Connect and find sensor
This commit is contained in:
unlockable
270
8By8/8By8.ino
270
8By8/8By8.ino
@@ -2,13 +2,146 @@
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#include "TimerOne.h"
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#include <string.h>
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#include "REG.h"
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#include "wit_c_sdk.h"
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#define TIME_PER_LAYER_IN_US 800
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#define BUS_START_PIN 22
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#define CLOCK_START_PIN 30
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#define SW_START_PIN 38
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#define ACC_UPDATE 0x01
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#define GYRO_UPDATE 0x02
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#define ANGLE_UPDATE 0x04
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#define MAG_UPDATE 0x08
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#define READ_UPDATE 0x80
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#define DEBUG false
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struct Triple {
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float x;
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float y;
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float z;
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};
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class SensorReader {
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private:
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static const uint32_t c_uiBaud[8];
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static volatile byte s_cDataUpdate;
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static Triple angle;
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static void AutoScanSensor() {
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int iRetry;
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for (int i = 0; i < sizeof(SensorReader::c_uiBaud) /
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sizeof(SensorReader::c_uiBaud[0]);
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i++) {
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Serial1.begin(SensorReader::c_uiBaud[i]);
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Serial1.flush();
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iRetry = 2;
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SensorReader::s_cDataUpdate = 0;
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do {
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WitReadReg(AX, 3);
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delay(200);
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while (Serial1.available()) {
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WitSerialDataIn(Serial1.read());
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}
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if (SensorReader::s_cDataUpdate != 0) {
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Serial.print(SensorReader::c_uiBaud[i]);
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Serial.print(" baud find sensor\r\n\r\n");
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return;
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}
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iRetry--;
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} while (iRetry);
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}
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Serial.println("Can not find sensor, please check your connection");
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}
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static void SensorUartSend(uint8_t *p_data, uint32_t uiSize) {
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Serial1.write(p_data, uiSize);
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Serial1.flush();
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}
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static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum) {
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int i;
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for (i = 0; i < uiRegNum; i++) {
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switch (uiReg) {
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case AZ:
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SensorReader::s_cDataUpdate |= ACC_UPDATE;
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break;
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case GZ:
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SensorReader::s_cDataUpdate |= GYRO_UPDATE;
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break;
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case HZ:
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SensorReader::s_cDataUpdate |= MAG_UPDATE;
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break;
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case Yaw:
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SensorReader::s_cDataUpdate |= ANGLE_UPDATE;
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break;
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default:
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SensorReader::s_cDataUpdate |= READ_UPDATE;
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break;
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}
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uiReg++;
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}
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}
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static void Delayms(uint16_t ucMs) {
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delay(ucMs);
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}
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public:
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static bool init() {
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WitInit(WIT_PROTOCOL_NORMAL, 0x50);
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WitSerialWriteRegister(SensorReader::SensorUartSend);
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WitRegisterCallBack(SensorReader::SensorDataUpdata);
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WitDelayMsRegister(SensorReader::Delayms);
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SensorReader::AutoScanSensor();
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if (WitSetUartBaud(WIT_BAUD_9600) != WIT_HAL_OK) {
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Serial.println("Set Baud Error");
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return false;
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}
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else {
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Serial1.begin(SensorReader::c_uiBaud[WIT_BAUD_9600]);
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Serial.println("9600 Baud rate modified successfully");
