YuanHongbin/LaserTracing
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: continuous sensor sampling (10Hz attitude) + LoRa on-demand power + I2C driver hardening

Browse Source 
- LSM6DSL: ODR 12.5->52Hz high-performance, gyro FS 2000->500dps, FIFO stream mode,
  watermark 4 sets (24 words) interrupt driven, 4-sample average output 13Hz,
  1s no-data watchdog auto recovery
- MMC5983: enable 20Hz continuous measurement mode (was dead code), remove per-read SW_RST,
  STATUS polling + INT dual path, write-1-clear Meas_M_Done to release INT latch,
  2-sample average output 10Hz, timeout auto recovery
- I2C driver: add wait timeout and state machine retry limit to read/write,
  NACK fast-return FALSE, eliminate bus-stuck infinite loop
- main.c: continuous acquire loop (no IDLE dead-end on first failure),
  keep UpdateOk valid to fix up/coll command race, TimingAcquisition compatible with
  continuous mode, add LoraPowerHandler (LoRa RX during comm, sleep otherwise, saves ~10mA),
  remove 10Hz hot-path debug prints
- Attitude update ~10Hz (IMU 13Hz / mag 10Hz), gateway upload cadence unchanged
This commit is contained in:
YuanHongbin
2026-09-03 16:15:09 +08:00
parent 706eb1247e
commit 93e00b8b0a
5 changed files with 387 additions and 358 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Module/mmc5983/mmc5983.c
+115 -126
View File
@@ -1,14 +1,21 @@
#include "main.h"
#include "main.h"
#include "mmc5983.h"
#include "UartDebug.h"
#include "i2c.h"
#include "Algorithm.h"
static int32_t max_in[XYZ];
static int32_t min_in[XYZ];
#define MAG_AVG_CNT 2 //每2个样本平均输出1次,输出速率=20Hz/2=10Hz
#define MAG_POLL_MS 20 //测量完成标志轮询周期,与20Hz测量周期一致
#define MAG_POLL_FAIL_MAX 5 //连续5次(100ms)轮询无数据则重写配置自恢复
static bool InitFlag;
static bool MMC5983IntFlag;
static MMC5983Var_t MMC5983Var;
static int32_t mag_array[XYZ][MAG_AVG_CNT];
static uint8_t magcnt;
static uint8_t PollFailCnt;
extern void MmcDataProcessCallBack(float *Mag);
/*****************************************************************************************
* 函数名称: MMC5983_Write_Reg
@@ -50,19 +57,24 @@ static bool MMC5983_Read_Buffer(uint8_t reg, void *buffer, uint8_t len)
}
/*****************************************************************************************
* 函数名称: MMC5983StartCov
* 功能描述: MMC5983开启连续转换
* 函数名称: MMC5983StartContinuous
* 功能描述: MMC5983开启20Hz连续转换(常开,不进入低功耗)
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
static void MMC5983StartCov(void)
static void MMC5983StartContinuous(void)
{
MMC5983RegCtrl0 Ctrl0Reg;
MMC5983RegCtrl2 Ctrl2Reg; //开启/关闭连续转换
Ctrl0Reg.Byte = 0x00;
Ctrl0Reg.Bit.Auto_SR_en = 1; //自动SET/RESET,消除温漂零场漂移
Ctrl0Reg.Bit.NT_meas_done_en = 1; //测量完成中断使能(Stop会清CTRL0,启动时必须重写)
MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
Ctrl2Reg.Byte = 0x00;
Ctrl2Reg.Bit.Cm_freq = 0x04;
Ctrl2Reg.Bit.Cm_freq = 0x03; //011=20Hz连续测量
Ctrl2Reg.Bit.Cmm_en = 1; //连续设1，单次设0
Ctrl2Reg.Bit.Prd_set = 3;
Ctrl2Reg.Bit.En_prd_set = 1; //连续设1，单次设0
