2; /*<calibration P2 data*/
|
||||
int16_t P3; /*<calibration P3 data*/
|
||||
int16_t P4; /*<calibration P4 data*/
|
||||
int16_t P5; /*<calibration P5 data*/
|
||||
int16_t P6; /*<calibration P6 data*/
|
||||
int16_t P7; /*<calibration P7 data*/
|
||||
int16_t P8; /*<calibration P8 data*/
|
||||
int16_t P9; /*<calibration P9 data*/
|
||||
int32_t T_fine; /*<calibration t_fine data*/
|
||||
}BMP280_HandleTypeDef;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
uint8_t Index;
|
||||
int32_t AvgBuffer[8];
|
||||
}BMP280_AvgTypeDef;
|
||||
|
||||
#define dig_T1 bmp280.T1
|
||||
#define dig_T2 bmp280.T2
|
||||
#define dig_T3 bmp280.T3
|
||||
#define dig_P1 bmp280.P1
|
||||
#define dig_P2 bmp280.P2
|
||||
#define dig_P3 bmp280.P3
|
||||
#define dig_P4 bmp280.P4
|
||||
#define dig_P5 bmp280.P5
|
||||
#define dig_P6 bmp280.P6
|
||||
#define dig_P7 bmp280.P7
|
||||
#define dig_P8 bmp280.P8
|
||||
#define dig_P9 bmp280.P9
|
||||
#define t_fine bmp280.T_fine
|
||||
|
||||
#define MSLP 101325 // Mean Sea Level Pressure = 1013.25 hPA (1hPa = 100Pa = 1mbar)
|
||||
|
||||
BMP280_HandleTypeDef bmp280;
|
||||
int32_t gs32Pressure0 = MSLP;
|
||||
|
||||
bool bmp280Check(void)
|
||||
{
|
||||
bool bRet = false;
|
||||
if(0x58 == I2C_ReadOneByte(BMP280_ADDR, BMP280_REGISTER_CHIPID))
|
||||
{
|
||||
bRet = true;
|
||||
}
|
||||
return bRet;
|
||||
}
|
||||
|
||||
void bmp280ReadCalibration(void)
|
||||
{
|
||||
uint8_t lsb, msb;
|
||||
|
||||
/* read the temperature calibration parameters */
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T1_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T1_MSB_REG);
|
||||
dig_T1 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T2_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T2_MSB_REG);
|
||||
dig_T2 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T3_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T3_MSB_REG);
|
||||
dig_T3 = msb << 8 | lsb;
|
||||
|
||||
/* read the pressure calibration parameters */
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P1_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P1_MSB_REG);
|
||||
dig_P1 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P2_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P2_MSB_REG);
|
||||
dig_P2 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P3_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P3_MSB_REG);
|
||||
dig_P3 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P4_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P4_MSB_REG);
|
||||
dig_P4 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P5_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P5_MSB_REG);
|
||||
dig_P5 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P6_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P6_MSB_REG);
