foglar
b7c477b37e
- Serial reader read data, and outputs them - Sender send temperature - Receiver transmits data via serial
237 lines
8.8 KiB
C
237 lines
8.8 KiB
C
/**
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******************************************************************************
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* @file Waveshare_10Dof-D.h
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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
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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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#ifndef __Waveshare_10DOF_D_H__
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#define __Waveshare_10DOF_D_H__
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#if ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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/* define ICM-20948 Device I2C address*/
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#define I2C_ADD_ICM20948 0x68
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#define I2C_ADD_ICM20948_AK09916 0x0C
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#define I2C_ADD_ICM20948_AK09916_READ 0x80
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#define I2C_ADD_ICM20948_AK09916_WRITE 0x00
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/* define ICM-20948 Register */
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/* user bank 0 register */
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#define REG_ADD_WIA 0x00
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#define REG_VAL_WIA 0xEA
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#define REG_ADD_USER_CTRL 0x03
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#define REG_VAL_BIT_DMP_EN 0x80
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#define REG_VAL_BIT_FIFO_EN 0x40
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#define REG_VAL_BIT_I2C_MST_EN 0x20
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#define REG_VAL_BIT_I2C_IF_DIS 0x10
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#define REG_VAL_BIT_DMP_RST 0x08
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#define REG_VAL_BIT_DIAMOND_DMP_RST 0x04
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#define REG_ADD_PWR_MIGMT_1 0x06
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#define REG_VAL_ALL_RGE_RESET 0x80
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#define REG_VAL_RUN_MODE 0x01 //Non low-power mode
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#define REG_ADD_LP_CONFIG 0x05
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#define REG_ADD_PWR_MGMT_1 0x06
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#define REG_ADD_PWR_MGMT_2 0x07
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#define REG_ADD_ACCEL_XOUT_H 0x2D
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#define REG_ADD_ACCEL_XOUT_L 0x2E
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#define REG_ADD_ACCEL_YOUT_H 0x2F
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#define REG_ADD_ACCEL_YOUT_L 0x30
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#define REG_ADD_ACCEL_ZOUT_H 0x31
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#define REG_ADD_ACCEL_ZOUT_L 0x32
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#define REG_ADD_GYRO_XOUT_H 0x33
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#define REG_ADD_GYRO_XOUT_L 0x34
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#define REG_ADD_GYRO_YOUT_H 0x35
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#define REG_ADD_GYRO_YOUT_L 0x36
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#define REG_ADD_GYRO_ZOUT_H 0x37
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#define REG_ADD_GYRO_ZOUT_L 0x38
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#define REG_ADD_EXT_SENS_DATA_00 0x3B
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#define REG_ADD_REG_BANK_SEL 0x7F
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#define REG_VAL_REG_BANK_0 0x00
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#define REG_VAL_REG_BANK_1 0x10
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#define REG_VAL_REG_BANK_2 0x20
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#define REG_VAL_REG_BANK_3 0x30
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/* user bank 1 register */
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/* user bank 2 register */
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#define REG_ADD_GYRO_SMPLRT_DIV 0x00
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#define REG_ADD_GYRO_CONFIG_1 0x01
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#define REG_VAL_BIT_GYRO_DLPCFG_2 0x10 /* bit[5:3] */
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#define REG_VAL_BIT_GYRO_DLPCFG_4 0x20 /* bit[5:3] */
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#define REG_VAL_BIT_GYRO_DLPCFG_6 0x30 /* bit[5:3] */
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#define REG_VAL_BIT_GYRO_FS_250DPS 0x00 /* bit[2:1] */
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#define REG_VAL_BIT_GYRO_FS_500DPS 0x02 /* bit[2:1] */
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#define REG_VAL_BIT_GYRO_FS_1000DPS 0x04 /* bit[2:1] */
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#define REG_VAL_BIT_GYRO_FS_2000DPS 0x06 /* bit[2:1] */
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#define REG_VAL_BIT_GYRO_DLPF 0x01 /* bit[0] */
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#define REG_ADD_ACCEL_SMPLRT_DIV_2 0x11