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}
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if (WitSetContent(RSW_ANGLE) != WIT_HAL_OK) {
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Serial.print("\r\nSet Content Angle Error\r\n");
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return false;
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}
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else {
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Serial.println("Set Content Angle success");
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}
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return true;
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}
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static void read_data_from_sensor_interrupt() {
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while (Serial1.available()) {
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WitSerialDataIn(Serial.read());
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}
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if (SensorReader::s_cDataUpdate) {
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if (SensorReader::s_cDataUpdate & ANGLE_UPDATE) {
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Serial.println("Updated!");
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SensorReader::angle.x = sReg[Roll] / 32768.0f * 180.0f;
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SensorReader::angle.y = sReg[Roll + 1] / 32768.0f * 180.0f;
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SensorReader::angle.z =
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sReg[Roll + 2] / 32768.0f * 180.0f; // Unit: deg
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SensorReader::s_cDataUpdate &= ~ANGLE_UPDATE;
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SensorReader::s_cDataUpdate = 0;
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}
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}
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}
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static Triple get_angle() {
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return SensorReader::angle;
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}
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};
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class Cube {
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private:
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static int layer_count;
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@@ -65,11 +198,6 @@ public:
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}
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};
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int Cube::layer_count = 0;
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int Cube::brightness_count = 0;
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int Cube::LED_status[8][8] = {0};
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int bright = 3;
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enum Operators {
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plus,
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minus,
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@@ -425,10 +553,21 @@ public:
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}
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};
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int Cube::layer_count = 0;
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int Cube::brightness_count = 0;
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int Cube::LED_status[8][8] = {0};
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double *Symbol::x_value_ptr, *Symbol::y_value_ptr;
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const uint32_t SensorReader::c_uiBaud[8] = {0, 4800, 9600, 19200,
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38400, 57600, 115200, 230400};
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volatile byte SensorReader::s_cDataUpdate;
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Triple SensorReader::angle;
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double x, y;
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const String allowed_chars = "0123456789+-*/^()xy";
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void setup() {
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for (int i = 22; i < 46; i++) {
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pinMode(i, OUTPUT);
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@@ -436,67 +575,84 @@ void setup() {
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Timer1.initialize();
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Timer1.setPeriod(TIME_PER_LAYER_IN_US);
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Timer1.attachInterrupt(Cube::display);
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Serial.begin(9600);
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Symbol::x_value_ptr = &x;
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Symbol::y_value_ptr = &y;
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if (!SensorReader::init()) {
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Serial.println("Initialize sensor failed.");
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}
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Timer1.attachInterrupt(Cube::display);
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}
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void loop() {
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String input = "";
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String allowed_chars = "0123456789+-*/^()xy";
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while (true) {
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if (Serial.available()) {
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byte input_char = Serial.read();
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// Serial.print("Pos: ");
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// Serial.println(allowed_chars.indexOf(input_char));
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if (allowed_chars.indexOf(input_char) != -1) {
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input.concat((char)input_char);
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// Serial.print("String: ");
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// Serial.println(input);
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continue;
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}
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Triple angle;
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if (input_char == 0x3) {
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break;
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}
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}
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}
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Serial.print("Read: ");
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Serial.println(input);