|
||||
dig_P6 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P7_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P7_MSB_REG);
|
||||
dig_P7 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P8_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P8_MSB_REG);
|
||||
dig_P8 = msb << 8 | lsb;
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P9_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P9_MSB_REG);
|
||||
dig_P9 = msb << 8 | lsb;
|
||||
|
||||
}
|
||||
|
||||
void bmp280Init(void)
|
||||
{
|
||||
I2C_WriteOneByte(BMP280_ADDR, BMP280_REGISTER_CONTROL, 0xFF);
|
||||
I2C_WriteOneByte(BMP280_ADDR, BMP280_REGISTER_CONFIG, 0x14);
|
||||
bmp280ReadCalibration();
|
||||
}
|
||||
|
||||
float bmp280CompensateTemperature(int32_t adc_T)
|
||||
{
|
||||
int64_t var1, var2, temperature;
|
||||
|
||||
var1 = ((((adc_T>>3) - ((int64_t)dig_T1 <<1))) *((int64_t)dig_T2)) >> 11;
|
||||
var2 = (((((adc_T>>4) - ((int64_t)dig_T1)) *((adc_T>>4) - ((int64_t)dig_T1))) >> 12) *
|
||||
((int64_t)dig_T3)) >> 14;
|
||||
t_fine = var1 + var2;
|
||||
|
||||
temperature = (t_fine * 5 + 128) >> 8;
|
||||
|
||||
return (float)temperature;
|
||||
}
|
||||
|
||||
float bmp280CompensatePressure(int32_t adc_P)
|
||||
{
|
||||
int64_t var1, var2;
|
||||
uint64_t pressure;
|
||||
#if 1
|
||||
var1 = ((int64_t)t_fine) - 128000;
|
||||
var2 = var1 * var1 * (int64_t)dig_P6;
|
||||
var2 = var2 + ((var1*(int64_t)dig_P5)<<17);
|
||||
var2 = var2 + (((int64_t)dig_P4)<<35);
|
||||
var1 = ((var1 * var1 * (int64_t)dig_P3)>>8) + ((var1 * (int64_t)dig_P2)<<12);
|
||||
var1 = (((((int64_t)1)<<47)+var1))*((int64_t)dig_P1)>>33;
|
||||
|
||||
if (var1 == 0) {
|
||||
return 0; // avoid exception caused by division by zero
|
||||
}
|
||||
|
||||
pressure = 1048576.0 - adc_P;
|
||||
pressure = (((pressure<<31) - var2)*3125) / var1;
|
||||
var1 = (((int64_t)dig_P9) * (pressure>>13) * (pressure>>13)) >> 25;
|
||||
var2 = (((int64_t)dig_P8) * pressure) >> 19;
|
||||
pressure = ((pressure + var1 + var2) >> 8) + (((int64_t)dig_P7)<<4);
|
||||
return (float)pressure/256;
|
||||
#else
|
||||
var1 = (((int64_t)t_fine)>>1) - (int64_t)64000;
|
||||
var2 = (((var1>>2) * (var1>>2)) >> 11 ) *((int64_t)dig_P6);
|
||||
var2 = var2 + ((var1 *((int64_t)dig_P5))<<1);
|
||||
var2 = (var2>>2) + (((int64_t)dig_P4)<<16);
|
||||
var1 = (((dig_P3 * (((var1>>2) * (var1>>2))>>13))>>3) + ((((int64_t)dig_P2) * var1)>>1))>>18;
|
||||
var1 = ((((32768+var1))*((int64_t)dig_P1))>>15);
|
||||
if(var1 ==0)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
pressure = (1048576.0 - adc_P) - (var2>>12)*3125;
|
||||
if(pressure < 0x80000000)
|
||||
{
|
||||
pressure = (pressure<<1)/((uint64_t)var1);
|
||||
}
|
||||
else
|
||||
{
|
||||