Ctrl2Reg.Bit.Prd_set = 3; //每100次测量自动SET一次,消除温漂
Ctrl2Reg.Bit.En_prd_set = 1;
MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte);
}
@@ -75,54 +87,49 @@ static void MMC5983StartCov(void)
static void MMC5983_Init(void)
{
uint8_t id;
id = MMC5983_Read_Reg(MMC5983_ID);
//DBG_LOG("MMC5983 id=0x%x\r\n",id);
MMC5983Var.MMC5983Delay1mSCnt = 100;
while(id != 0x30){
if(MMC5983Var.MMC5983Delay1mSCnt <= 0) {
DBG_LOG("LEFT MMC5983 INIT Err...\r\n");
DBG_LOG("MMC5983 INIT Err...\r\n");
InitFlag = false;
return;
}
}
MMC5983RegCtrl1 Ctrl1Reg;
Ctrl1Reg.Byte = 0x00;
Ctrl1Reg.Bit.SW_RST = 1;
MMC5983_Write_Reg(MMC5983_CTRL_1, Ctrl1Reg.Byte);
MMC5983Delay(15);
MMC5983RegCtrl2 Ctrl2Reg; //开启/关闭连续转换
MMC5983RegCtrl2 Ctrl2Reg; //连续模式在StartContinuous中开启
Ctrl2Reg.Byte = 0x00;
Ctrl2Reg.Bit.Cm_freq = 0x04;
Ctrl2Reg.Bit.Cmm_en = 0; //连续设1，单次设0
Ctrl2Reg.Bit.Prd_set = 3;
Ctrl2Reg.Bit.En_prd_set = 0; //连续设1，单次设0
MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte);
MMC5983RegCtrl3 Ctrl3Reg;
Ctrl3Reg.Byte = 0x00;
Ctrl3Reg.Bit.St_enm = 1;
Ctrl3Reg.Bit.St_enp = 1;
MMC5983_Write_Reg(MMC5983_CTRL_3, Ctrl3Reg.Byte);
MMC5983RegCtrl0 Ctrl0Reg;
Ctrl0Reg.Byte = 0x00;
Ctrl0Reg.Bit.TM_M = 1;
Ctrl0Reg.Bit.Auto_SR_en = 1;
Ctrl0Reg.Bit.NT_meas_done_en = 1;
Ctrl0Reg.Bit.Auto_SR_en = 1; //自动SET/RESET,消除温漂零场漂移
Ctrl0Reg.Bit.NT_meas_done_en = 1; //测量完成中断使能
MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
if(InitFlag == false){
DBG_LOG("MMC5983 INIT OK...\r\n");
DBG_LOG("MMC5983 INIT OK...\r\n");
InitFlag = true;
}
}
/*****************************************************************************************
* 函数名称: MMC5983_Read
* 功能描述: MMC5983读取原始数据
* 功能描述: MMC5983读取原始数据(18bit)
* 参 数: MagAdcX X轴数据
MagAdcY Y轴数据
MagAdcZ Z轴数据
@@ -131,7 +138,7 @@ static void MMC5983_Init(void)
static bool MMC5983_Read(int32_t *MagAdcX, int32_t *MagAdcY, int32_t *MagAdcZ)
{
static uint8_t buff[7];
if (MMC5983_Read_Buffer(MMC5983_X_OUT_H, buff, 7) == false)
return false;
@@ -151,125 +158,114 @@ void MMC5983_Get_Mag(float *mag)
{
if(mag == NULL)
return;
float ADVal[XYZ];
ADVal[X] = MMC5983Var.Mag_Original[X] - 131072.0f;
ADVal[Y] = MMC5983Var.Mag_Original[Y] - 131072.0f;
ADVal[Z] = MMC5983Var.Mag_Original[Z] - 131072.0f;
ADVal[X] = MMC5983Var.Mag_Original[X] - 131072.0f;
ADVal[Y] = MMC5983Var.Mag_Original[Y] - 131072.0f;
ADVal[Z] = MMC5983Var.Mag_Original[Z] - 131072.0f;
mag[0] = (float) (ADVal[X] * MMC5983_MAG_SCALE_18BIT);
mag[1] = (float) (ADVal[Y] * MMC5983_MAG_SCALE_18BIT);
mag[2] = (float) (ADVal[Z] * MMC5983_MAG_SCALE_18BIT);
}
/*****************************************************************************************
* 函数名称: MMC5983LoopHandler
* 功能描述: MMC5983循环处理函数
* 函数名称: MMC5983MeasDoneProcess
* 功能描述: 单次测量完成处理:读取样本、清除中断锁存,凑够MAG_AVG_CNT个样本后平均输出
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
static void MMC5983MeasDoneProcess(void)
{
MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS;
if(MMC5983_Read(&mag_array[X][magcnt], &mag_array[Y][magcnt], &mag_array[Z][magcnt])){