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Calculator calculator(input);
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int x_translate, y_translate;
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angle = SensorReader::get_angle();
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Serial.print("x: ");
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Serial.println(angle.x);
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Serial.print("y: ");
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Serial.println(angle.y);
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Serial.print("z: ");
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Serial.println(angle.z);
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for (x_translate = 0; x_translate < 4; x_translate++) {
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for (y_translate = 0; y_translate < 4; y_translate++) {
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Cube::clear();
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delay(500);
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for (int i = 0; i < 8; i++) {
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for (int j = 0; j < 8; j++) {
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x = i - x_translate;
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y = j - y_translate;
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double result = calculator.evaluate();
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int z;
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if (!(isinf(result) || isnan(result))) {
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z = round(result);
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Cube::set_status(i, j, z, 3);
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}
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else {
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z = 0;
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}
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// Serial.print(x);
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// Serial.print(" ");
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// Serial.print(y);
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// Serial.print(" ");
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// Serial.println(z);
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}
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}
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delay(1000);
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}
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}
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// String input = "";
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// Serial.println("Input expression");
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// while (true) {
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// if (Serial.available()) {
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// byte input_char = Serial.read();
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// // Serial.print("Pos: ");
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// // Serial.println(allowed_chars.indexOf(input_char));
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// if (allowed_chars.indexOf(input_char) != -1) {
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// input.concat((char)input_char);
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// // Serial.print("String: ");
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// // Serial.println(input);
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// continue;
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// }
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// int z = round(calculator.evaluate());
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// Serial.println(z);
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Serial.print("Here");
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// if (input_char == 0x3) {
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// break;
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// }
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// }
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// }
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// Serial.print("Read: ");
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// Serial.println(input);
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// Calculator calculator(input);
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// int x_offset, y_offset;
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// for (x_offset = 0; x_offset < 4; x_offset++) {
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// for (y_offset = 0; y_offset < 4; y_offset++) {
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// Cube::clear();
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// for (int i = 0; i < 8; i++) {
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// for (int j = 0; j < 8; j++) {
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// x = i - x_offset;
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// y = j - y_offset;
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// double result = calculator.evaluate();
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// int z;
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// if (!(isinf(result) || isnan(result))) {
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// z = round(result);
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// Cube::set_status(i, j, z, 3);
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// }
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// else {
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// z = 0;
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// }
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// // Serial.print(x);
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// // Serial.print(" ");
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// // Serial.print(y);
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// // Serial.print(" ");
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// // Serial.println(z);
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// }
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// }
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// delay(1000);
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// }
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// }
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// // int z = round(calculator.evaluate());
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// // Serial.println(z);
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// Serial.print("Here");
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}
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284
8By8/REG.h
Normal file
284
8By8/REG.h
Normal file
@@ -0,0 +1,284 @@
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#ifndef __AHRSREG_H
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#define __AHRSREG_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define REGSIZE 0x90