pressure = (pressure/(uint64_t)var1)*2;
|
||||
}
|
||||
var1 = (((int64_t)dig_P9) *((int64_t)(((pressure>>3)*(pressure>>3))>>13)))>>12;
|
||||
var2 = (((int64_t)(pressure>>2))*((int64_t)dig_P8))>>13;
|
||||
pressure = (uint64_t)((int64_t)pressure) +((var1 + var2 + dig_P7)>>4);
|
||||
return (float)pressure;
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void bmp280TandPGet(float *temperature, float *pressure)
|
||||
{
|
||||
uint8_t lsb, msb, xlsb;
|
||||
int32_t adc_P,adc_T;
|
||||
|
||||
xlsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_XLSB_REG);
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_MSB_REG);
|
||||
//adc_T = (msb << 12) | (lsb << 4) | (xlsb >> 4);
|
||||
adc_T = msb;
|
||||
adc_T <<= 8;
|
||||
adc_T |= lsb;
|
||||
adc_T <<= 8;
|
||||
adc_T |= xlsb;
|
||||
adc_T >>= 4;
|
||||
//adc_T = 415148;
|
||||
*temperature = bmp280CompensateTemperature(adc_T);
|
||||
|
||||
xlsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_XLSB_REG);
|
||||
lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_LSB_REG);
|
||||
msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_MSB_REG);
|
||||
//adc_P = (msb << 12) | (lsb << 4) | (xlsb >> 4);
|
||||
adc_P = msb;
|
||||
adc_P <<= 8;
|
||||
adc_P |= lsb;
|
||||
adc_P <<= 8;
|
||||
adc_P |= xlsb;
|
||||
adc_P >>= 4;
|
||||
//adc_P = 51988;
|
||||
*pressure = bmp280CompensatePressure(adc_P);
|
||||
}
|
||||
|
||||
void bmp280CalAvgValue(uint8_t *pIndex, int32_t *pAvgBuffer, int32_t InVal, int32_t *pOutVal)
|
||||
{
|
||||
uint8_t i;
|
||||
|
||||
*(pAvgBuffer + ((*pIndex) ++)) = InVal;
|
||||
*pIndex &= 0x07;
|
||||
|
||||
*pOutVal = 0;
|
||||
for(i = 0; i < 8; i ++)
|
||||
{
|
||||
*pOutVal += *(pAvgBuffer + i);
|
||||
}
|
||||
*pOutVal >>= 3;
|
||||
}
|
||||
|
||||
void bmp280CalculateAbsoluteAltitude(int32_t *pAltitude, int32_t PressureVal)
|
||||
{
|
||||
*pAltitude = 4433000 * (1 - pow((PressureVal / (float)gs32Pressure0), 0.1903));
|
||||
}
|
||||
|
||||
void pressSensorDataGet(int32_t *ps32Temperature, int32_t *ps32Pressure, int32_t *ps32Altitude)
|
||||
{
|
||||
float CurPressure, CurTemperature;
|
||||
int32_t CurAltitude;
|
||||
static BMP280_AvgTypeDef BMP280_Filter[3];
|
||||
|
||||
bmp280TandPGet(&CurTemperature, &CurPressure);
|
||||
bmp280CalAvgValue(&BMP280_Filter[0].Index, BMP280_Filter[0].AvgBuffer, (int32_t)(CurPressure), ps32Pressure);
|
||||
|
||||
bmp280CalculateAbsoluteAltitude(&CurAltitude, (*ps32Pressure));
|
||||
bmp280CalAvgValue(&BMP280_Filter[1].Index, BMP280_Filter[1].AvgBuffer, CurAltitude, ps32Altitude);
|
||||
bmp280CalAvgValue(&BMP280_Filter[2].Index, BMP280_Filter[2].AvgBuffer, (int32_t)CurTemperature, ps32Temperature);
|
||||
return;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
236
sender_module/Waveshare_10Dof-D.h
