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/*********************************************************************************************************************
* TC264 Opensourec Library <20><><EFBFBD><EFBFBD>TC264 <20><>Դ<EFBFBD>⣩<EFBFBD><E2A3A9>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ڹٷ<DAB9> SDK <20>ӿڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>
* Copyright (c) 2022 SEEKFREE <20><><EFBFBD>ɿƼ<C9BF>
*
* <20><><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD> TC264 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
*
* TC264 <20><>Դ<EFBFBD><D4B4> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD><EFBFBD>Ը<EFBFBD><D4B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ᷢ<EFBFBD><E1B7A2><EFBFBD><EFBFBD> GPL<50><4C>GNU General Public License<73><65><EFBFBD><EFBFBD> GNUͨ<55>ù<EFBFBD><C3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* <20><> GPL <20>ĵ<EFBFBD>3<EFBFBD>棨<EFBFBD><E6A3A8> GPL3.0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD>κκ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>İ汾<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD>
*
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ܷ<EFBFBD><DCB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD>δ<EFBFBD><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>κεı<CEB5>֤
* <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ի<EFBFBD><D4BB>ʺ<EFBFBD><CABA>ض<EFBFBD><D8B6><EFBFBD>;<EFBFBD>ı<EFBFBD>֤
* <20><><EFBFBD><EFBFBD>ϸ<EFBFBD><CFB8><EFBFBD><EFBFBD><EFBFBD>μ<EFBFBD> GPL
*
* <20><>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>ͬʱ<CDAC>յ<EFBFBD>һ<EFBFBD><D2BB> GPL <20>ĸ<EFBFBD><C4B8><EFBFBD>
* <20><><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><https://www.gnu.org/licenses/>
*
* <20><><EFBFBD><EFBFBD>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>
* <20><><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ʹ<EFBFBD><CAB9> GPL3.0 <20><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD>֤Э<D6A4><D0AD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>İ汾
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӣ<EFBFBD>İ<EFBFBD><C4B0><EFBFBD> libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> GPL3_permission_statement.txt <20>ļ<EFBFBD><C4BC><EFBFBD>
* <20><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD> libraries <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD>µ<EFBFBD> LICENSE <20>ļ<EFBFBD>
* <20><>ӭ<EFBFBD><D3AD>λʹ<CEBB>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>޸<EFBFBD><DEB8><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>뱣<EFBFBD><EBB1A3><EFBFBD><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC>İ<EFBFBD>Ȩ<EFBFBD><C8A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> zf_device_imu963ra
* <20><>˾<EFBFBD><CBBE><EFBFBD><EFBFBD> <20>ɶ<EFBFBD><C9B6><EFBFBD><EFBFBD>ɿƼ<C9BF><C6BC><EFBFBD><EFBFBD>޹<EFBFBD>˾
* <20>汾<EFBFBD><E6B1BE>Ϣ <20>鿴 libraries/doc <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD> version <20>ļ<EFBFBD> <20>汾˵<E6B1BE><CBB5>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ADS v1.10.2
* <20><><EFBFBD><EFBFBD>ƽ̨ TC264D
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> https://seekfree.taobao.com/
*
* <20>޸ļ<DEB8>¼
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><>ע
* 2022-09-15 pudding first version
* 2023-04-28 pudding <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><D7A2>˵<EFBFBD><CBB5>
********************************************************************************************************************/
/********************************************************************************************************************
* <20><><EFBFBD>߶<EFBFBD><DFB6>壺
* ------------------------------------
* ģ<><C4A3><EFBFBD>ܽ<EFBFBD> <20><>Ƭ<EFBFBD><C6AC><EFBFBD>ܽ<EFBFBD>
* // Ӳ<><D3B2> SPI <20><><EFBFBD><EFBFBD>
* SCL/SPC <20>鿴 zf_device_imu963ra.h <20><> IMU963RA_SPC_PIN <20>궨<EFBFBD><EAB6A8>
* SDA/DSI <20>鿴 zf_device_imu963ra.h <20><> IMU963RA_SDI_PIN <20>궨<EFBFBD><EAB6A8>
* SA0/SDO <20>鿴 zf_device_imu963ra.h <20><> IMU963RA_SDO_PIN <20>궨<EFBFBD><EAB6A8>
* CS <20>鿴 zf_device_imu963ra.h <20><> IMU963RA_CS_PIN <20>궨<EFBFBD><EAB6A8>