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#define SAVE 0x00
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#define CALSW 0x01
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#define RSW 0x02
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#define RRATE 0x03
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#define BAUD 0x04
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#define AXOFFSET 0x05
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#define AYOFFSET 0x06
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#define AZOFFSET 0x07
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#define GXOFFSET 0x08
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#define GYOFFSET 0x09
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#define GZOFFSET 0x0a
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#define HXOFFSET 0x0b
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#define HYOFFSET 0x0c
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#define HZOFFSET 0x0d
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#define D0MODE 0x0e
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#define D1MODE 0x0f
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#define D2MODE 0x10
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#define D3MODE 0x11
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#define D0PWMH 0x12
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#define D1PWMH 0x13
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#define D2PWMH 0x14
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#define D3PWMH 0x15
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#define D0PWMT 0x16
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#define D1PWMT 0x17
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#define D2PWMT 0x18
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#define D3PWMT 0x19
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#define IICADDR 0x1a
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#define LEDOFF 0x1b
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#define MAGRANGX 0x1c
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#define MAGRANGY 0x1d
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#define MAGRANGZ 0x1e
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#define BANDWIDTH 0x1f
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#define GYRORANGE 0x20
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#define ACCRANGE 0x21
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#define SLEEP 0x22
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#define ORIENT 0x23
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#define AXIS6 0x24
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#define FILTK 0x25
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#define GPSBAUD 0x26
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#define READADDR 0x27
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#define BWSCALE 0x28
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#define MOVETHR 0x28
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#define MOVESTA 0x29
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#define ACCFILT 0x2A
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#define GYROFILT 0x2b
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#define MAGFILT 0x2c
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#define POWONSEND 0x2d
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#define VERSION 0x2e
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#define CCBW 0x2f
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#define YYMM 0x30
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#define DDHH 0x31
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#define MMSS 0x32
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#define MS 0x33
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#define AX 0x34
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#define AY 0x35
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#define AZ 0x36
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#define GX 0x37
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#define GY 0x38
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#define GZ 0x39
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#define HX 0x3a
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#define HY 0x3b
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#define HZ 0x3c
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#define Roll 0x3d
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#define Pitch 0x3e
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#define Yaw 0x3f
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#define TEMP 0x40
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#define D0Status 0x41
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#define D1Status 0x42
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#define D2Status 0x43
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#define D3Status 0x44
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#define PressureL 0x45
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#define PressureH 0x46
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#define HeightL 0x47
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#define HeightH 0x48
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#define LonL 0x49
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#define LonH 0x4a
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#define LatL 0x4b
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#define LatH 0x4c
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#define GPSHeight 0x4d
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#define GPSYAW 0x4e
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#define GPSVL 0x4f
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#define GPSVH 0x50
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#define q0 0x51
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#define q1 0x52
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#define q2 0x53
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#define q3 0x54
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#define SVNUM 0x55
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#define PDOP 0x56
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#define HDOP 0x57
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#define VDOP 0x58
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#define DELAYT 0x59
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#define XMIN 0x5a
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#define XMAX 0x5b
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#define BATVAL 0x5c
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#define ALARMPIN 0x5d
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#define YMIN 0x5e
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#define YMAX 0x5f
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#define GYROZSCALE 0x60
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#define GYROCALITHR 0x61