Normal file
236
sender_module/Waveshare_10Dof-D.h
Normal file
@ -0,0 +1,236 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file Waveshare_10Dof-D.h
|
||||
* @author Waveshare Team
|
||||
* @version V1.0
|
||||
* @date Dec-2018
|
||||
* @brief
|
||||
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
|
||||
* TIME. AS A RESULT, WAVESHARE SHALL NOT BE HELD LIABLE FOR ANY
|
||||
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
|
||||
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
|
||||
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||
*
|
||||
* <h2><center>© COPYRIGHT 2018 Waveshare</center></h2>
|
||||
******************************************************************************
|
||||
*/
|
||||
#ifndef __Waveshare_10DOF_D_H__
|
||||
#define __Waveshare_10DOF_D_H__
|
||||
#if ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
/* define ICM-20948 Device I2C address*/
|
||||
#define I2C_ADD_ICM20948 0x68
|
||||
#define I2C_ADD_ICM20948_AK09916 0x0C
|
||||
#define I2C_ADD_ICM20948_AK09916_READ 0x80
|
||||
#define I2C_ADD_ICM20948_AK09916_WRITE 0x00
|
||||
/* define ICM-20948 Register */
|
||||
/* user bank 0 register */
|
||||
#define REG_ADD_WIA 0x00
|
||||
#define REG_VAL_WIA 0xEA
|
||||
#define REG_ADD_USER_CTRL 0x03
|
||||
#define REG_VAL_BIT_DMP_EN 0x80
|
||||
#define REG_VAL_BIT_FIFO_EN 0x40
|
||||
#define REG_VAL_BIT_I2C_MST_EN 0x20
|
||||
#define REG_VAL_BIT_I2C_IF_DIS 0x10
|
||||
#define REG_VAL_BIT_DMP_RST 0x08
|
||||
#define REG_VAL_BIT_DIAMOND_DMP_RST 0x04
|
||||
#define REG_ADD_PWR_MIGMT_1 0x06
|
||||
#define REG_VAL_ALL_RGE_RESET 0x80
|
||||
#define REG_VAL_RUN_MODE 0x01 //Non low-power mode
|
||||
#define REG_ADD_LP_CONFIG 0x05
|
||||
#define REG_ADD_PWR_MGMT_1 0x06
|
||||
#define REG_ADD_PWR_MGMT_2 0x07
|
||||
#define REG_ADD_ACCEL_XOUT_H 0x2D
|
||||
#define REG_ADD_ACCEL_XOUT_L 0x2E
|
||||
#define REG_ADD_ACCEL_YOUT_H 0x2F
|
||||
#define REG_ADD_ACCEL_YOUT_L 0x30
|
||||
#define REG_ADD_ACCEL_ZOUT_H 0x31
|
||||
#define REG_ADD_ACCEL_ZOUT_L 0x32
|
||||
#define REG_ADD_GYRO_XOUT_H 0x33
|
||||
#define REG_ADD_GYRO_XOUT_L 0x34
|
||||
#define REG_ADD_GYRO_YOUT_H 0x35
|
||||
#define REG_ADD_GYRO_YOUT_L 0x36
|
||||
#define REG_ADD_GYRO_ZOUT_H 0x37
|
||||
#define REG_ADD_GYRO_ZOUT_L 0x38
|
||||
#define REG_ADD_EXT_SENS_DATA_00 0x3B
|
||||
#define REG_ADD_REG_BANK_SEL 0x7F
|
||||
#define REG_VAL_REG_BANK_0 0x00
|
||||
#define REG_VAL_REG_BANK_1 0x10
|
||||
#define REG_VAL_REG_BANK_2 0x20
|
||||
#define REG_VAL_REG_BANK_3 0x30
|
||||
|
||||
/* user bank 1 register */
|
||||
/* user bank 2 register */
|
||||
#define REG_ADD_GYRO_SMPLRT_DIV 0x00
|
||||
#define REG_ADD_GYRO_CONFIG_1 0x01
|
||||
#define REG_VAL_BIT_GYRO_DLPCFG_2 0x10 /* bit[5:3] */
|
||||