* VCC 3.3V<EFBFBD><EFBFBD>Դ
* GND <20><>Դ<EFBFBD><D4B4>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* // <20><><EFBFBD><EFBFBD> IIC <20><><EFBFBD><EFBFBD>
* SCL/SPC <20>鿴 zf_device_imu963ra.h <20><> IMU963RA_SCL_PIN <20>궨<EFBFBD><EAB6A8>
* SDA/DSI <20>鿴 zf_device_imu963ra.h <20><> IMU963RA_SDA_PIN <20>궨<EFBFBD><EAB6A8>
* VCC 3.3V<EFBFBD><EFBFBD>Դ
* GND <20><>Դ<EFBFBD><D4B4>
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ------------------------------------
********************************************************************************************************************/
#include "zf_common_debug.h"
#include "zf_driver_delay.h"
#include "zf_driver_spi.h"
#include "zf_driver_soft_iic.h"
#include "zf_device_imu963ra.h"
int16 imu963ra_gyro_x = 0, imu963ra_gyro_y = 0, imu963ra_gyro_z = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> GYRO (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
int16 imu963ra_acc_x = 0, imu963ra_acc_y = 0, imu963ra_acc_z = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD> ACC (accelerometer <20><><EFBFBD>ٶȼ<D9B6>)
int16 imu963ra_mag_x = 0, imu963ra_mag_y = 0, imu963ra_mag_z = 0; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MAG (magnetometer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
float imu963ra_transition_factor[3] = {4098, 14.3, 3000}; // ת<><D7AA>ʵ<EFBFBD><CAB5>ֵ<EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
#if IMU963RA_USE_SOFT_IIC
static soft_iic_info_struct imu963ra_iic_struct;
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA д<>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> data <20><><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_write_acc_gyro_register(IMU963RA_SLV0_CONFIG, 0x00);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
#define imu963ra_write_acc_gyro_register(reg,data) (soft_iic_write_8bit_register(&imu963ra_iic_struct,reg,data))
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 <20><><EFBFBD><EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_read_acc_gyro_register(IMU963RA_STATUS_MASTER);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
#define imu963ra_read_acc_gyro_register(reg) (soft_iic_sccb_read_register(&imu963ra_iic_struct,reg))
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> data <20><><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> len <20><><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_read_acc_gyro_registers(IMU963RA_OUTX_L_A, dat, 6);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
#define imu963ra_read_acc_gyro_registers(reg,data,len) (soft_iic_read_8bit_registers(&imu963ra_iic_struct,reg,data,len))
#else
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA д<>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> data <20><><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_write_acc_gyro_register(IMU963RA_SLV0_CONFIG, 0x00);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static void imu963ra_write_acc_gyro_register (uint8 reg, uint8 data)
{
IMU963RA_CS(0);
spi_write_8bit_register(IMU963RA_SPI, reg | IMU963RA_SPI_W, data);
IMU963RA_CS(1);
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 <20><><EFBFBD><EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_read_acc_gyro_register(IMU963RA_STATUS_MASTER);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint8 imu963ra_read_acc_gyro_register (uint8 reg)
{
uint8 data = 0;
IMU963RA_CS(0);
data = spi_read_8bit_register(IMU963RA_SPI, reg | IMU963RA_SPI_R);
IMU963RA_CS(1);
return data;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg <20>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> data <20><><EFBFBD>ݻ<EFBFBD><DDBB><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> len <20><><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_read_acc_gyro_registers(IMU963RA_OUTX_L_A, dat, 6);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static void imu963ra_read_acc_gyro_registers (uint8 reg, uint8 *data, uint32 len)
{
IMU963RA_CS(0);
spi_read_8bit_registers(IMU963RA_SPI, reg | IMU963RA_SPI_R, data, len);
IMU963RA_CS(1);
}
#endif
