//------------------------------------------------------------------- // Filename: dma_bma.c // Description: dma_bma module library (I2C) //------------------------------------------------------------------- //------------------------------------------------------------------- // INCLUDES //------------------------------------------------------------------- /****************************************************************************** * INCLUDES */ #include "ioCC2530.h" #include "hal_defs.h" //#include "hal_types.h" #include "dma_itg.h" #define BM(n) (1 << (n)) #define MCU_IO_TRISTATE 1 #define MCU_IO_PULLUP 2 #define MCU_IO_PULLDOWN 3 #define MCU_IO_OUTPUT(port, pin, val) MCU_IO_OUTPUT_PREP(port, pin, val) #define MCU_IO_OUTPUT_PREP(port, pin, val) st( P##port##SEL &= ~BM(pin); P##port##_##pin## = val; P##port##DIR |= BM(pin); ) #define MCU_IO_INPUT(port, pin, func) MCU_IO_INPUT_PREP(port, pin, func) #define MCU_IO_INPUT_PREP(port, pin, func) st( P##port##SEL &= ~BM(pin); P##port##DIR &= ~BM(pin); switch (func) { case MCU_IO_PULLUP: P##port##INP &= ~BM(pin); P2INP &= ~BM(port + 5); break; case MCU_IO_PULLDOWN: P##port##INP &= ~BM(pin); P2INP |= BM(port + 5); break; default: P##port##INP |= BM(pin); break; } ) #define MCU_IO_GET(port, pin) MCU_IO_GET_PREP(port, pin) #define MCU_IO_GET_PREP(port, pin) (P##port## & BM(pin)) /***********新板板IO设置********************/ #define HAL_BOARD_IO_SHT_SCK_PORT 1 #define HAL_BOARD_IO_SHT_SCK_PIN 6 #define HAL_BOARD_IO_SHT_SDA_PORT 1 #define HAL_BOARD_IO_SHT_SDA_PIN 5 #define HAL_BOARD_IO_E2PROM_SCL_PORT HAL_BOARD_IO_SHT_SCK_PORT #define HAL_BOARD_IO_E2PROM_SCL_PIN HAL_BOARD_IO_SHT_SCK_PIN #define HAL_E2PROM_SCK_DIR_OUT() MCU_IO_OUTPUT(HAL_BOARD_IO_SHT_SCK_PORT, HAL_BOARD_IO_SHT_SCK_PIN,0) #define HAL_E2PROM_SCK_SET() MCU_IO_OUTPUT(HAL_BOARD_IO_SHT_SCK_PORT, HAL_BOARD_IO_SHT_SCK_PIN,1) #define HAL_E2PROM_SCK_CLR() MCU_IO_OUTPUT(HAL_BOARD_IO_SHT_SCK_PORT, HAL_BOARD_IO_SHT_SCK_PIN,0) #define HAL_E2PROM_SCL_DIR_OUT HAL_E2PROM_SCK_DIR_OUT #define HAL_E2PROM_SCL_SET HAL_E2PROM_SCK_SET #define HAL_E2PROM_SCL_CLR HAL_E2PROM_SCK_CLR #define HAL_E2PROM_SDA_SET() MCU_IO_OUTPUT(HAL_BOARD_IO_SHT_SDA_PORT, HAL_BOARD_IO_SHT_SDA_PIN,1) #define HAL_E2PROM_SDA_CLR() MCU_IO_OUTPUT(HAL_BOARD_IO_SHT_SDA_PORT, HAL_BOARD_IO_SHT_SDA_PIN,0) #define HAL_E2PROM_SDA_DIR_OUT() MCU_IO_OUTPUT(HAL_BOARD_IO_SHT_SDA_PORT, HAL_BOARD_IO_SHT_SDA_PIN,1) #define