YuanHongbin
93e00b8b0a
- 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
333 lines
11 KiB
C
333 lines
11 KiB
C
#include "main.h"
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#include "mmc5983.h"
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#include "UartDebug.h"
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#include "i2c.h"
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#include "Algorithm.h"
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#define MAG_AVG_CNT 2 //每2个样本平均输出1次,输出速率=20Hz/2=10Hz
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#define MAG_POLL_MS 20 //测量完成标志轮询周期,与20Hz测量周期一致
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#define MAG_POLL_FAIL_MAX 5 //连续5次(100ms)轮询无数据则重写配置自恢复
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static bool InitFlag;
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static bool MMC5983IntFlag;
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static MMC5983Var_t MMC5983Var;
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static int32_t mag_array[XYZ][MAG_AVG_CNT];
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static uint8_t magcnt;
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static uint8_t PollFailCnt;
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extern void MmcDataProcessCallBack(float *Mag);
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/*****************************************************************************************
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* 函数名称: MMC5983_Write_Reg
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* 功能描述: MMC5983写寄存器
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* 参 数: reg 寄存器地址
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val 寄存器数据
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* 返 回 值: 成功返回true，失败返回false
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*****************************************************************************************/
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static bool MMC5983_Write_Reg(uint8_t reg, uint8_t val)
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{
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return I2C_MasterWriteData(M0P_I2C0, MMC5983_ADDRESS, reg, &val, 1);
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}
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/*****************************************************************************************
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* 函数名称: MMC5983_Read_Reg
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* 功能描述: MMC5983读寄存器
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* 参 数: reg 寄存器地址
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* 返 回 值: 返回寄存器值
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*****************************************************************************************/
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static uint8_t MMC5983_Read_Reg(uint8_t reg)
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{
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uint8_t res;
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if(I2C_MasterReadData(M0P_I2C0, MMC5983_ADDRESS, reg, &res, 1) == false)
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res = 0;
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return res;
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}
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/*****************************************************************************************
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* 函数名称: MMC5983_Read_Buffer
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* 功能描述: MMC5983读数据
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* 参 数: reg 寄存器地址
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buffer 读取数据输出缓存入口
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len 读取长度
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* 返 回 值: 成功返回true，失败返回false
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*****************************************************************************************/
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static bool MMC5983_Read_Buffer(uint8_t reg, void *buffer, uint8_t len)
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{
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return I2C_MasterReadData(M0P_I2C0, MMC5983_ADDRESS, reg, buffer, len);
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}
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/*****************************************************************************************
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* 函数名称: MMC5983StartContinuous
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* 功能描述: MMC5983开启20Hz连续转换(常开,不进入低功耗)
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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static void MMC5983StartContinuous(void)
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{
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MMC5983RegCtrl0 Ctrl0Reg;
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MMC5983RegCtrl2 Ctrl2Reg; //开启/关闭连续转换
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Ctrl0Reg.Byte = 0x00;
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Ctrl0Reg.Bit.Auto_SR_en = 1; //自动SET/RESET,消除温漂零场漂移
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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)
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MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
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Ctrl2Reg.Byte = 0x00;
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Ctrl2Reg.Bit.Cm_freq = 0x03; //011=20Hz连续测量
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Ctrl2Reg.Bit.Cmm_en = 1; //连续设1，单次设0
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Ctrl2Reg.Bit.Prd_set = 3; //每100次测量自动SET一次,消除温漂
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Ctrl2Reg.Bit.En_prd_set = 1;
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MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte);
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}
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/*****************************************************************************************
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* 函数名称: MMC5983_Init
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* 功能描述: MMC5983初始化
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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static void MMC5983_Init(void)
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{
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uint8_t id;
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id = MMC5983_Read_Reg(MMC5983_ID);
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//DBG_LOG("MMC5983 id=0x%x\r\n",id);
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MMC5983Var.MMC5983Delay1mSCnt = 100;
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while(id != 0x30){
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if(MMC5983Var.MMC5983Delay1mSCnt <= 0) {
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DBG_LOG("MMC5983 INIT Err...\r\n");
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InitFlag = false;
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return;
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}
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}
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MMC5983RegCtrl1 Ctrl1Reg;
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Ctrl1Reg.Byte = 0x00;
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Ctrl1Reg.Bit.SW_RST = 1;
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MMC5983_Write_Reg(MMC5983_CTRL_1, Ctrl1Reg.Byte);