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><>Ϊ IIC <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> addr Ŀ<><C4BF><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg Ŀ<><C4BF><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> data <20><><EFBFBD><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 1-ʧ<><CAA7> 0-<2D>ɹ<EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_write_mag_register(IMU963RA_MAG_ADDR, IMU963RA_MAG_CONTROL2, 0x80);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint8 imu963ra_write_mag_register (uint8 addr, uint8 reg, uint8 data)
{
uint8 return_state = 0;
uint16 timeout_count = 0;
addr = addr << 1;
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_CONFIG, 0x00); // <20>ӻ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_ADD, addr | 0); // <20><><EFBFBD>õشżƵ<C5BC>ַ<EFBFBD><D6B7>ע<EFBFBD><D7A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>8λ<38><CEBB>I2C<32><43>ַ<EFBFBD><D6B7> 0x2C
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_SUBADD, reg); // <20><>Ҫд<D2AA><D0B4><EFBFBD>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
imu963ra_write_acc_gyro_register(IMU963RA_DATAWRITE_SLV0, data); // <20><>Ҫд<D2AA><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
imu963ra_write_acc_gyro_register(IMU963RA_MASTER_CONFIG, 0x4C); // <20><><EFBFBD>ڵ<EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨѶ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> I2C<32><43><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>
// <20>ȴ<EFBFBD>ͨѶ<CDA8>ɹ<EFBFBD>
while(0 == (0x80 & imu963ra_read_acc_gyro_register(IMU963RA_STATUS_MASTER)))
{
if(IMU963RA_TIMEOUT_COUNT < timeout_count ++)
{
return_state = 1;
break;
}
system_delay_ms(2);
}
return return_state;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><>Ϊ IIC <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> addr Ŀ<><C4BF><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg Ŀ<><C4BF><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_read_mag_register(IMU963RA_MAG_ADDR, IMU963RA_MAG_CHIP_ID);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint8 imu963ra_read_mag_register (uint8 addr, uint8 reg)
{
uint16 timeout_count = 0;
addr = addr << 1;
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_ADD, addr | 1); // <20><><EFBFBD>õشżƵ<C5BC>ַ<EFBFBD><D6B7>ע<EFBFBD><D7A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>8λ<38><CEBB>I2C<32><43>ַ<EFBFBD><D6B7> 0x2C
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_SUBADD, reg); // <20><>Ҫ<EFBFBD><D2AA>ȡ<EFBFBD>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_CONFIG, 0x01);
imu963ra_write_acc_gyro_register(IMU963RA_MASTER_CONFIG, 0x4C); // <20><><EFBFBD>ڵ<EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨѶ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> I2C<32><43><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>
// <20>ȴ<EFBFBD>ͨѶ<CDA8>ɹ<EFBFBD>
while(0 == (0x01 & imu963ra_read_acc_gyro_register(IMU963RA_STATUS_MASTER)))
{
if(IMU963RA_TIMEOUT_COUNT < timeout_count ++)
{
break;
}
system_delay_ms(2);
}
return (imu963ra_read_acc_gyro_register(IMU963RA_SENSOR_HUB_1)); // <20><><EFBFBD>ض<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><>Ϊ IIC <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> addr Ŀ<><C4BF><EFBFBD><EFBFBD>ַ
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> reg Ŀ<><C4BF><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_connect_mag(IMU963RA_MAG_ADDR, IMU963RA_MAG_OUTX_L);
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static void imu963ra_connect_mag (uint8 addr, uint8 reg)
{
addr = addr << 1;
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_ADD, addr | 1); // <20><><EFBFBD>õشżƵ<C5BC>ַ<EFBFBD><D6B7>ע<EFBFBD><D7A2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>8λ<38><CEBB>I2C<32><43>ַ<EFBFBD><D6B7> 0x2C
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_SUBADD, reg); // <20><>Ҫ<EFBFBD><D2AA>ȡ<EFBFBD>ļĴ<C4BC><C4B4><EFBFBD><EFBFBD><EFBFBD>ַ
imu963ra_write_acc_gyro_register(IMU963RA_SLV0_CONFIG, 0x06);