HAL_E2PROM_SDA_DIR_IN() MCU_IO_INPUT(HAL_BOARD_IO_SHT_SDA_PORT, HAL_BOARD_IO_SHT_SDA_PIN,2) #define HAL_E2PROM_SDA_VAL() MCU_IO_GET(HAL_BOARD_IO_SHT_SDA_PORT, HAL_BOARD_IO_SHT_SDA_PIN) #define halMcuWaitUs ITGMcuWaitUs #define NOP() asm("NOP") //------------------------------------------------------------------- // LOCAL FUNCTIONS //------------------------------------------------------------------- static void ITGMcuWaitUs(uint16 usec); void ITGMcuWaitUs(uint16 usec) { usec >>= 1; while (usec--) { NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); NOP(); //NOP(); } } //------------------------------------------------------------------- // LOCAL FUNCTIONS //------------------------------------------------------------------- //--------- write a byte and checks the ack signal----------------- static void M3_I2cWrite(uint8 dat); void M3_I2cWrite(uint8 dat)//在传送数据时，数据线保持稳定不能有跳变 { uint8 i; for (i = 0; i < 8; i++) { if (dat &0x80) { HAL_E2PROM_SDA_SET(); } else { HAL_E2PROM_SDA_CLR(); } HAL_E2PROM_SCK_SET();//当时钟线为高电平(SCL=1)时开始传送数据 dat = dat << 1; halMcuWaitUs(2); HAL_E2PROM_SCK_CLR();//传送完后释放总线（SCL=0） halMcuWaitUs(2); } } //--------- read a byte and checks the ack signal----------------- static uint8 M3_I2cRead(void); uint8 M3_I2cRead(void) { uint8 res = 0; uint8 cnt; HAL_E2PROM_SDA_SET();//在读数据之前，把数据线拉高（datesheet上有介绍）,然后把数据线端口对CPU设置成输入端口 HAL_E2PROM_SDA_DIR_IN(); halMcuWaitUs(2); for (cnt = 0; cnt < 8; cnt++) { res <<= 1; if (HAL_E2PROM_SDA_VAL())//cpu获取SDA端口上的值 { res |= 0x01; } HAL_E2PROM_SCK_SET(); halMcuWaitUs(2); HAL_E2PROM_SCK_CLR(); halMcuWaitUs(2); } // MCU_IO_OUTPUT(HAL_BOARD_IO_E2PROM_SDA_PORT, HAL_BOARD_IO_E2PROM_SDA_PIN,!ack); /*当ack＝1时拉低数据线*/ // HAL_E2PROM_SDA_SET(); HAL_E2PROM_SCK_SET(); /*clk #9 for ack*/ halMcuWaitUs(1); /*pulswith approx 1 us */ HAL_E2PROM_SCK_CLR(); HAL_E2PROM_SDA_SET(); return res; } static void M3_I2cStart(void); void M3_I2cStart(void)//在SCL保持高电平期间，SDA由高变低，为起始信号 { HAL_E2PROM_SCK_SET(); //SCL=1 HAL_E2PROM_SDA_SET(); //SDA=1 halMcuWaitUs(2); HAL_E2PROM_SDA_CLR(); //SDA=0 halMcuWaitUs(2); HAL_E2PROM_SCK_CLR(); //SCL=0 } //------------------------------------------------------------------- static void M3_I2cStop(void); void M3_I2cStop(void)//在SCL保持高电平期间，SDA由低变高，为停止信号 { HAL_E2PROM_SCK_SET(); //SCL=1 HAL_E2PROM_SDA_CLR(); //SDA=0 halMcuWaitUs(2); HAL_E2PROM_SDA_SET(); //SDA=1 halMcuWaitUs(2); HAL_E2PROM_SCK_CLR(); //SCL=0 } //------------------------------------------------------------------- static void