magcnt++;
}
MMC5983_Write_Reg(MMC5983_STATUS, 0x01); //写1清Meas_M_Done,释放INT锁存,下次测量产生新上升沿
if(magcnt >= MAG_AVG_CNT){
MMC5983Var.Mag_Original[X] = AverageFilter_32t(mag_array[X], magcnt);
MMC5983Var.Mag_Original[Y] = AverageFilter_32t(mag_array[Y], magcnt);
MMC5983Var.Mag_Original[Z] = AverageFilter_32t(mag_array[Z], magcnt);
magcnt = 0;
MMC5983_Get_Mag(MMC5983Var.Mag);
MmcDataProcessCallBack(MMC5983Var.Mag);
}
}
/*****************************************************************************************
* 函数名称: MMC5983LoopHandler
* 功能描述: MMC5983循环处理函数,20Hz连续采样,2样本平均后10Hz输出
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
extern void MmcDataProcessCallBack(float *Mag);
void MMC5983LoopHandler(void)
{
static int32_t mag_array[XYZ][10];
static uint8_t magcnt;
static uint8_t TimeOutMagcnt;
switch(MMC5983Var.Status) {
case MMC5983_STATUS_IDLE:{
break;}
case MMC5983_STATUS_START:{
for(int i = 0; i < 10; i++) {
mag_array[X][i] = 0;
mag_array[Y][i] = 0;
mag_array[Z][i] = 0;
}
magcnt = 0;
TimeOutMagcnt = 0;
memset(&MMC5983Var, NULL, sizeof(MMC5983Var));
MMC5983Var.Status = MMC5983_STATUS_DELAY;
break;}
case MMC5983_STATUS_DELAY:{
MMC5983StartRead();
MMC5983Var.MMC5983Delay1mSCnt = 50;
MMC5983Var.Status = MMC5983_STATUS_WAIT_DELAY;
break;}
case MMC5983_STATUS_WAIT_DELAY:{
if(MMC5983Var.MMC5983Delay1mSCnt <= 0){
MMC5983Var.Status = MMC5983_STATUS_READ;
if(!InitFlag){
MMC5983_Init();
if(!InitFlag){
MMC5983Var.Status = MMC5983_STATUS_IDLE;
break;
}
}
break;}
case MMC5983_STATUS_READ:{
MMC5983Var.MMC5983Delay1mSCnt = 50;
magcnt = 0;
PollFailCnt = 0;
MMC5983StartContinuous(); //开启20Hz连续测量
MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS;
MMC5983Var.Status = MMC5983_STATUS_WAIT_READ;
break;}
case MMC5983_STATUS_WAIT_READ:{
if(MMC5983Var.MMC5983Delay1mSCnt <= 0){
MMC5983Var.Status = MMC5983_STATUS_DELAY;
TimeOutMagcnt++;
}
case MMC5983_STATUS_WAIT_READ:{
if(MMC5983IntFlag == true){
MMC5983IntFlag = false;
MMC5983_Read(&mag_array[X][magcnt], &mag_array[Y][magcnt], &mag_array[Z][magcnt]);
magcnt++;
MMC5983Var.Status = MMC5983_STATUS_DELAY;
PollFailCnt = 0;
MMC5983MeasDoneProcess(); //INT触发,立即读数
}
if(TimeOutMagcnt >= 10){
TimeOutMagcnt = 0;
if(magcnt > 0){
MMC5983Var.Mag_Original[X] = AverageFilter_32t(mag_array[X], magcnt);
MMC5983Var.Mag_Original[Y] = AverageFilter_32t(mag_array[Y], magcnt);
MMC5983Var.Mag_Original[Z] = AverageFilter_32t(mag_array[Z], magcnt);
magcnt = 0;
MMC5983_Get_Mag(MMC5983Var.Mag);
MmcDataProcessCallBack(MMC5983Var.Mag);
MMC5983Var.Status = MMC5983_STATUS_STOP;
else if(MMC5983Var.MMC5983Delay1mSCnt <= 0){
uint8_t StatusReg;
MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS; //20ms轮询一次测量完成标志
StatusReg = MMC5983_Read_Reg(MMC5983_STATUS);
if((StatusReg & 0x01) != 0){ //Meas_M_Done=1,测量完成
PollFailCnt = 0;
MMC5983MeasDoneProcess();
}
else{
MMC5983Var.Status = MMC5983_STATUS_STOP;
// DBG_LOG("LEFT MMC5983 TimeOut...\r\n");
PollFailCnt++;
if(PollFailCnt >= MAG_POLL_FAIL_MAX){