imu963ra_write_acc_gyro_register(IMU963RA_MASTER_CONFIG, 0x6C); // <20><><EFBFBD>ڵ<EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨѶ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> I2C<32><43><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 1-<2D>Լ<EFBFBD>ʧ<EFBFBD><CAA7> 0-<2D>Լ<EFBFBD><D4BC>ɹ<EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_acc_gyro_self_check();
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint8 imu963ra_acc_gyro_self_check (void)
{
uint8 return_state = 0;
uint8 dat = 0;
uint16 timeout_count = 0;
while(0x6B != dat) // <20>ж<EFBFBD> ID <20>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
{
if(IMU963RA_TIMEOUT_COUNT < timeout_count ++)
{
return_state = 1;
break;
}
dat = imu963ra_read_acc_gyro_register(IMU963RA_WHO_AM_I);
system_delay_ms(10);
}
return return_state;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> IMU963RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD> <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 1-<2D>Լ<EFBFBD>ʧ<EFBFBD><CAA7> 0-<2D>Լ<EFBFBD><D4BC>ɹ<EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_mag_self_check();
// <20><>ע<EFBFBD><D7A2>Ϣ <20>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
static uint8 imu963ra_mag_self_check (void)
{
uint8 return_state = 0;
uint8 dat = 0;
uint16 timeout_count = 0;
while(0xff != dat) // <20>ж<EFBFBD> ID <20>Ƿ<EFBFBD><C7B7><EFBFBD>ȷ
{
if(IMU963RA_TIMEOUT_COUNT < timeout_count ++)
{
return_state = 1;
break;
}
dat = imu963ra_read_mag_register(IMU963RA_MAG_ADDR, IMU963RA_MAG_CHIP_ID);
system_delay_ms(10);
}
return return_state;
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ȡ IMU963RA <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_get_acc();
// <20><>ע<EFBFBD><D7A2>Ϣ ִ<>иú<D0B8><C3BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>Ӳ鿴<D3B2><E9BFB4>Ӧ<EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
void imu963ra_get_acc (void)
{
uint8 dat[6];
imu963ra_read_acc_gyro_registers(IMU963RA_OUTX_L_A, dat, 6);
imu963ra_acc_x = (int16)(((uint16)dat[1]<<8 | dat[0]));
imu963ra_acc_y = (int16)(((uint16)dat[3]<<8 | dat[2]));
imu963ra_acc_z = (int16)(((uint16)dat[5]<<8 | dat[4]));
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ȡ IMU963RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_get_gyro();
// <20><>ע<EFBFBD><D7A2>Ϣ ִ<>иú<D0B8><C3BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>Ӳ鿴<D3B2><E9BFB4>Ӧ<EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
void imu963ra_get_gyro (void)
{
uint8 dat[6];
imu963ra_read_acc_gyro_registers(IMU963RA_OUTX_L_G, dat, 6);
imu963ra_gyro_x = (int16)(((uint16)dat[1]<<8 | dat[0]));
imu963ra_gyro_y = (int16)(((uint16)dat[3]<<8 | dat[2]));
imu963ra_gyro_z = (int16)(((uint16)dat[5]<<8 | dat[4]));
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ȡ IMU963RA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> void
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_get_mag();
// <20><>ע<EFBFBD><D7A2>Ϣ ִ<>иú<D0B8><C3BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>Ӳ鿴<D3B2><E9BFB4>Ӧ<EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//-------------------------------------------------------------------------------------------------------------------
void imu963ra_get_mag (void)
{
uint8 temp_status;
uint8 dat[6];
imu963ra_write_acc_gyro_register(IMU963RA_FUNC_CFG_ACCESS, 0x40);
temp_status = imu963ra_read_acc_gyro_register(IMU963RA_STATUS_MASTER);
if(0x01 & temp_status)
{
imu963ra_read_acc_gyro_registers(IMU963RA_SENSOR_HUB_1, dat, 6);
imu963ra_mag_x = (int16)(((uint16)dat[1]<<8 | dat[0]));
imu963ra_mag_y = (int16)(((uint16)dat[3]<<8 | dat[2]));
imu963ra_mag_z = (int16)(((uint16)dat[5]<<8 | dat[4]));
}
imu963ra_write_acc_gyro_register(IMU963RA_FUNC_CFG_ACCESS, 0x00);
}
//-------------------------------------------------------------------------------------------------------------------
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʼ<EFBFBD><CABC> IMU963RA
// <20><><EFBFBD><EFBFBD>˵<EFBFBD><CBB5> void
// <20><><EFBFBD>ز<EFBFBD><D8B2><EFBFBD> uint8 1-<2D><>ʼ<EFBFBD><CABC>ʧ<EFBFBD><CAA7> 0-<2D><>ʼ<EFBFBD><CABC><EFBFBD>ɹ<EFBFBD>
// ʹ<><CAB9>ʾ<EFBFBD><CABE> imu963ra_init();
// <20><>ע<EFBFBD><D7A2>Ϣ
//-------------------------------------------------------------------------------------------------------------------
uint8 imu963ra_init (void)
