210 lines
6.2 KiB
C
210 lines
6.2 KiB
C
/**
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* ==================================================
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* @file imu_lis3dhtr.c
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* @brief TODO 描述该文件的功能
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* @author wangb
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* @date 2026-01-27 12:21
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* @version 1.0
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*
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* @details 本文件包含...
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*
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* @copyright Copyright (c) 2026 wangb. All Rights Reserved.
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*
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* @license 不开源
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* ==================================================
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*/
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#include "mems_lis3dhtr.h"
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#include "cmsis_os2.h"
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#include "elog.h"
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#include "i2c.h"
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volatile uint8_t lis3dh_int_flag = 0;
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static uint8_t last_int_src = 0; // 记录上一次中断源
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/* ================= 内部 I2C 读写 ================= */
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void lis3dh_read(uint8_t reg, uint8_t *data, uint16_t len)
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{
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/* 多字节读必须置位 bit7 */
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if (len > 1)
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reg |= 0x80;
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HAL_I2C_Mem_Read(&hi2c1,
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LIS3DHTR_I2C_ADDR,
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reg,
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I2C_MEMADD_SIZE_8BIT,
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data,
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len,
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1000);
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}
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void lis3dh_write(uint8_t reg, uint8_t data)
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{
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HAL_I2C_Mem_Write(&hi2c1,
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LIS3DHTR_I2C_ADDR,
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reg,
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I2C_MEMADD_SIZE_8BIT,
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&data,
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1,
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1000);
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}
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/* ================= 清除所有中断标志 ================= */
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void lis3dh_clear_all_int_flags(void) {
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uint8_t dummy;
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// 读取INT1_SRC清除中断锁存（关键！）
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lis3dh_read(LIS3DH_REG_INT1_SRC, &dummy, 1);
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// 读取状态寄存器确保数据就绪标志清除
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lis3dh_read(LIS3DH_REG_STATUS, &dummy, 1);
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// 读取REFERENCE寄存器重置高通滤波器
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lis3dh_read(LIS3DH_REG_REFERENCE, &dummy, 1);
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last_int_src = 0;
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}
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/* ================= LIS3DH 中断初始化 ================= */
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static void lis3dh_int1_fall_init(void) {
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uint8_t val;
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/* 第一步：禁用所有中断并清除标志 */
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lis3dh_write(LIS3DH_REG_CTRL3, 0x00);
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lis3dh_write(LIS3DH_REG_INT1_CFG, 0x00);
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osDelay(10);
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/* 第二步：清除所有可能的中断标志 */
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lis3dh_clear_all_int_flags();
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osDelay(10);
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/* 第三步：配置CTRL2 - 高通滤波器 */
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// 0x11 = 100Hz截止频率，HP使能
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lis3dh_write(LIS3DH_REG_CTRL2, 0x11);
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/* 第四步：配置CTRL3 - INT1引脚输出AOI1中断 */
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val = 0x40; // I1_AOI1 = 1
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lis3dh_write(LIS3DH_REG_CTRL3, val);
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/* 第五步：INT1_CFG - 配置检测逻辑 */
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// 0x2A = 0010 1010：只检测Z轴高阈值和低阈值
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// 0x3F = 0011 1111：检测所有轴（根据你的日志0x25/0x65包含多个轴）
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val = 0x2A; // 先用Z轴测试
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lis3dh_write(LIS3DH_REG_INT1_CFG, val);
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/* 第六步：INT1_THS - 阈值设置 */
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val = 15; // 15 * 16mg = 240mg ≈ 0.24g（自由落体阈值）
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lis3dh_write(LIS3DH_REG_INT1_THS, val);
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/* 第七步：INT1_DUR - 持续时间（去抖动） */
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val = 2; // 2 * 1/ODR = 20ms @ 100Hz
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lis3dh_write(LIS3DH_REG_INT1_DUR, val);
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/* 第八步：配置CTRL5 - 锁存中断 */
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// 0x0A = 0000 1010：LIR_INT1=1（锁存），INT1高阈值使能
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lis3dh_write(LIS3DH_REG_CTRL5, 0x0A);