M3_I2cAck(void); void M3_I2cAck(void) { HAL_E2PROM_SCK_SET(); HAL_E2PROM_SDA_SET(); HAL_E2PROM_SCK_CLR(); } //------------------------------------------------------------------- static void M3_I2cNAck(void); void M3_I2cNAck(void) { HAL_E2PROM_SCK_SET(); HAL_E2PROM_SDA_CLR(); HAL_E2PROM_SCK_CLR(); } static void M3_WriteEEPROM(uint8 addr, uint8 ch); void M3_WriteEEPROM(uint8 addr, uint8 ch)//往EEPROM里写数据（先写地址，在写数据） { M3_I2cStart(); M3_I2cWrite(0xD2);//写器件地址，对于AT24C02来说，高四位固定为1010,后三位没有意义，最后一位为0时写，为1时读 M3_I2cAck(); M3_I2cWrite(addr); M3_I2cAck(); M3_I2cWrite(ch); //data M3_I2cAck(); M3_I2cStop(); } static uint8 M3_ReadEEPROM(uint8 addr); uint8 M3_ReadEEPROM(uint8 addr) { uint8 res; M3_I2cStart(); M3_I2cWrite(0xD2); //器件设置为写状态 M3_I2cAck(); M3_I2cWrite(addr); M3_I2cAck(); M3_I2cStart(); M3_I2cWrite(0xD3); //器件设置为读状态 M3_I2cAck(); res = M3_I2cRead(); M3_I2cNAck(); M3_I2cStop(); return res; } static void M3_Init(void); void M3_Init(void)//初始化 SDA=1、SCL=1 { static char initflg=0; HAL_E2PROM_SDA_DIR_OUT(); MCU_IO_OUTPUT(HAL_BOARD_IO_E2PROM_SCL_PORT, HAL_BOARD_IO_E2PROM_SCL_PIN,1); if(initflg==0) { M3_WriteEEPROM(0x16,0x18); initflg=1 ; } } /******************************************************************* * 名称 ITG_Pooling * 功能 读取itg_3200的X,Y Z的角速度 * 入口参数 (int16* X_Value, int16* Y_Value, int16* Z_Value ) *X_Value：X轴的16位角速度存放地址 *Y_Value：Y轴的16位角速度存放地址 *Z_Value：Z轴的16位角速度存放地址 角速度值为16位有符号数，单位为 度/S * 出口参数 无 *****************************************************************/ void ITG_Pooling(int16* X_Value, int16* Y_Value, int16* Z_Value ) { int8 BMA_XM_Value,BMA_YM_Value,BMA_ZM_Value; int8 BMA_XL_Value,BMA_YL_Value,BMA_ZL_Value; int16 num_x1=0,num_y1=0,num_z1=0; int16 num_x=0,num_y=0,num_z=0; uint8 i = 0; M3_Init(); for(i=0;i<10;i++) { while (!(M3_ReadEEPROM(0x1A) & 0x01)); BMA_XM_Value = M3_ReadEEPROM(0x1D); halMcuWaitUs(5); BMA_XL_Value = M3_ReadEEPROM(0x1E); halMcuWaitUs(5); BMA_YM_Value = M3_ReadEEPROM(0x1F); halMcuWaitUs(5); BMA_YL_Value = M3_ReadEEPROM(0x20); halMcuWaitUs(5); BMA_ZM_Value = M3_ReadEEPROM(0x21); halMcuWaitUs(5); BMA_ZL_Value = M3_ReadEEPROM(0x22); halMcuWaitUs(5); num_x1 = (BMA_XM_Value << 8) | BMA_XL_Value; num_y1 = (BMA_YM_Value << 8) | BMA_YL_Value; num_z1 = (BMA_ZM_Value << 8) | BMA_ZL_Value; num_x = num_x + num_x1; num_y = num_y + num_y1; num_z = num_z + num_z1; } // 换算成 度/S *X_Value = (int16)(num_x/10/14.375); *Y_Value = (int16)(num_y/10/14.375); *Z_Value = (int16)(num_z/10/14.375); }