#define REG_VAL_BIT_GYRO_DLPCFG_4 0x20 /* bit[5:3] */
|
||||
#define REG_VAL_BIT_GYRO_DLPCFG_6 0x30 /* bit[5:3] */
|
||||
#define REG_VAL_BIT_GYRO_FS_250DPS 0x00 /* bit[2:1] */
|
||||
#define REG_VAL_BIT_GYRO_FS_500DPS 0x02 /* bit[2:1] */
|
||||
#define REG_VAL_BIT_GYRO_FS_1000DPS 0x04 /* bit[2:1] */
|
||||
#define REG_VAL_BIT_GYRO_FS_2000DPS 0x06 /* bit[2:1] */
|
||||
#define REG_VAL_BIT_GYRO_DLPF 0x01 /* bit[0] */
|
||||
#define REG_ADD_ACCEL_SMPLRT_DIV_2 0x11
|
||||
#define REG_ADD_ACCEL_CONFIG 0x14
|
||||
#define REG_VAL_BIT_ACCEL_DLPCFG_2 0x10 /* bit[5:3] */
|
||||
#define REG_VAL_BIT_ACCEL_DLPCFG_4 0x20 /* bit[5:3] */
|
||||
#define REG_VAL_BIT_ACCEL_DLPCFG_6 0x30 /* bit[5:3] */
|
||||
#define REG_VAL_BIT_ACCEL_FS_2g 0x00 /* bit[2:1] */
|
||||
#define REG_VAL_BIT_ACCEL_FS_4g 0x02 /* bit[2:1] */
|
||||
#define REG_VAL_BIT_ACCEL_FS_8g 0x04 /* bit[2:1] */
|
||||
#define REG_VAL_BIT_ACCEL_FS_16g 0x06 /* bit[2:1] */
|
||||
#define REG_VAL_BIT_ACCEL_DLPF 0x01 /* bit[0] */
|
||||
|
||||
/* user bank 3 register */
|
||||
#define REG_ADD_I2C_SLV0_ADDR 0x03
|
||||
#define REG_ADD_I2C_SLV0_REG 0x04
|
||||
#define REG_ADD_I2C_SLV0_CTRL 0x05
|
||||
#define REG_VAL_BIT_SLV0_EN 0x80
|
||||
#define REG_VAL_BIT_MASK_LEN 0x07
|
||||
#define REG_ADD_I2C_SLV0_DO 0x06
|
||||
#define REG_ADD_I2C_SLV1_ADDR 0x07
|
||||
#define REG_ADD_I2C_SLV1_REG 0x08
|
||||
#define REG_ADD_I2C_SLV1_CTRL 0x09
|
||||
#define REG_ADD_I2C_SLV1_DO 0x0A
|
||||
|
||||
/* define ICM-20948 Register end */
|
||||
|
||||
/* define ICM-20948 MAG Register */
|
||||
#define REG_ADD_MAG_WIA1 0x00
|
||||
#define REG_VAL_MAG_WIA1 0x48
|
||||
#define REG_ADD_MAG_WIA2 0x01
|
||||
#define REG_VAL_MAG_WIA2 0x09
|
||||
#define REG_ADD_MAG_ST2 0x10
|
||||
#define REG_ADD_MAG_DATA 0x11
|
||||
#define REG_ADD_MAG_CNTL2 0x31
|
||||
#define REG_VAL_MAG_MODE_PD 0x00
|
||||
#define REG_VAL_MAG_MODE_SM 0x01
|
||||
#define REG_VAL_MAG_MODE_10HZ 0x02
|
||||
#define REG_VAL_MAG_MODE_20HZ 0x04
|
||||
#define REG_VAL_MAG_MODE_50HZ 0x05
|
||||
#define REG_VAL_MAG_MODE_100HZ 0x08
|
||||
#define REG_VAL_MAG_MODE_ST 0x10
|
||||
/* define ICM-20948 MAG Register end */
|
||||
|
||||
#define MAG_DATA_LEN 6
|
||||
|
||||
/*
|
||||
* BMP280 I2c address
|
||||
*/
|
||||
#define BMP280_AD0_LOW 0x76 //address pin low (GND)
|
||||
#define BMP280_AD0_HIGH 0x77 //address pin high (VCC)
|
||||
#define BMP280_ADDR BMP280_AD0_HIGH // default I2C address
|
||||
/*
|
||||
* BMP280 register address
|
||||
*/
|
||||
#define BMP280_REGISTER_DIG_T1 0x88
|
||||
#define BMP280_REGISTER_DIG_T2 0x8A
|
||||
#define BMP280_REGISTER_DIG_T3 0x8C
|
||||
|
||||
#define BMP280_REGISTER_DIG_P1 0x8E
|
||||
#define BMP280_REGISTER_DIG_P2 0x90
|
||||
#define BMP280_REGISTER_DIG_P3 0x92
|
||||
#define BMP280_REGISTER_DIG_P4 0x94