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#define REG_ADD_ACCEL_CONFIG 0x14
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#define REG_VAL_BIT_ACCEL_DLPCFG_2 0x10 /* bit[5:3] */
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#define REG_VAL_BIT_ACCEL_DLPCFG_4 0x20 /* bit[5:3] */
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#define REG_VAL_BIT_ACCEL_DLPCFG_6 0x30 /* bit[5:3] */
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#define REG_VAL_BIT_ACCEL_FS_2g 0x00 /* bit[2:1] */
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#define REG_VAL_BIT_ACCEL_FS_4g 0x02 /* bit[2:1] */
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#define REG_VAL_BIT_ACCEL_FS_8g 0x04 /* bit[2:1] */
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#define REG_VAL_BIT_ACCEL_FS_16g 0x06 /* bit[2:1] */
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#define REG_VAL_BIT_ACCEL_DLPF 0x01 /* bit[0] */
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/* user bank 3 register */
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#define REG_ADD_I2C_SLV0_ADDR 0x03
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#define REG_ADD_I2C_SLV0_REG 0x04
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#define REG_ADD_I2C_SLV0_CTRL 0x05
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#define REG_VAL_BIT_SLV0_EN 0x80
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#define REG_VAL_BIT_MASK_LEN 0x07
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#define REG_ADD_I2C_SLV0_DO 0x06
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#define REG_ADD_I2C_SLV1_ADDR 0x07
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#define REG_ADD_I2C_SLV1_REG 0x08
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#define REG_ADD_I2C_SLV1_CTRL 0x09
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#define REG_ADD_I2C_SLV1_DO 0x0A
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/* define ICM-20948 Register end */
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/* define ICM-20948 MAG Register */
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#define REG_ADD_MAG_WIA1 0x00
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#define REG_VAL_MAG_WIA1 0x48
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#define REG_ADD_MAG_WIA2 0x01
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#define REG_VAL_MAG_WIA2 0x09
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#define REG_ADD_MAG_ST2 0x10
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#define REG_ADD_MAG_DATA 0x11
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#define REG_ADD_MAG_CNTL2 0x31
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#define REG_VAL_MAG_MODE_PD 0x00
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#define REG_VAL_MAG_MODE_SM 0x01
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#define REG_VAL_MAG_MODE_10HZ 0x02
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#define REG_VAL_MAG_MODE_20HZ 0x04
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#define REG_VAL_MAG_MODE_50HZ 0x05
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#define REG_VAL_MAG_MODE_100HZ 0x08
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#define REG_VAL_MAG_MODE_ST 0x10
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/* define ICM-20948 MAG Register end */
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#define MAG_DATA_LEN 6
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/*
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* BMP280 I2c address
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*/
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#define BMP280_AD0_LOW 0x76 //address pin low (GND)
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#define BMP280_AD0_HIGH 0x77 //address pin high (VCC)
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#define BMP280_ADDR BMP280_AD0_HIGH // default I2C address
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/*
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* BMP280 register address
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*/
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#define BMP280_REGISTER_DIG_T1 0x88
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#define BMP280_REGISTER_DIG_T2 0x8A
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#define BMP280_REGISTER_DIG_T3 0x8C
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#define BMP280_REGISTER_DIG_P1 0x8E
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#define BMP280_REGISTER_DIG_P2 0x90
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#define BMP280_REGISTER_DIG_P3 0x92
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#define BMP280_REGISTER_DIG_P4 0x94
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#define BMP280_REGISTER_DIG_P5 0x96
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#define BMP280_REGISTER_DIG_P6 0x98
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#define BMP280_REGISTER_DIG_P7 0x9A
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#define BMP280_REGISTER_DIG_P8 0x9C
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#define BMP280_REGISTER_DIG_P9 0x9E
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#define BMP280_REGISTER_CHIPID 0xD0
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#define BMP280_REGISTER_VERSION 0xD1
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#define BMP280_REGISTER_SOFTRESET 0xE0
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#define BMP280_REGISTER_STATUS 0xF3
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#define BMP280_REGISTER_CONTROL 0xF4