PollFailCnt = 0;
MMC5983StartContinuous(); //连续无数据,重写配置自恢复
}
}
}
if(magcnt >= 10){
MMC5983Var.Mag_Original[X] = AverageFilter_32t(mag_array[X], magcnt);
MMC5983Var.Mag_Original[Y] = AverageFilter_32t(mag_array[Y], magcnt);
MMC5983Var.Mag_Original[Z] = AverageFilter_32t(mag_array[Z], magcnt);
magcnt = 0;
MMC5983_Get_Mag(MMC5983Var.Mag);
MmcDataProcessCallBack(MMC5983Var.Mag);
MMC5983Var.Status = MMC5983_STATUS_STOP;
}
break;}
case MMC5983_STATUS_STOP:{
MMC5983Stop();
MMC5983Var.Status = MMC5983_STATUS_IDLE;
//MMC5983Var.Status = MMC5983_STATUS_START;//持续工作
break;}
}
}
/*****************************************************************************************
* 函数名称: LeftMMC59831mSRoutine
* 函数名称: MMC59831mSRoutine
* 功能描述: MMC59831ms时基循环处理函数
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
void MMC59831mSRoutine(void)
{
if(MMC5983Var.MMC5983Delay1mSCnt > 0)
if(MMC5983Var.MMC5983Delay1mSCnt > 0)
MMC5983Var.MMC5983Delay1mSCnt--;
}
/*****************************************************************************************
* 函数名称: LeftMMC5983Init
* 函数名称: MMC5983Init
* 功能描述: MMC5983初始化
* 参 数: 无
* 返 回 值: 无
@@ -280,58 +276,52 @@ void MMC5983Init(void)
MMC5983_Init();
return;
}
MMC5983Var.Status = MMC5983_STATUS_START;
}
/*****************************************************************************************
* 函数名称: LeftMMC5983Start
* 功能描述: MMC5983启动
* 函数名称: MMC5983Start
* 功能描述: MMC5983启动(幂等,已运行则直接返回)
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
void MMC5983Start(void)
{
if(MMC5983Var.Status == MMC5983_STATUS_WAIT_READ){
return; //已在连续采样,不重复配置
}
if(!InitFlag){
MMC5983_Init();
return;
if(!InitFlag){
return;
}
}
MMC5983Var.Status = MMC5983_STATUS_START;
}
/*****************************************************************************************
* 函数名称: LeftMMC5983StartRead
* 功能描述: MMC5983启动读取
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
void MMC5983StartRead(void)
{
MMC5983_Init();//读取时重新初始化
}
/*****************************************************************************************
* 函数名称: MMC5983Stop
* 功能描述: MMC5983停止
* 功能描述: MMC5983停止(关闭连续转换)
* 参 数: 无
* 返 回 值: 无
*****************************************************************************************/
void MMC5983Stop(void)
{
{
MMC5983RegCtrl2 Ctrl2Reg;
Ctrl2Reg.Byte = 0x00;
MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte); //Cmm_en=0,关闭连续转换
MMC5983RegCtrl0 Ctrl0Reg;
Ctrl0Reg.Byte = 0x00;
MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
MMC5983RegStatus StatusReg;
StatusReg.Byte = MMC5983_Read_Reg(MMC5983_STATUS);
if(StatusReg.Bit.Meas_M_Done == 1){
MMC5983_Write_Reg(MMC5983_STATUS, StatusReg.Byte);
}
MMC5983Var.Status = MMC5983_STATUS_IDLE;
}
/*****************************************************************************************
* 函数名称: LeftMMC5983IntCallBack
* 函数名称: MMC5983IntCallBack
* 功能描述: MMC5983中断回调
* 参 数: 无
* 返 回 值: 无
@@ -340,4 +330,3 @@ void MMC5983IntCallBack(void)
{
MMC5983IntFlag = true;
}