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#define ALARMLEVEL 0x62
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#define GYROCALTIME 0x63
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#define REFROLL 0x64
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#define REFPITCH 0x65
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#define REFYAW 0x66
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#define GPSTYPE 0x67
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#define TRIGTIME 0x68
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#define KEY 0x69
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#define WERROR 0x6a
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#define TIMEZONE 0x6b
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#define CALICNT 0x6c
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#define WZCNT 0x6d
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#define WZTIME 0x6e
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#define WZSTATIC 0x6f
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#define ACCSENSOR 0x70
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#define GYROSENSOR 0x71
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#define MAGSENSOR 0x72
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#define PRESSENSOR 0x73
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#define MODDELAY 0x74
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#define ANGLEAXIS 0x75
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#define XRSCALE 0x76
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#define YRSCALE 0x77
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#define ZRSCALE 0x78
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#define XREFROLL 0x79
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#define YREFPITCH 0x7a
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#define ZREFYAW 0x7b
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#define ANGXOFFSET 0x7c
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#define ANGYOFFSET 0x7d
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#define ANGZOFFSET 0x7e
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#define NUMBERID1 0x7f
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#define NUMBERID2 0x80
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#define NUMBERID3 0x81
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#define NUMBERID4 0x82
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#define NUMBERID5 0x83
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#define NUMBERID6 0x84
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#define XA85PSCALE 0x85
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#define XA85NSCALE 0x86
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#define YA85PSCALE 0x87
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#define YA85NSCALE 0x88
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#define XA30PSCALE 0x89
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#define XA30NSCALE 0x8a
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#define YA30PSCALE 0x8b
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#define YA30NSCALE 0x8c
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#define CHIPIDL 0x8D
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#define CHIPIDH 0x8E
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#define REGINITFLAG REGSIZE-1
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|
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/* AXIS6 */
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#define ALGRITHM9 0
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#define ALGRITHM6 1
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/************CALSW**************/
|
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#define NORMAL 0x00
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#define CALGYROACC 0x01
|
||||
#define CALMAG 0x02
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#define CALALTITUDE 0x03
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#define CALANGLEZ 0x04
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#define CALACCL 0x05
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#define CALACCR 0x06
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#define CALMAGMM 0x07
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#define CALREFANGLE 0x08
|
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#define CALMAG2STEP 0x09
|
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//#define CALACCX 0x09
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//#define ACC45PRX 0x0A
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//#define ACC45NRX 0x0B
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||||
//#define CALACCY 0x0C
|
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//#define ACC45PRY 0x0D
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//#define ACC45NRY 0x0E
|
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//#define CALREFANGLER 0x0F
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//#define CALACCINIT 0x10
|
||||
//#define CALREFANGLEINIT 0x11
|
||||
#define CALHEXAHEDRON 0x12
|
||||
|
||||
/************OUTPUTHEAD**************/
|
||||
#define WIT_TIME 0x50
|
||||
#define WIT_ACC 0x51
|
||||
#define WIT_GYRO 0x52
|
||||
#define WIT_ANGLE 0x53
|
||||
#define WIT_MAGNETIC 0x54
|
||||
#define WIT_DPORT 0x55
|
||||
#define WIT_PRESS 0x56
|
||||
#define WIT_GPS 0x57
|
||||
#define WIT_VELOCITY 0x58
|
||||
#define WIT_QUATER 0x59
|
||||
#define WIT_GSA 0x5A
|
||||
#define WIT_REGVALUE 0x5F
|
||||
|
||||
/************RSW**************/
|
||||
#define RSW_TIME 0x01
|
||||
#define RSW_ACC 0x02
|
||||
#define RSW_GYRO 0x04
|
||||
#define RSW_ANGLE 0x08
|
||||
#define RSW_MAG 0x10
|
||||
#define RSW_PORT 0x20
|
||||
#define RSW_PRESS 0x40
|
||||
#define RSW_GPS 0x80
|
||||
#define RSW_V 0x100
|
||||
#define RSW_Q 0x200
|
||||
#define RSW_GSA 0x400
|
||||
#define RSW_MASK 0xfff
|
||||
|
||||
/**RRATE*****/
|
||||
#define RRATE_NONE 0x0d
|
||||
#define RRATE_02HZ 0x01
|
||||
#define RRATE_05HZ 0x02
|
||||
#define RRATE_1HZ 0x03
|
||||
#define RRATE_2HZ 0x04
|
||||
#define RRATE_5HZ 0x05
|
||||
#define RRATE_10HZ 0x06
|
||||
#define RRATE_20HZ 0x07
|
||||
#define RRATE_50HZ 0x08
|
||||
#define RRATE_100HZ 0x09
|
||||
#define RRATE_125HZ 0x0a //only WT931
|
||||
#define RRATE_200HZ 0x0b
|
||||
#define RRATE_ONCE 0x0c
|
||||
|
||||
/* BAUD */
|
||||
#define WIT_BAUD_4800 1
|
||||
#define WIT_BAUD_9600 2
|
||||
#define WIT_BAUD_19200 3
|
||||
#define WIT_BAUD_38400 4
|
||||
#define WIT_BAUD_57600 5
|
||||
#define WIT_BAUD_115200 6
|
||||
#define WIT_BAUD_230400 7
|
||||
#define WIT_BAUD_460800 8
|
||||
#define WIT_BAUD_921600 9
|
||||
|
||||
/*CAN BAUD*/
|
||||
#define CAN_BAUD_1000000 0
|
||||
#define CAN_BAUD_800000 1
|
||||
#define CAN_BAUD_500000 2
|
||||
#define CAN_BAUD_400000 3
|
||||
#define CAN_BAUD_250000 4
|
||||
#define CAN_BAUD_200000 5
|
||||
#define CAN_BAUD_125000 6
|
||||
#define CAN_BAUD_100000 7
|
||||
#define CAN_BAUD_80000 8
|
||||
#define CAN_BAUD_50000 9
|
||||