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/* 第九步：再次清除所有标志 */
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lis3dh_clear_all_int_flags();
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elog_info("MEMS", "INT1 fall detect configured (Latch Mode)");
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}
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/* ================= LIS3DH 初始化 ================= */
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uint8_t imu_lis3dhtr_init(void) {
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uint8_t whoami = 0;
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lis3dh_read(LIS3DH_REG_WHOAMI, &whoami, 1);
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elog_info("MEMS", "LIS3DHTR WHO_AM_I = 0x%02X", whoami);
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if (whoami != 0x33)
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return 0;
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/* CTRL_REG1: 100Hz ODR, XYZ 使能 */
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lis3dh_write(LIS3DH_REG_CTRL1, 0x57);
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/* CTRL_REG4: BDU=1, HR=1, FS=±2g */
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lis3dh_write(LIS3DH_REG_CTRL4, 0xA0);
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/* 初始化 INT1 跌落检测 */
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lis3dh_int1_fall_init();
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/* 读回验证 */
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uint8_t c1, c2, c3, c4, c5, cfg;
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lis3dh_read(LIS3DH_REG_CTRL1, &c1, 1);
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lis3dh_read(LIS3DH_REG_CTRL2, &c2, 1);
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lis3dh_read(LIS3DH_REG_CTRL3, &c3, 1);
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lis3dh_read(LIS3DH_REG_CTRL4, &c4, 1);
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lis3dh_read(LIS3DH_REG_CTRL5, &c5, 1);
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lis3dh_read(LIS3DH_REG_INT1_CFG, &cfg, 1);
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elog_info("MEMS", "CTRL1=0x%02X CTRL2=0x%02X CTRL3=0x%02X", c1, c2, c3);
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elog_info("MEMS", "CTRL4=0x%02X CTRL5=0x%02X INT1_CFG=0x%02X", c4, c5, cfg);
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return 1;
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}
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/* ================= 读取加速度 ================= */
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uint8_t imu_lis3dhtr_read_accel(lis3dh_accel_t *accel)
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{
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uint8_t status;
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lis3dh_read(LIS3DH_REG_STATUS, &status, 1);
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if ((status & 0x08) == 0)
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return 0; // 新数据未准备好
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uint8_t buf[6];
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lis3dh_read(LIS3DH_REG_OUT_X_L, buf, 6);
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int16_t raw_x = ((int16_t)buf[1] << 8 | buf[0]) >> 4;
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int16_t raw_y = ((int16_t)buf[3] << 8 | buf[2]) >> 4;
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int16_t raw_z = ((int16_t)buf[5] << 8 | buf[4]) >> 4;
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accel->x_g = raw_x * 0.001f; // ±2g HR模式，1LSB≈1mg
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accel->y_g = raw_y * 0.001f;
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accel->z_g = raw_z * 0.001f;
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return 1;
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}
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/* ================= 外部中断回调 ================= */
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void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
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if (GPIO_Pin == lis3dhtr_Pin) {
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uint8_t src;
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// 1. 读取中断源（这会清除锁存中断）
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lis3dh_read(LIS3DH_REG_INT1_SRC, &src, 1);
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// 2. 有效性检查：源寄存器必须有中断标志
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if (src == 0x00) {
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// 可能是假中断，额外操作确保清除
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uint8_t dummy;
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lis3dh_read(LIS3DH_REG_INT1_SRC, &dummy, 1);
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return;
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}
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// 3. 去重：避免相同中断源连续触发
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if (src == last_int_src) {
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// 相同中断，可能是未及时处理，强制清除
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elog_debug("MEMS", "Duplicate INT1 SRC = 0x%02X", src);
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return;
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}
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// 4. 记录并处理
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last_int_src = src;
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elog_warn("MEMS", "INT1 SRC = 0x%02X", src);
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// 5. 解析中断类型（用于调试和高级处理）
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if (src & 0x40) elog_debug("MEMS", "Z high triggered");
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if (src & 0x20) elog_debug("MEMS", "Z low triggered");
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if (src & 0x10) elog_debug("MEMS", "Y high triggered");
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if (src & 0x08) elog_debug("MEMS", "Y low triggered");
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if (src & 0x04) elog_debug("MEMS", "X high triggered");
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if (src & 0x02) elog_debug("MEMS", "X low triggered");
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// 6. 设置处理标志
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lis3dh_int_flag = 1;
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}
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} |