|
||||
#define BMP280_REGISTER_DIG_P5 0x96
|
||||
#define BMP280_REGISTER_DIG_P6 0x98
|
||||
#define BMP280_REGISTER_DIG_P7 0x9A
|
||||
#define BMP280_REGISTER_DIG_P8 0x9C
|
||||
#define BMP280_REGISTER_DIG_P9 0x9E
|
||||
|
||||
#define BMP280_REGISTER_CHIPID 0xD0
|
||||
#define BMP280_REGISTER_VERSION 0xD1
|
||||
#define BMP280_REGISTER_SOFTRESET 0xE0
|
||||
#define BMP280_REGISTER_STATUS 0xF3
|
||||
#define BMP280_REGISTER_CONTROL 0xF4
|
||||
#define BMP280_REGISTER_CONFIG 0xF5
|
||||
|
||||
#define BMP280_TEMP_XLSB_REG 0xFC /*Temperature XLSB Register */
|
||||
#define BMP280_TEMP_LSB_REG 0xFB /*Temperature LSB Register */
|
||||
#define BMP280_TEMP_MSB_REG 0xFA /*Temperature LSB Register */
|
||||
#define BMP280_PRESS_XLSB_REG 0xF9 /*Pressure XLSB Register */
|
||||
#define BMP280_PRESS_LSB_REG 0xF8 /*Pressure LSB Register */
|
||||
#define BMP280_PRESS_MSB_REG 0xF7 /*Pressure MSB Register */
|
||||
|
||||
/*calibration parameters */
|
||||
#define BMP280_DIG_T1_LSB_REG 0x88
|
||||
#define BMP280_DIG_T1_MSB_REG 0x89
|
||||
#define BMP280_DIG_T2_LSB_REG 0x8A
|
||||
#define BMP280_DIG_T2_MSB_REG 0x8B
|
||||
#define BMP280_DIG_T3_LSB_REG 0x8C
|
||||
#define BMP280_DIG_T3_MSB_REG 0x8D
|
||||
#define BMP280_DIG_P1_LSB_REG 0x8E
|
||||
#define BMP280_DIG_P1_MSB_REG 0x8F
|
||||
#define BMP280_DIG_P2_LSB_REG 0x90
|
||||
#define BMP280_DIG_P2_MSB_REG 0x91
|
||||
#define BMP280_DIG_P3_LSB_REG 0x92
|
||||
#define BMP280_DIG_P3_MSB_REG 0x93
|
||||
#define BMP280_DIG_P4_LSB_REG 0x94
|
||||
#define BMP280_DIG_P4_MSB_REG 0x95
|
||||
#define BMP280_DIG_P5_LSB_REG 0x96
|
||||
#define BMP280_DIG_P5_MSB_REG 0x97
|
||||
#define BMP280_DIG_P6_LSB_REG 0x98
|
||||
#define BMP280_DIG_P6_MSB_REG 0x99
|
||||
#define BMP280_DIG_P7_LSB_REG 0x9A
|
||||
#define BMP280_DIG_P7_MSB_REG 0x9B
|
||||
#define BMP280_DIG_P8_LSB_REG 0x9C
|
||||
#define BMP280_DIG_P8_MSB_REG 0x9D
|
||||
#define BMP280_DIG_P9_LSB_REG 0x9E
|
||||
#define BMP280_DIG_P9_MSB_REG 0x9F
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
typedef enum
|
||||
{
|
||||
IMU_EN_SENSOR_TYPE_NULL = 0,
|
||||
IMU_EN_SENSOR_TYPE_ICM20948,
|
||||
IMU_EN_SENSOR_TYPE_BMP280,
|
||||
IMU_EN_SENSOR_TYPE_MAX
|
||||
}IMU_EN_SENSOR_TYPE;
|
||||
|
||||
typedef struct imu_st_angles_data_tag
|
||||
{
|
||||
float fYaw;
|
||||
float fPitch;
|
||||
float fRoll;
|
||||
}IMU_ST_ANGLES_DATA;
|
||||
|
||||
typedef struct imu_st_sensor_data_tag
|
||||
{
|
||||
int16_t s16X;
|
||||
int16_t s16Y;
|
||||
int16_t s16Z;
|
||||
}IMU_ST_SENSOR_DATA;
|
||||
|
||||
typedef struct icm20948_st_avg_data_tag
|
||||
{
|
||||
uint8_t u8Index;
|
||||
int16_t s16AvgBuffer[8];
|
||||
}ICM20948_ST_AVG_DATA;
|
||||
|
||||
void imuInit(IMU_EN_SENSOR_TYPE *penMotionSensorType, IMU_EN_SENSOR_TYPE *penPressureType);
|