{
uint8 return_state = 0;
system_delay_ms(10); // <20>ϵ<EFBFBD><CFB5><EFBFBD>ʱ
#if IMU963RA_USE_SOFT_IIC
soft_iic_init(&imu963ra_iic_struct, IMU963RA_DEV_ADDR, IMU963RA_SOFT_IIC_DELAY, IMU963RA_SCL_PIN, IMU963RA_SDA_PIN);
#else
spi_init(IMU963RA_SPI, SPI_MODE0, IMU963RA_SPI_SPEED, IMU963RA_SPC_PIN, IMU963RA_SDI_PIN, IMU963RA_SDO_PIN, SPI_CS_NULL);
gpio_init(IMU963RA_CS_PIN, GPO, GPIO_LOW, GPO_PUSH_PULL);
#endif
do
{
imu963ra_write_acc_gyro_register(IMU963RA_FUNC_CFG_ACCESS, 0x00); // <20>ر<EFBFBD>HUB<55>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
imu963ra_write_acc_gyro_register(IMU963RA_CTRL3_C, 0x01); // <20><>λ<EFBFBD>豸
system_delay_ms(2);
imu963ra_write_acc_gyro_register(IMU963RA_FUNC_CFG_ACCESS, 0x00); // <20>ر<EFBFBD>HUB<55>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(imu963ra_acc_gyro_self_check())
{
zf_log(0, "IMU963RA acc and gyro self check error.");
return_state = 1;
break;
}
imu963ra_write_acc_gyro_register(IMU963RA_INT1_CTRL, 0x03); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD>ݾ<EFBFBD><DDBE><EFBFBD><EFBFBD>ж<EFBFBD>
// IMU963RA_CTRL1_XL <20>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ 0x30 <20><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>2 G <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 16393 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ 0x38 <20><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>4 G <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 8197 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ 0x3C <20><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>8 G <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 4098 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ g(m/s^2)
// <20><><EFBFBD><EFBFBD>Ϊ 0x34 <20><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>16 G <20><>ȡ<EFBFBD><C8A1><EFBFBD>ļ<EFBFBD><C4BC>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 2049 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ g(m/s^2)
switch(IMU963RA_ACC_SAMPLE_DEFAULT)
{
default:
{
zf_log(0, "IMU963RA_ACC_SAMPLE_DEFAULT set error.");
return_state = 1;
}break;
case IMU963RA_ACC_SAMPLE_SGN_2G:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL1_XL, 0x30);
imu963ra_transition_factor[0] = 16393;
}break;
case IMU963RA_ACC_SAMPLE_SGN_4G:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL1_XL, 0x38);
imu963ra_transition_factor[0] = 8197;
}break;
case IMU963RA_ACC_SAMPLE_SGN_8G:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL1_XL, 0x3C);
imu963ra_transition_factor[0] = 4098;
}break;
case IMU963RA_ACC_SAMPLE_SGN_16G:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL1_XL, 0x34);
imu963ra_transition_factor[0] = 2049;
}break;
}
if(1 == return_state)
{
break;
}
// IMU963RA_CTRL2_G <20>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ 0x52 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>125 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 228.6 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪ <20><>/s
// <20><><EFBFBD><EFBFBD>Ϊ 0x50 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>250 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 114.3 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪ <20><>/s
// <20><><EFBFBD><EFBFBD>Ϊ 0x54 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>500 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 57.1 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪ <20><>/s
// <20><><EFBFBD><EFBFBD>Ϊ 0x58 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>1000 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 28.6 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪ <20><>/s
// <20><><EFBFBD><EFBFBD>Ϊ 0x5C <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>2000 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 14.3 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪ <20><>/s
// <20><><EFBFBD><EFBFBD>Ϊ 0x51 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ <20><>4000 dps <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 7.1 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λΪ <20><>/s
switch(IMU963RA_GYRO_SAMPLE_DEFAULT)
{
default:
{