#define CAN_BAUD_40000 10
|
||||
#define CAN_BAUD_20000 11
|
||||
#define CAN_BAUD_10000 12
|
||||
#define CAN_BAUD_5000 13
|
||||
#define CAN_BAUD_3000 14
|
||||
|
||||
/* KEY */
|
||||
#define KEY_UNLOCK 0xB588
|
||||
|
||||
/* SAVE */
|
||||
#define SAVE_PARAM 0x00
|
||||
#define SAVE_SWRST 0xFF
|
||||
|
||||
/* ORIENT */
|
||||
#define ORIENT_HERIZONE 0
|
||||
#define ORIENT_VERTICLE 1
|
||||
|
||||
/* BANDWIDTH */
|
||||
#define BANDWIDTH_256HZ 0
|
||||
#define BANDWIDTH_184HZ 1
|
||||
#define BANDWIDTH_94HZ 2
|
||||
#define BANDWIDTH_44HZ 3
|
||||
#define BANDWIDTH_21HZ 4
|
||||
#define BANDWIDTH_10HZ 5
|
||||
#define BANDWIDTH_5HZ 6
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
502
8By8/wit_c_sdk.c
Normal file
502
8By8/wit_c_sdk.c
Normal file
@@ -0,0 +1,502 @@
|
||||
#include "wit_c_sdk.h"
|
||||
|
||||
static SerialWrite p_WitSerialWriteFunc = NULL;
|
||||
static WitI2cWrite p_WitI2cWriteFunc = NULL;
|
||||
static WitI2cRead p_WitI2cReadFunc = NULL;
|
||||
static CanWrite p_WitCanWriteFunc = NULL;
|
||||
static RegUpdateCb p_WitRegUpdateCbFunc = NULL;
|
||||
static DelaymsCb p_WitDelaymsFunc = NULL;
|
||||
|
||||
static uint8_t s_ucAddr = 0xff;
|
||||
static uint8_t s_ucWitDataBuff[WIT_DATA_BUFF_SIZE];
|
||||
static uint32_t s_uiWitDataCnt = 0, s_uiProtoclo = 0, s_uiReadRegIndex = 0;
|
||||
int16_t sReg[REGSIZE];
|
||||
|
||||
|
||||
#define FuncW 0x06
|
||||
#define FuncR 0x03
|
||||
|
||||
static const uint8_t __auchCRCHi[256] = {
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
|
||||
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
|
||||
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
|
||||
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
|
||||
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
|
||||
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
|
||||
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
|
||||
0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
|
||||
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
|
||||
0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
|
||||
0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
|
||||
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
|
||||
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
|
||||
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
|
||||
0x40
|
||||
};
|
||||
static const uint8_t __auchCRCLo[256] = {
|
||||
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
|
||||
0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
|
||||
0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
|
||||
0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
|
||||
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
|
||||
0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
|
||||
0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
|
||||
0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
|
||||
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
|
||||
0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
|
||||
0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
|
||||
0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
|
||||
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
|
||||
0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
|
||||
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
|
||||
0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
|
||||
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
|
||||
0x40
|
||||
};
|
||||
|
||||
|
||||
static uint16_t __CRC16(uint8_t *puchMsg, uint16_t usDataLen)
|
||||
{
|
||||
uint8_t uchCRCHi = 0xFF;
|
||||
uint8_t uchCRCLo = 0xFF;
|
||||
uint8_t uIndex;
|
||||
int i = 0;
|
||||
uchCRCHi = 0xFF;
|
||||
uchCRCLo = 0xFF;
|
||||
for (; i<usDataLen; i++)
|
||||
{
|
||||
uIndex = uchCRCHi ^ puchMsg[i];
|
||||
uchCRCHi = uchCRCLo ^ __auchCRCHi[uIndex];
|
||||
uchCRCLo = __auchCRCLo[uIndex] ;
|
||||
}
|
||||
return (uint16_t)(((uint16_t)uchCRCHi << 8) | (uint16_t)uchCRCLo) ;
|
||||
}
|
||||
static uint8_t __CaliSum(uint8_t *data, uint32_t len)
|
||||
{
|
||||
uint32_t i;
|
||||
uint8_t ucCheck = 0;
|
||||
for(i=0; i<len; i++) ucCheck += *(data + i);
|
||||
return ucCheck;
|
||||
}
|
||||
int32_t WitSerialWriteRegister(SerialWrite Write_func)
|
||||
{
|
||||
if(!Write_func)return WIT_HAL_INVAL;
|
||||
p_WitSerialWriteFunc = Write_func;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
static void CopeWitData(uint8_t ucIndex, uint16_t *p_data, uint32_t uiLen)
|
||||
{
|
||||
uint32_t uiReg1 = 0, uiReg2 = 0, uiReg1Len = 0, uiReg2Len = 0;
|
||||
uint16_t *p_usReg1Val = p_data;
|
||||
uint16_t *p_usReg2Val = p_data+3;
|
||||
|
||||
uiReg1Len = 4;
|
||||
switch(ucIndex)
|
||||
{
|
||||
case WIT_ACC: uiReg1 = AX; uiReg1Len = 3; uiReg2 = TEMP; uiReg2Len = 1; break;
|
||||
case WIT_ANGLE: uiReg1 = Roll; uiReg1Len = 3; uiReg2 = VERSION; uiReg2Len = 1; break;
|
||||
case WIT_TIME: uiReg1 = YYMM; break;
|
||||
case WIT_GYRO: uiReg1 = GX; uiLen = 3;break;
|
||||
case WIT_MAGNETIC: uiReg1 = HX; uiLen = 3;break;
|
||||
case WIT_DPORT: uiReg1 = D0Status; break;
|
||||
case WIT_PRESS: uiReg1 = PressureL; break;
|
||||
case WIT_GPS: uiReg1 = LonL; break;
|
||||
case WIT_VELOCITY: uiReg1 = GPSHeight; break;
|
||||
case WIT_QUATER: uiReg1 = q0; break;
|
||||
case WIT_GSA: uiReg1 = SVNUM; break;
|
||||
case WIT_REGVALUE: uiReg1 = s_uiReadRegIndex; break;
|
||||
default:
|
||||
return ;
|
||||
|
||||
}
|
||||
if(uiLen == 3)
|
||||
{
|
||||
uiReg1Len = 3;
|
||||
uiReg2Len = 0;
|
||||
}
|
||||
if(uiReg1Len)
|
||||
{
|
||||
memcpy(&sReg[uiReg1], p_usReg1Val, uiReg1Len<<1);
|
||||
p_WitRegUpdateCbFunc(uiReg1, uiReg1Len);
|
||||
}
|
||||
if(uiReg2Len)
|
||||
{
|
||||
memcpy(&sReg[uiReg2], p_usReg2Val, uiReg2Len<<1);
|
||||
p_WitRegUpdateCbFunc(uiReg2, uiReg2Len);
|
||||
}
|
||||
}
|
||||
|
||||
void WitSerialDataIn(uint8_t ucData)
|
||||
{
|
||||
uint16_t usCRC16, usTemp, i, usData[4];
|
||||
uint8_t ucSum;
|
||||
|
||||
if(p_WitRegUpdateCbFunc == NULL)return ;
|
||||
s_ucWitDataBuff[s_uiWitDataCnt++] = ucData;
|
||||
switch(s_uiProtoclo)
|
||||
{
|
||||
case WIT_PROTOCOL_NORMAL:
|
||||
if(s_ucWitDataBuff[0] != 0x55)
|
||||
{
|
||||
s_uiWitDataCnt--;
|
||||
memcpy(s_ucWitDataBuff, &s_ucWitDataBuff[1], s_uiWitDataCnt);
|
||||
return ;
|
||||
}
|
||||
if(s_uiWitDataCnt >= 11)
|
||||
{
|
||||
ucSum = __CaliSum(s_ucWitDataBuff, 10);
|
||||
if(ucSum != s_ucWitDataBuff[10])
|
||||
{
|
||||
s_uiWitDataCnt--;
|
||||
memcpy(s_ucWitDataBuff, &s_ucWitDataBuff[1], s_uiWitDataCnt);
|
||||
return ;
|
||||
}
|
||||
usData[0] = ((uint16_t)s_ucWitDataBuff[3] << 8) | (uint16_t)s_ucWitDataBuff[2];
|
||||
usData[1] = ((uint16_t)s_ucWitDataBuff[5] << 8) | (uint16_t)s_ucWitDataBuff[4];
|
||||
usData[2] = ((uint16_t)s_ucWitDataBuff[7] << 8) | (uint16_t)s_ucWitDataBuff[6];
|
||||
usData[3] = ((uint16_t)s_ucWitDataBuff[9] << 8) | (uint16_t)s_ucWitDataBuff[8];
|
||||
CopeWitData(s_ucWitDataBuff[1], usData, 4);
|
||||
s_uiWitDataCnt = 0;
|
||||
}
|
||||
break;
|
||||
case WIT_PROTOCOL_MODBUS:
|
||||
if(s_uiWitDataCnt > 2)
|
||||
{
|
||||
if(s_ucWitDataBuff[1] != FuncR)
|
||||
{
|
||||
s_uiWitDataCnt--;
|
||||
memcpy(s_ucWitDataBuff, &s_ucWitDataBuff[1], s_uiWitDataCnt);
|
||||
return ;
|
||||
}
|
||||