||||
void imuDataGet(IMU_ST_ANGLES_DATA *pstAngles,
|
||||
IMU_ST_SENSOR_DATA *pstGyroRawData,
|
||||
IMU_ST_SENSOR_DATA *pstAccelRawData,
|
||||
IMU_ST_SENSOR_DATA *pstMagnRawData);
|
||||
void pressSensorDataGet(int32_t *ps32Temperature, int32_t *ps32Pressure, int32_t *ps32Altitude);
|
||||
|
||||
uint8_t I2C_ReadOneByte(uint8_t DevAddr, uint8_t RegAddr);
|
||||
void I2C_WriteOneByte(uint8_t DevAddr, uint8_t RegAddr, uint8_t value);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif //__Waveshare_10DOF_D_H__
|
||||
59
sender_module/sender_module.ino
Normal file
59
sender_module/sender_module.ino
Normal file
@ -0,0 +1,59 @@
|
||||
#include <SPI.h>
|
||||
#include <nRF24L01.h>
|
||||
#include <RF24.h>
|
||||
#include "Waveshare_10Dof-D.h"
|
||||
#include "string.h"
|
||||
|
||||
|
||||
bool gbSenserConnectState = false;
|
||||
//create an RF24 object
|
||||
RF24 radio(9, 8); // CE, CSN
|
||||
const byte address[6] = "00001"; //address through which two modules communicate
|
||||
|
||||
void setup() {
|
||||
// init radio
|
||||
radio.begin();
|
||||
radio.openWritingPipe(address);
|
||||
radio.stopListening(); //Set module as transmitter
|
||||
|
||||
// init motion sensor
|
||||
bool bRet;
|
||||
IMU_EN_SENSOR_TYPE enMotionSensorType, enPressureType;
|
||||
Serial.begin(115200);
|
||||
|
||||
imuInit(&enMotionSensorType, &enPressureType);
|
||||
if(IMU_EN_SENSOR_TYPE_ICM20948 == enMotionSensorType)
|
||||
{
|
||||
Serial.println("Motion sersor is ICM-20948");
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.println("Motion sersor NULL");
|
||||
}
|
||||
if(IMU_EN_SENSOR_TYPE_BMP280 == enPressureType)
|
||||
{
|
||||
Serial.println("Pressure sersor is BMP280");
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.println("Pressure sersor NULL");
|
||||
}
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
IMU_ST_ANGLES_DATA stAngles;
|
||||
IMU_ST_SENSOR_DATA stGyroRawData;
|
||||
IMU_ST_SENSOR_DATA stAccelRawData;
|
||||
IMU_ST_SENSOR_DATA stMagnRawData;
|
||||
int32_t s32PressureVal = 0, s32TemperatureVal = 0, s32AltitudeVal = 0;
|
||||
|
||||
imuDataGet( &stAngles, &stGyroRawData, &stAccelRawData, &stMagnRawData);
|
||||
pressSensorDataGet(&s32TemperatureVal, &s32PressureVal, &s32AltitudeVal);
|
||||
char result[8];
|
||||
float temperature = (s32TemperatureVal / 100);
|
||||
dtostrf(temperature, 6, 2, result);
|
||||
//Send message to receiver
|
||||
radio.write(&result, sizeof(result));
|
||||
//delay(1000);
|
||||
}
|
||||
7
serial_read/go.mod
Normal file
7
serial_read/go.mod
Normal file
@ -0,0 +1,7 @@
|
||||
module foglar/serial_read
|
||||
|
||||
go 1.21.6
|
||||
|
||||
require github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07
|
||||
|
||||
require golang.org/x/sys v0.16.0 // indirect