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MMC5983Delay(15);
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MMC5983RegCtrl2 Ctrl2Reg; //连续模式在StartContinuous中开启
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Ctrl2Reg.Byte = 0x00;
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MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte);
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MMC5983RegCtrl3 Ctrl3Reg;
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Ctrl3Reg.Byte = 0x00;
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Ctrl3Reg.Bit.St_enm = 1;
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Ctrl3Reg.Bit.St_enp = 1;
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MMC5983_Write_Reg(MMC5983_CTRL_3, Ctrl3Reg.Byte);
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MMC5983RegCtrl0 Ctrl0Reg;
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Ctrl0Reg.Byte = 0x00;
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Ctrl0Reg.Bit.Auto_SR_en = 1; //自动SET/RESET,消除温漂零场漂移
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Ctrl0Reg.Bit.NT_meas_done_en = 1; //测量完成中断使能
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MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
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if(InitFlag == false){
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DBG_LOG("MMC5983 INIT OK...\r\n");
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InitFlag = true;
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}
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}
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/*****************************************************************************************
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* 函数名称: MMC5983_Read
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* 功能描述: MMC5983读取原始数据(18bit)
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* 参 数: MagAdcX X轴数据
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MagAdcY Y轴数据
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MagAdcZ Z轴数据
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* 返 回 值: 成功返回true，失败返回false
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*****************************************************************************************/
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static bool MMC5983_Read(int32_t *MagAdcX, int32_t *MagAdcY, int32_t *MagAdcZ)
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{
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static uint8_t buff[7];
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if (MMC5983_Read_Buffer(MMC5983_X_OUT_H, buff, 7) == false)
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return false;
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*MagAdcX = (buff[0] << 10) | (buff[1] << 2) | ((buff[6] & 0xC0) >> 6);
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*MagAdcY = (buff[2] << 10) | (buff[3] << 2) | ((buff[6] & 0x30) >> 4);
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*MagAdcZ = (buff[4] << 10) | (buff[5] << 2) | ((buff[6] & 0x0C) >> 2);// Turn the 18 bits into unsigned 32-bit value
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return true;
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}
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/*****************************************************************************************
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* 函数名称: MMC5983_Get_Mag
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* 功能描述: 外部获取MMC5983磁场强度数据
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* 参 数: mag 读取数据输出缓存入口
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* 返 回 值: 无
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*****************************************************************************************/
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void MMC5983_Get_Mag(float *mag)
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{
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if(mag == NULL)
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return;
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float ADVal[XYZ];
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ADVal[X] = MMC5983Var.Mag_Original[X] - 131072.0f;
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ADVal[Y] = MMC5983Var.Mag_Original[Y] - 131072.0f;
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ADVal[Z] = MMC5983Var.Mag_Original[Z] - 131072.0f;
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mag[0] = (float) (ADVal[X] * MMC5983_MAG_SCALE_18BIT);
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mag[1] = (float) (ADVal[Y] * MMC5983_MAG_SCALE_18BIT);
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mag[2] = (float) (ADVal[Z] * MMC5983_MAG_SCALE_18BIT);
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}
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/*****************************************************************************************
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* 函数名称: MMC5983MeasDoneProcess
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* 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
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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static void MMC5983MeasDoneProcess(void)
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{
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MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS;
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if(MMC5983_Read(&mag_array[X][magcnt], &mag_array[Y][magcnt], &mag_array[Z][magcnt])){
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magcnt++;
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}
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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
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if(magcnt >= MAG_AVG_CNT){
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MMC5983Var.Mag_Original[X] = AverageFilter_32t(mag_array[X], magcnt);
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MMC5983Var.Mag_Original[Y] = AverageFilter_32t(mag_array[Y], magcnt);
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MMC5983Var.Mag_Original[Z] = AverageFilter_32t(mag_array[Z], magcnt);
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magcnt = 0;
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MMC5983_Get_Mag(MMC5983Var.Mag);
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MmcDataProcessCallBack(MMC5983Var.Mag);
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}
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}
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/*****************************************************************************************
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* 函数名称: MMC5983LoopHandler
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* 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
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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void MMC5983LoopHandler(void)
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{
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switch(MMC5983Var.Status) {
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case MMC5983_STATUS_IDLE:{
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break;}
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case MMC5983_STATUS_START:{
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if(!InitFlag){
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MMC5983_Init();
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if(!InitFlag){