if(s_uiWitDataCnt < (s_ucWitDataBuff[2] + 5))return ;
|
||||
usTemp = ((uint16_t)s_ucWitDataBuff[s_uiWitDataCnt-2] << 8) | s_ucWitDataBuff[s_uiWitDataCnt-1];
|
||||
usCRC16 = __CRC16(s_ucWitDataBuff, s_uiWitDataCnt-2);
|
||||
if(usTemp != usCRC16)
|
||||
{
|
||||
s_uiWitDataCnt--;
|
||||
memcpy(s_ucWitDataBuff, &s_ucWitDataBuff[1], s_uiWitDataCnt);
|
||||
return ;
|
||||
}
|
||||
usTemp = s_ucWitDataBuff[2] >> 1;
|
||||
for(i = 0; i < usTemp; i++)
|
||||
{
|
||||
sReg[i+s_uiReadRegIndex] = ((uint16_t)s_ucWitDataBuff[(i<<1)+3] << 8) | s_ucWitDataBuff[(i<<1)+4];
|
||||
}
|
||||
p_WitRegUpdateCbFunc(s_uiReadRegIndex, usTemp);
|
||||
s_uiWitDataCnt = 0;
|
||||
}
|
||||
break;
|
||||
case WIT_PROTOCOL_CAN:
|
||||
case WIT_PROTOCOL_I2C:
|
||||
s_uiWitDataCnt = 0;
|
||||
break;
|
||||
}
|
||||
if(s_uiWitDataCnt == WIT_DATA_BUFF_SIZE)s_uiWitDataCnt = 0;
|
||||
}
|
||||
int32_t WitI2cFuncRegister(WitI2cWrite write_func, WitI2cRead read_func)
|
||||
{
|
||||
if(!write_func)return WIT_HAL_INVAL;
|
||||
if(!read_func)return WIT_HAL_INVAL;
|
||||
p_WitI2cWriteFunc = write_func;
|
||||
p_WitI2cReadFunc = read_func;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
int32_t WitCanWriteRegister(CanWrite Write_func)
|
||||
{
|
||||
if(!Write_func)return WIT_HAL_INVAL;
|
||||
p_WitCanWriteFunc = Write_func;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
void WitCanDataIn(uint8_t ucData[8], uint8_t ucLen)
|
||||
{
|
||||
uint16_t usData[3];
|
||||
if(p_WitRegUpdateCbFunc == NULL)return ;
|
||||
if(ucLen < 8)return ;
|
||||
switch(s_uiProtoclo)
|
||||
{
|
||||
case WIT_PROTOCOL_CAN:
|
||||
if(ucData[0] != 0x55)return ;
|
||||
usData[0] = ((uint16_t)ucData[3] << 8) | ucData[2];
|
||||
usData[1] = ((uint16_t)ucData[5] << 8) | ucData[4];
|
||||
usData[2] = ((uint16_t)ucData[7] << 8) | ucData[6];
|
||||
CopeWitData(ucData[1], usData, 3);
|
||||
break;
|
||||
case WIT_PROTOCOL_NORMAL:
|
||||
case WIT_PROTOCOL_MODBUS:
|
||||
case WIT_PROTOCOL_I2C:
|
||||
break;
|
||||
}
|
||||
}
|
||||
int32_t WitRegisterCallBack(RegUpdateCb update_func)
|
||||
{
|
||||
if(!update_func)return WIT_HAL_INVAL;
|
||||
p_WitRegUpdateCbFunc = update_func;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
int32_t WitWriteReg(uint32_t uiReg, uint16_t usData)
|
||||
{
|
||||
uint16_t usCRC;
|
||||
uint8_t ucBuff[8];
|
||||
if(uiReg >= REGSIZE)return WIT_HAL_INVAL;
|
||||
switch(s_uiProtoclo)
|
||||
{
|
||||
case WIT_PROTOCOL_NORMAL:
|
||||
if(p_WitSerialWriteFunc == NULL)return WIT_HAL_EMPTY;
|
||||
ucBuff[0] = 0xFF;
|
||||
ucBuff[1] = 0xAA;
|
||||
ucBuff[2] = uiReg & 0xFF;
|
||||
ucBuff[3] = usData & 0xff;
|
||||
ucBuff[4] = usData >> 8;
|
||||
p_WitSerialWriteFunc(ucBuff, 5);
|
||||
break;
|
||||
case WIT_PROTOCOL_MODBUS:
|
||||
if(p_WitSerialWriteFunc == NULL)return WIT_HAL_EMPTY;
|
||||
ucBuff[0] = s_ucAddr;
|
||||
ucBuff[1] = FuncW;
|
||||
ucBuff[2] = uiReg >> 8;
|
||||
ucBuff[3] = uiReg & 0xFF;
|
||||
ucBuff[4] = usData >> 8;
|
||||
ucBuff[5] = usData & 0xff;
|
||||
usCRC = __CRC16(ucBuff, 6);
|
||||
ucBuff[6] = usCRC >> 8;
|
||||
ucBuff[7] = usCRC & 0xff;
|
||||
p_WitSerialWriteFunc(ucBuff, 8);
|
||||
break;
|
||||
case WIT_PROTOCOL_CAN:
|
||||
if(p_WitCanWriteFunc == NULL)return WIT_HAL_EMPTY;
|
||||
ucBuff[0] = 0xFF;
|
||||
ucBuff[1] = 0xAA;
|
||||
ucBuff[2] = uiReg & 0xFF;
|
||||
ucBuff[3] = usData & 0xff;
|
||||
ucBuff[4] = usData >> 8;
|
||||
p_WitCanWriteFunc(s_ucAddr, ucBuff, 5);
|
||||
break;
|
||||
case WIT_PROTOCOL_I2C:
|
||||
if(p_WitI2cWriteFunc == NULL)return WIT_HAL_EMPTY;
|
||||
ucBuff[0] = usData & 0xff;
|
||||
ucBuff[1] = usData >> 8;
|
||||
if(p_WitI2cWriteFunc(s_ucAddr << 1, uiReg, ucBuff, 2) != 1)
|
||||
{
|
||||
//printf("i2c write fail\r\n");
|
||||
}
|
||||
break;
|
||||
default:
|
||||
return WIT_HAL_INVAL;
|
||||
}
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
int32_t WitReadReg(uint32_t uiReg, uint32_t uiReadNum)
|
||||
{
|
||||
uint16_t usTemp, i;
|
||||
uint8_t ucBuff[8];
|
||||
if((uiReg + uiReadNum) >= REGSIZE)return WIT_HAL_INVAL;
|
||||
switch(s_uiProtoclo)
|
||||
{
|
||||
case WIT_PROTOCOL_NORMAL:
|
||||
if(uiReadNum > 4)return WIT_HAL_INVAL;
|
||||
if(p_WitSerialWriteFunc == NULL)return WIT_HAL_EMPTY;
|
||||
ucBuff[0] = 0xFF;
|
||||
ucBuff[1] = 0xAA;
|
||||
ucBuff[2] = 0x27;
|
||||
ucBuff[3] = uiReg & 0xff;
|
||||
ucBuff[4] = uiReg >> 8;
|
||||
p_WitSerialWriteFunc(ucBuff, 5);
|
||||
break;
|
||||
case WIT_PROTOCOL_MODBUS:
|
||||
if(p_WitSerialWriteFunc == NULL)return WIT_HAL_EMPTY;
|
||||
usTemp = uiReadNum << 1;
|
||||
if((usTemp + 5) > WIT_DATA_BUFF_SIZE)return WIT_HAL_NOMEM;
|
||||
ucBuff[0] = s_ucAddr;
|
||||
ucBuff[1] = FuncR;
|
||||
ucBuff[2] = uiReg >> 8;
|
||||
ucBuff[3] = uiReg & 0xFF;
|
||||
ucBuff[4] = uiReadNum >> 8;
|
||||
ucBuff[5] = uiReadNum & 0xff;
|
||||
usTemp = __CRC16(ucBuff, 6);
|
||||
ucBuff[6] = usTemp >> 8;
|
||||
ucBuff[7] = usTemp & 0xff;
|
||||
p_WitSerialWriteFunc(ucBuff, 8);
|
||||
break;
|
||||
case WIT_PROTOCOL_CAN:
|
||||
if(uiReadNum > 3)return WIT_HAL_INVAL;
|
||||
if(p_WitCanWriteFunc == NULL)return WIT_HAL_EMPTY;
|
||||
ucBuff[0] = 0xFF;
|
||||
ucBuff[1] = 0xAA;
|
||||
ucBuff[2] = 0x27;
|
||||
ucBuff[3] = uiReg & 0xff;
|
||||
ucBuff[4] = uiReg >> 8;
|
||||
p_WitCanWriteFunc(s_ucAddr, ucBuff, 5);
|
||||
break;
|
||||
case WIT_PROTOCOL_I2C:
|
||||
if(p_WitI2cReadFunc == NULL)return WIT_HAL_EMPTY;
|
||||
usTemp = uiReadNum << 1;
|
||||
if(WIT_DATA_BUFF_SIZE < usTemp)return WIT_HAL_NOMEM;
|
||||
if(p_WitI2cReadFunc(s_ucAddr << 1, uiReg, s_ucWitDataBuff, usTemp) == 1)
|
||||
{
|
||||
if(p_WitRegUpdateCbFunc == NULL)return WIT_HAL_EMPTY;
|
||||
for(i = 0; i < uiReadNum; i++)
|
||||
{
|
||||
sReg[i+uiReg] = ((uint16_t)s_ucWitDataBuff[(i<<1)+1] << 8) | s_ucWitDataBuff[i<<1];
|
||||
}
|
||||
p_WitRegUpdateCbFunc(uiReg, uiReadNum);
|
||||
}
|
||||
|
||||
break;
|
||||
default:
|
||||
return WIT_HAL_INVAL;
|
||||
}
|
||||
s_uiReadRegIndex = uiReg;
|
||||
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
int32_t WitInit(uint32_t uiProtocol, uint8_t ucAddr)
|
||||
{
|
||||
if(uiProtocol > WIT_PROTOCOL_I2C)return WIT_HAL_INVAL;
|
||||
s_uiProtoclo = uiProtocol;
|
||||
s_ucAddr = ucAddr;
|
||||
s_uiWitDataCnt = 0;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
void WitDeInit(void)
|
||||
{
|
||||
p_WitSerialWriteFunc = NULL;
|
||||
p_WitI2cWriteFunc = NULL;
|
||||
p_WitI2cReadFunc = NULL;
|
||||
p_WitCanWriteFunc = NULL;
|
||||
p_WitRegUpdateCbFunc = NULL;
|
||||
s_ucAddr = 0xff;
|
||||
s_uiWitDataCnt = 0;
|
||||
s_uiProtoclo = 0;
|
||||
}
|
||||
|
||||
int32_t WitDelayMsRegister(DelaymsCb delayms_func)
|
||||
{
|
||||
if(!delayms_func)return WIT_HAL_INVAL;
|
||||
p_WitDelaymsFunc = delayms_func;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
|
||||
char CheckRange(short sTemp,short sMin,short sMax)
|
||||
{
|
||||
if ((sTemp>=sMin)&&(sTemp<=sMax)) return 1;
|
||||
else return 0;
|
||||
}
|
||||
/*Acceleration calibration demo*/
|
||||
int32_t WitStartAccCali(void)
|
||||
{
|
||||
/*
|
||||
First place the equipment horizontally, and then perform the following operations
|
||||
*/
|
||||
if(WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK) return WIT_HAL_ERROR;// unlock reg