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#define BMP280_REGISTER_CONFIG 0xF5
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#define BMP280_TEMP_XLSB_REG 0xFC /*Temperature XLSB Register */
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#define BMP280_TEMP_LSB_REG 0xFB /*Temperature LSB Register */
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#define BMP280_TEMP_MSB_REG 0xFA /*Temperature LSB Register */
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#define BMP280_PRESS_XLSB_REG 0xF9 /*Pressure XLSB Register */
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#define BMP280_PRESS_LSB_REG 0xF8 /*Pressure LSB Register */
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#define BMP280_PRESS_MSB_REG 0xF7 /*Pressure MSB Register */
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/*calibration parameters */
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#define BMP280_DIG_T1_LSB_REG 0x88
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#define BMP280_DIG_T1_MSB_REG 0x89
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#define BMP280_DIG_T2_LSB_REG 0x8A
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#define BMP280_DIG_T2_MSB_REG 0x8B
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#define BMP280_DIG_T3_LSB_REG 0x8C
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#define BMP280_DIG_T3_MSB_REG 0x8D
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#define BMP280_DIG_P1_LSB_REG 0x8E
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#define BMP280_DIG_P1_MSB_REG 0x8F
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#define BMP280_DIG_P2_LSB_REG 0x90
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#define BMP280_DIG_P2_MSB_REG 0x91
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#define BMP280_DIG_P3_LSB_REG 0x92
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#define BMP280_DIG_P3_MSB_REG 0x93
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#define BMP280_DIG_P4_LSB_REG 0x94
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#define BMP280_DIG_P4_MSB_REG 0x95
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#define BMP280_DIG_P5_LSB_REG 0x96
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#define BMP280_DIG_P5_MSB_REG 0x97
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#define BMP280_DIG_P6_LSB_REG 0x98
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#define BMP280_DIG_P6_MSB_REG 0x99
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#define BMP280_DIG_P7_LSB_REG 0x9A
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#define BMP280_DIG_P7_MSB_REG 0x9B
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#define BMP280_DIG_P8_LSB_REG 0x9C
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#define BMP280_DIG_P8_MSB_REG 0x9D
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#define BMP280_DIG_P9_LSB_REG 0x9E
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#define BMP280_DIG_P9_MSB_REG 0x9F
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef enum
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{
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IMU_EN_SENSOR_TYPE_NULL = 0,
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IMU_EN_SENSOR_TYPE_ICM20948,
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IMU_EN_SENSOR_TYPE_BMP280,
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IMU_EN_SENSOR_TYPE_MAX
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}IMU_EN_SENSOR_TYPE;
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typedef struct imu_st_angles_data_tag
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{
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float fYaw;
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float fPitch;
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float fRoll;
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}IMU_ST_ANGLES_DATA;
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typedef struct imu_st_sensor_data_tag
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{
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int16_t s16X;
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int16_t s16Y;
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int16_t s16Z;
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}IMU_ST_SENSOR_DATA;
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typedef struct icm20948_st_avg_data_tag
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{
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uint8_t u8Index;
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int16_t s16AvgBuffer[8];
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}ICM20948_ST_AVG_DATA;
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void imuInit(IMU_EN_SENSOR_TYPE *penMotionSensorType, IMU_EN_SENSOR_TYPE *penPressureType);
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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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void pressSensorDataGet(int32_t *ps32Temperature, int32_t *ps32Pressure, int32_t *ps32Altitude);
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uint8_t I2C_ReadOneByte(uint8_t DevAddr, uint8_t RegAddr);
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void I2C_WriteOneByte(uint8_t DevAddr, uint8_t RegAddr, uint8_t value);
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#ifdef __cplusplus
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}
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#endif
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#endif //__Waveshare_10DOF_D_H__
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