|
||||
4
serial_read/go.sum
Normal file
4
serial_read/go.sum
Normal file
@ -0,0 +1,4 @@
|
||||
github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU=
|
||||
github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07/go.mod h1:kDXzergiv9cbyO7IOYJZWg1U88JhDg3PB6klq9Hg2pA=
|
||||
golang.org/x/sys v0.16.0 h1:xWw16ngr6ZMtmxDyKyIgsE93KNKz5HKmMa3b8ALHidU=
|
||||
golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
|
||||
101
serial_read/main.go
Normal file
101
serial_read/main.go
Normal file
@ -0,0 +1,101 @@
|
||||
package main
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
"github.com/tarm/serial"
|
||||
"log"
|
||||
"os"
|
||||
"time"
|
||||
)
|
||||
|
||||
func portInput() string {
|
||||
var port string
|
||||
for true {
|
||||
port = ""
|
||||
fmt.Print("Enter port to listen on (for example - '/dev/ttyACM0'): ")
|
||||
fmt.Scanln(&port)
|
||||
|
||||
if port == "" {
|
||||
port = "/dev/ttyACM0"
|
||||
}
|
||||
|
||||
_, err := os.Stat(port)
|
||||
if !os.IsNotExist(err) {
|
||||
break
|
||||
} else {
|
||||
fmt.Println("Invalid port")
|
||||
}
|
||||
}
|
||||
|
||||
return port
|
||||
}
|
||||
|
||||
func baudrateInput() int {
|
||||
var baudrate int
|
||||
var s_baudrate string
|
||||
|
||||
fmt.Print("Enter baudrate (for example - '9600'): ")
|
||||
fmt.Scanln(&s_baudrate)
|
||||
|
||||
switch s_baudrate {
|
||||
case "4800":
|
||||
baudrate = 4800
|
||||
case "9600":
|
||||
baudrate = 9600
|
||||
case "115200":
|
||||
baudrate = 115200
|
||||
default:
|
||||
baudrate = 9600
|
||||
}
|
||||
return baudrate
|
||||
}
|
||||
|
||||
func UserInput() (string, int) {
|
||||
port := portInput()
|
||||
baudrate := baudrateInput()
|
||||
|
||||
return port, baudrate
|
||||
}
|
||||
|
||||
func getTime() string {
|
||||
return time.Now().Format("2006-1-2_15:4:5")
|
||||
}
|
||||
|
||||
func main() {
|
||||
// User input
|
||||
port, baudrate := UserInput()
|
||||
|
||||
// Listen on port
|
||||
fmt.Printf("Listening on port %s with baudrate %d:\n", port, baudrate)
|
||||
c := &serial.Config{Name: port, Baud: baudrate}
|
||||
|
||||
// Create file
|
||||
filename := getTime() + ".txt"
|
||||
f, err := os.Create(filename)
|
||||
if err != nil {
|
||||
log.Fatal(err)
|
||||
}
|
||||
defer f.Close()
|
||||
|
||||
// Open port
|
||||
s, err := serial.OpenPort(c)
|
||||
if err != nil {
|
||||
log.Fatal(err)
|
||||
}
|
||||
|
||||
var n int
|
||||
for {
|
||||
// create a buffer
|
||||
buf := make([]byte, 254)
|
||||
|
||||
// Read length of serial input
|
||||
n, err = s.Read(buf)
|
||||
if err != nil {
|
||||
log.Fatal(err)
|
||||
}
|
||||
|
||||
// Print as a string
|
||||
fmt.Print(string(buf[:n]))
|
||||
f.WriteString(string(buf[:n]))
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user