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(CALSW, CALGYROACC) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
int32_t WitStopAccCali(void)
|
||||
{
|
||||
if(WitWriteReg(CALSW, NORMAL) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(SAVE, SAVE_PARAM) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
/*Magnetic field calibration*/
|
||||
int32_t WitStartMagCali(void)
|
||||
{
|
||||
if(WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(CALSW, CALMAGMM) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
int32_t WitStopMagCali(void)
|
||||
{
|
||||
if(WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(CALSW, NORMAL) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
/*change Band*/
|
||||
int32_t WitSetUartBaud(int32_t uiBaudIndex)
|
||||
{
|
||||
if(!CheckRange(uiBaudIndex,WIT_BAUD_4800,WIT_BAUD_230400))
|
||||
{
|
||||
return WIT_HAL_INVAL;
|
||||
}
|
||||
if(WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(BAUD, uiBaudIndex) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
/*change Can Band*/
|
||||
int32_t WitSetCanBaud(int32_t uiBaudIndex)
|
||||
{
|
||||
if(!CheckRange(uiBaudIndex,CAN_BAUD_1000000,CAN_BAUD_3000))
|
||||
{
|
||||
return WIT_HAL_INVAL;
|
||||
}
|
||||
if(WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(BAUD, uiBaudIndex) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
/*change Bandwidth*/
|
||||
int32_t WitSetBandwidth(int32_t uiBaudWidth)
|
||||
{
|
||||
if(!CheckRange(uiBaudWidth,BANDWIDTH_256HZ,BANDWIDTH_5HZ))
|
||||
{
|
||||
return WIT_HAL_INVAL;
|
||||
}
|
||||
if(WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(BANDWIDTH, uiBaudWidth) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
|
||||
/*change output rate */
|
||||
int32_t WitSetOutputRate(int32_t uiRate)
|
||||
{
|
||||
if(!CheckRange(uiRate,RRATE_02HZ,RRATE_NONE))
|
||||
{
|
||||
return WIT_HAL_INVAL;
|
||||
}
|
||||
if(WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(RRATE, uiRate) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
|
||||
/*change WitSetContent */
|
||||
int32_t WitSetContent(int32_t uiRsw)
|
||||
{
|
||||
if(!CheckRange(uiRsw,RSW_TIME,RSW_MASK))
|
||||
{
|
||||
return WIT_HAL_INVAL;
|
||||
}
|
||||
if(WitWriteReg(KEY, KEY_UNLOCK) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
if(s_uiProtoclo == WIT_PROTOCOL_MODBUS) p_WitDelaymsFunc(20);
|
||||
else if(s_uiProtoclo == WIT_PROTOCOL_NORMAL) p_WitDelaymsFunc(1);
|
||||
else ;
|
||||
if(WitWriteReg(RSW, uiRsw) != WIT_HAL_OK) return WIT_HAL_ERROR;
|
||||
return WIT_HAL_OK;
|
||||
}
|
||||
|
||||
|
||||
|
||||
135
8By8/wit_c_sdk.h
Normal file
135
8By8/wit_c_sdk.h
Normal file
@@ -0,0 +1,135 @@
|
||||
#ifndef __WIT_C_SDK_H
|
||||
#define __WIT_C_SDK_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "REG.h"
|
||||
|
||||
|
||||
#define WIT_HAL_OK (0) /**< There is no error */
|
||||
#define WIT_HAL_BUSY (-1) /**< Busy */
|
||||
#define WIT_HAL_TIMEOUT (-2) /**< Timed out */
|
||||
#define WIT_HAL_ERROR (-3) /**< A generic error happens */
|
||||
#define WIT_HAL_NOMEM (-4) /**< No memory */
|
||||
#define WIT_HAL_EMPTY (-5) /**< The resource is empty */
|
||||
#define WIT_HAL_INVAL (-6) /**< Invalid argument */
|
||||
|
||||
#define WIT_DATA_BUFF_SIZE 256
|
||||
|
||||
#define WIT_PROTOCOL_NORMAL 0
|
||||
#define WIT_PROTOCOL_MODBUS 1
|
||||
#define WIT_PROTOCOL_CAN 2
|
||||
#define WIT_PROTOCOL_I2C 3
|
||||
|
||||
|
||||
/* serial function */
|
||||
typedef void (*SerialWrite)(uint8_t *p_ucData, uint32_t uiLen);
|
||||
int32_t WitSerialWriteRegister(SerialWrite write_func);
|
||||
void WitSerialDataIn(uint8_t ucData);
|
||||
|
||||
/* iic function */
|
||||
|
||||
/*
|
||||
i2c write function example
|
||||
|
||||
int32_t WitI2cWrite(uint8_t ucAddr, uint8_t ucReg, uint8_t *p_ucVal, uint32_t uiLen)
|
||||
{
|
||||
i2c_start();
|
||||
i2c_send(ucAddr);
|
||||
if(i2c_wait_ask() != SUCCESS)return 0;
|
||||
i2c_send(ucReg);
|
||||
if(i2c_wait_ask() != SUCCESS)return 0;
|
||||
for(uint32_t i = 0; i < uiLen; i++)
|
||||
{
|
||||
i2c_send(*p_ucVal++);
|
||||
if(i2c_wait_ask() != SUCCESS)return 0;
|
||||
}
|
||||
i2c_stop();
|
||||
return 1;
|
||||
}
|
||||
*/
|
||||
typedef int32_t (*WitI2cWrite)(uint8_t ucAddr, uint8_t ucReg, uint8_t *p_ucVal, uint32_t uiLen);
|
||||
/*
|
||||
i2c read function example
|
||||
|
||||
int32_t WitI2cRead(uint8_t ucAddr, uint8_t ucReg, uint8_t *p_ucVal, uint32_t uiLen)
|
||||
{
|
||||
i2c_start();
|
||||
i2c_send(ucAddr);
|
||||
if(i2c_wait_ask() != SUCCESS)return 0;
|
||||
i2c_send(ucReg);
|
||||
if(i2c_wait_ask() != SUCCESS)return 0;
|
||||
|
||||
i2c_start();
|
||||
i2c_send(ucAddr+1);
|
||||
for(uint32_t i = 0; i < uiLen; i++)
|
||||
{
|
||||
if(i+1 == uiLen)*p_ucVal++ = i2c_read(0); //last byte no ask
|
||||
else *p_ucVal++ = i2c_read(1); // ask
|
||||
}
|
||||
i2c_stop();
|
||||
return 1;
|
||||
}
|
||||
*/
|
||||
typedef int32_t (*WitI2cRead)(uint8_t ucAddr, uint8_t ucReg, uint8_t *p_ucVal, uint32_t uiLen);
|
||||
int32_t WitI2cFuncRegister(WitI2cWrite write_func, WitI2cRead read_func);
|
||||
|
||||
/* can function */
|
||||
typedef void (*CanWrite)(uint8_t ucStdId, uint8_t *p_ucData, uint32_t uiLen);
|
||||
int32_t WitCanWriteRegister(CanWrite write_func);
|
||||
|
||||
/* Delayms function */
|
||||
typedef void (*DelaymsCb)(uint16_t ucMs);
|
||||
int32_t WitDelayMsRegister(DelaymsCb delayms_func);
|
||||
|
||||
|
||||
void WitCanDataIn(uint8_t ucData[8], uint8_t ucLen);
|
||||
|
||||
|
||||
typedef void (*RegUpdateCb)(uint32_t uiReg, uint32_t uiRegNum);
|
||||
int32_t WitRegisterCallBack(RegUpdateCb update_func);
|
||||
int32_t WitWriteReg(uint32_t uiReg, uint16_t usData);
|
||||
int32_t WitReadReg(uint32_t uiReg, uint32_t uiReadNum);
|
||||
int32_t WitInit(uint32_t uiProtocol, uint8_t ucAddr);
|
||||
void WitDeInit(void);
|
||||
|
||||
|
||||
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file wit_c_sdk.h
|
||||
* @author Wit
|
||||
* @version V1.0
|
||||
* @date 05-May-2022
|
||||
* @brief This file provides all Configure sensor function.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* http://wit-motion.cn/
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
int32_t WitStartAccCali(void);
|
||||
int32_t WitStopAccCali(void);
|
||||
int32_t WitStartMagCali(void);
|
||||
int32_t WitStopMagCali(void);
|
||||
int32_t WitSetUartBaud(int32_t uiBaudIndex);
|
||||
int32_t WitSetBandwidth(int32_t uiBaudWidth);
|
||||
int32_t WitSetOutputRate(int32_t uiRate);
|
||||
int32_t WitSetContent(int32_t uiRsw);
|
||||
int32_t WitSetCanBaud(int32_t uiBaudIndex);
|
||||
|
||||
char CheckRange(short sTemp,short sMin,short sMax);
|
||||
|
||||
extern int16_t sReg[REGSIZE];
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __WIT_C_SDK_H */
|
||||
@@ -218,10 +218,10 @@ void setup() {
|
||||
Serial.print("Cannot start calibri acc\r\n");
|
||||
}
|
||||
|
||||
if (WitSetUartBaud(WIT_BAUD_115200) != WIT_HAL_OK)
|
||||
if (WitSetUartBaud(WIT_BAUD_9600) != WIT_HAL_OK)
|
||||
Serial.print("\r\nSet Baud Error\r\n");
|
||||
else {
|
||||
Serial1.begin(c_uiBaud[WIT_BAUD_115200]);
|
||||
Serial1.begin(c_uiBaud[WIT_BAUD_9600]);
|
||||
Serial.print(" 115200 Baud rate modified successfully\r\n");
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user