zf_log(0, "IMU963RA_GYRO_SAMPLE_DEFAULT set error.");
return_state = 1;
}break;
case IMU963RA_GYRO_SAMPLE_SGN_125DPS:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL2_G, 0x52);
imu963ra_transition_factor[1] = 228.6;
}break;
case IMU963RA_GYRO_SAMPLE_SGN_250DPS:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL2_G, 0x50);
imu963ra_transition_factor[1] = 114.3;
}break;
case IMU963RA_GYRO_SAMPLE_SGN_500DPS:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL2_G, 0x54);
imu963ra_transition_factor[1] = 57.1;
}break;
case IMU963RA_GYRO_SAMPLE_SGN_1000DPS:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL2_G, 0x58);
imu963ra_transition_factor[1] = 28.6;
}break;
case IMU963RA_GYRO_SAMPLE_SGN_2000DPS:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL2_G, 0x5C);
imu963ra_transition_factor[1] = 14.3;
}break;
case IMU963RA_GYRO_SAMPLE_SGN_4000DPS:
{
imu963ra_write_acc_gyro_register(IMU963RA_CTRL2_G, 0x51);
imu963ra_transition_factor[1] = 7.1;
}break;
}
if(1 == return_state)
{
break;
}
imu963ra_write_acc_gyro_register(IMU963RA_CTRL3_C, 0x44); // ʹ<><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><EFBFBD>
imu963ra_write_acc_gyro_register(IMU963RA_CTRL4_C, 0x02); // ʹ<><CAB9><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><EFBFBD>
imu963ra_write_acc_gyro_register(IMU963RA_CTRL5_C, 0x00); // <20><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
imu963ra_write_acc_gyro_register(IMU963RA_CTRL6_C, 0x00); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼƸ<C8BC><C6B8><EFBFBD><EFBFBD><EFBFBD>ģʽ <20><><EFBFBD><EFBFBD><EFBFBD>ǵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD> 133hz
imu963ra_write_acc_gyro_register(IMU963RA_CTRL7_G, 0x00); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǹ<EFBFBD><C7B8><EFBFBD><EFBFBD><EFBFBD>ģʽ <20>رո<D8B1>ͨ<EFBFBD>˲<EFBFBD>
imu963ra_write_acc_gyro_register(IMU963RA_CTRL9_XL, 0x01); // <20>ر<EFBFBD>I3C<33>ӿ<EFBFBD>
imu963ra_write_acc_gyro_register(IMU963RA_FUNC_CFG_ACCESS, 0x40); // <20><><EFBFBD><EFBFBD>HUB<55>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õشż<D8B4>
imu963ra_write_acc_gyro_register(IMU963RA_MASTER_CONFIG, 0x80); // <20><>λI2C<32><43><EFBFBD><EFBFBD>
system_delay_ms(2);
imu963ra_write_acc_gyro_register(IMU963RA_MASTER_CONFIG, 0x00); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>־
system_delay_ms(2);
imu963ra_write_mag_register(IMU963RA_MAG_ADDR, IMU963RA_MAG_CONTROL2, 0x80);// <20><>λ<EFBFBD><CEBB><EFBFBD>ӵ<EFBFBD><D3B5><EFBFBD><EFBFBD><EFBFBD>
system_delay_ms(2);
imu963ra_write_mag_register(IMU963RA_MAG_ADDR, IMU963RA_MAG_CONTROL2, 0x00);
system_delay_ms(2);
if(imu963ra_mag_self_check())
{
zf_log(0, "IMU963RA mag self check error.");
return_state = 1;
break;
}
// IMU963RA_MAG_ADDR <20>Ĵ<EFBFBD><C4B4><EFBFBD>
// <20><><EFBFBD><EFBFBD>Ϊ 0x09 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ 2G <20><>ȡ<EFBFBD><C8A1><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 12000 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ G(<28><>˹)
// <20><><EFBFBD><EFBFBD>Ϊ 0x19 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ 8G <20><>ȡ<EFBFBD><C8A1><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD> 3000 <20><><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>λ G(<28><>˹)
switch(IMU963RA_MAG_SAMPLE_DEFAULT)
{
default:
{
zf_log(0, "IMU963RA_MAG_SAMPLE_DEFAULT set error.");
return_state = 1;
}break;
case IMU963RA_MAG_SAMPLE_2G:
{
imu963ra_write_mag_register(IMU963RA_MAG_ADDR, IMU963RA_MAG_CONTROL1, 0x09);
imu963ra_transition_factor[2] = 12000;
}break;
case IMU963RA_MAG_SAMPLE_8G:
{
imu963ra_write_mag_register(IMU963RA_MAG_ADDR, IMU963RA_MAG_CONTROL1, 0x19);
imu963ra_transition_factor[2] = 3000;
}break;
}
if(1 == return_state)
{
break;
}
imu963ra_write_mag_register(IMU963RA_MAG_ADDR, IMU963RA_MAG_FBR, 0x01);
imu963ra_connect_mag(IMU963RA_MAG_ADDR, IMU963RA_MAG_OUTX_L);
imu963ra_write_acc_gyro_register(IMU963RA_FUNC_CFG_ACCESS, 0x00); // <20>ر<EFBFBD>HUB<55>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
system_delay_ms(20); // <20>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƻ<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>
}while(0);
return return_state;
}