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MMC5983Var.Status = MMC5983_STATUS_IDLE;
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break;
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}
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}
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magcnt = 0;
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PollFailCnt = 0;
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MMC5983StartContinuous(); //开启20Hz连续测量
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MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS;
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MMC5983Var.Status = MMC5983_STATUS_WAIT_READ;
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break;}
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case MMC5983_STATUS_WAIT_READ:{
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if(MMC5983IntFlag == true){
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MMC5983IntFlag = false;
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PollFailCnt = 0;
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MMC5983MeasDoneProcess(); //INT触发,立即读数
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}
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else if(MMC5983Var.MMC5983Delay1mSCnt <= 0){
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uint8_t StatusReg;
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MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS; //20ms轮询一次测量完成标志
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StatusReg = MMC5983_Read_Reg(MMC5983_STATUS);
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if((StatusReg & 0x01) != 0){ //Meas_M_Done=1,测量完成
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PollFailCnt = 0;
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MMC5983MeasDoneProcess();
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}
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else{
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PollFailCnt++;
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if(PollFailCnt >= MAG_POLL_FAIL_MAX){
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PollFailCnt = 0;
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MMC5983StartContinuous(); //连续无数据,重写配置自恢复
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}
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}
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}
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break;}
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case MMC5983_STATUS_STOP:{
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MMC5983Stop();
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MMC5983Var.Status = MMC5983_STATUS_IDLE;
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break;}
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}
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}
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/*****************************************************************************************
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* 函数名称: MMC59831mSRoutine
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* 功能描述: MMC59831ms时基循环处理函数
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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void MMC59831mSRoutine(void)
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{
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if(MMC5983Var.MMC5983Delay1mSCnt > 0)
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MMC5983Var.MMC5983Delay1mSCnt--;
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}
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/*****************************************************************************************
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* 函数名称: MMC5983Init
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* 功能描述: MMC5983初始化
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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void MMC5983Init(void)
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{
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if(!InitFlag){
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MMC5983_Init();
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return;
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}
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MMC5983Var.Status = MMC5983_STATUS_START;
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}
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/*****************************************************************************************
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* 函数名称: MMC5983Start
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* 功能描述: MMC5983启动(幂等,已运行则直接返回)
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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void MMC5983Start(void)
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{
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if(MMC5983Var.Status == MMC5983_STATUS_WAIT_READ){
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return; //已在连续采样,不重复配置
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}
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if(!InitFlag){
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MMC5983_Init();
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if(!InitFlag){
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return;
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}
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}
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MMC5983Var.Status = MMC5983_STATUS_START;
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}
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/*****************************************************************************************
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* 函数名称: MMC5983Stop
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* 功能描述: MMC5983停止(关闭连续转换)
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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void MMC5983Stop(void)
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{
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MMC5983RegCtrl2 Ctrl2Reg;
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Ctrl2Reg.Byte = 0x00;
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MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte); //Cmm_en=0,关闭连续转换
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MMC5983RegCtrl0 Ctrl0Reg;
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Ctrl0Reg.Byte = 0x00;
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MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
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MMC5983Var.Status = MMC5983_STATUS_IDLE;
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}
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/*****************************************************************************************
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* 函数名称: MMC5983IntCallBack
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* 功能描述: MMC5983中断回调
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* 参 数: 无
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* 返 回 值: 无
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*****************************************************************************************/
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void MMC5983IntCallBack(void)
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{
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MMC5983IntFlag = true;
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}
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