实战派学习笔记

按键

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#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <inttypes.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "driver/gpio.h"


static QueueHandle_t gpio_evt_queue = NULL;

static void IRAM_ATTR gpio_isr_handler(void* arg)
{
    uint32_t gpio_num = (uint32_t) arg;
    xQueueSendFromISR(gpio_evt_queue, &gpio_num, NULL);
}

static void gpio_task_example(void* arg)
{
    uint32_t io_num;
    for(;;) {
        if(xQueueReceive(gpio_evt_queue, &io_num, portMAX_DELAY)) {
            printf("GPIO[%"PRIu32"] intr, val: %d\n", io_num, gpio_get_level(io_num));
        }
    }
}

void app_main(void)
{   
    //结构体
    gpio_config_t io_conf = {};
    // 定义中断
    io_conf.intr_type = GPIO_INTR_NEGEDGE;
    io_conf.mode = GPIO_MODE_INPUT;
    io_conf.pin_bit_mask = 1ULL << GPIO_NUM_0;
    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;

    gpio_config(&io_conf);

    gpio_evt_queue = xQueueCreate(10, sizeof(uint32_t));
    xTaskCreate(&gpio_task_example, "gpio_task_example", 2048, NULL, 10, NULL);
    gpio_install_isr_service(0);
    gpio_isr_handler_add(GPIO_NUM_0, gpio_isr_handler, (void*) GPIO_NUM_0);
}

esp_err_t gpio_install_isr_service(int intr_alloc_flags);

|0 |默认配置，适用于大多数普通中断 |ESP_INTR_FLAG_LEVEL1 |分配一级中断（低优先级） |ESP_INTR_FLAG_LEVEL2 |分配二级中断（中等优先级） |ESP_INTR_FLAG_LEVEL3 |分配三级中断（高优先级） |ESP_INTR_FLAG_SHARED |允许多个外设共享同一个中断线（多个 GPIO 共用） |ESP_INTR_FLAG_EDGE |指定为边沿触发中断（默认是电平触发）

esp_err_t gpio_isr_handler_add(gpio_num_t gpio_num, gpio_isr_t isr_handler, void *args);

姿态传感器

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esp_err_t bsp_i2c_init(void)
{
    i2c_config_t i2c_conf = {
        .mode = I2C_MODE_MASTER,
        .sda_io_num = BSP_I2C_SDA,
        .sda_pullup_en = GPIO_PULLUP_ENABLE,
        .scl_io_num = BSP_I2C_SCL,
        .scl_pullup_en = GPIO_PULLUP_ENABLE,
        .master.clk_speed = BSP_I2C_FREQ_HZ
    };
    i2c_param_config(BSP_I2C_NUM, &i2c_conf);

    return i2c_driver_install(BSP_I2C_NUM, i2c_conf.mode, 0, 0, 0);
}


// 读取QMI8658寄存器的值
esp_err_t qmi8658_register_read(uint8_t reg_addr, uint8_t *data, size_t len)
{
    return i2c_master_write_read_device(BSP_I2C_NUM, QMI8658_SENSOR_ADDR,  &reg_addr, 1, data, len, 1000 / portTICK_PERIOD_MS);
}

// 给QMI8658的寄存器写值
esp_err_t qmi8658_register_write_byte(uint8_t reg_addr, uint8_t data)
{
    uint8_t write_buf[2] = {reg_addr, data};

    return i2c_master_write_to_device(BSP_I2C_NUM, QMI8658_SENSOR_ADDR, write_buf, sizeof(write_buf), 1000 / portTICK_PERIOD_MS);
}

// 初始化qmi8658
void qmi8658_init(void)
{
    uint8_t id = 0; // 芯片的ID号

    qmi8658_register_read(QMI8658_WHO_AM_I, &id ,1); // 读芯片的ID号
    while (id != 0x05)  // 判断读到的ID号是否是0x05
    {
        vTaskDelay(1000 / portTICK_PERIOD_MS);  // 延时1秒
        qmi8658_register_read(QMI8658_WHO_AM_I, &id ,1); // 读取ID号
    }
    ESP_LOGI(TAG, "QMI8658 OK!");  // 打印信息

    qmi8658_register_write_byte(QMI8658_RESET, 0xb0);  // 复位  
    vTaskDelay(10 / portTICK_PERIOD_MS);  // 延时10ms
    qmi8658_register_write_byte(QMI8658_CTRL1, 0x40); // CTRL1 设置地址自动增加
    qmi8658_register_write_byte(QMI8658_CTRL7, 0x03); // CTRL7 允许加速度和陀螺仪
    qmi8658_register_write_byte(QMI8658_CTRL2, 0x95); // CTRL2 设置ACC 4g 250Hz
    qmi8658_register_write_byte(QMI8658_CTRL3, 0xd5); // CTRL3 设置GRY 512dps 250Hz 
}

// 读取加速度和陀螺仪寄存器值
void qmi8658_Read_AccAndGry(t_sQMI8658 *p)
{
    uint8_t status, data_ready=0;
    int16_t buf[6];

    qmi8658_register_read(QMI8658_STATUS0, &status, 1); // 读状态寄存器 
    if (status & 0x03) // 判断加速度和陀螺仪数据是否可读
        data_ready = 1;
    if (data_ready == 1){  // 如果数据可读
        data_ready = 0;
        qmi8658_register_read(QMI8658_AX_L, (uint8_t *)buf, 12); // 读加速度和陀螺仪值
        p->acc_x = buf[0];
        p->acc_y = buf[1];
        p->acc_z = buf[2];
        p->gyr_x = buf[3];
        p->gyr_y = buf[4];
        p->gyr_z = buf[5];
    }
}

// 获取XYZ轴的倾角值
void qmi8658_fetch_angleFromAcc(t_sQMI8658 *p)
{
    float temp;

    qmi8658_Read_AccAndGry(p); // 读取加速度和陀螺仪的寄存器值
    // 根据寄存器值 计算倾角值 并把弧度转换成角度
    temp = (float)p->acc_x / sqrt( ((float)p->acc_y * (float)p->acc_y + (float)p->acc_z * (float)p->acc_z) );
    p->AngleX = atan(temp)*57.29578f; // 180/π=57.29578
    temp = (float)p->acc_y / sqrt( ((float)p->acc_x * (float)p->acc_x + (float)p->acc_z * (float)p->acc_z) );
    p->AngleY = atan(temp)*57.29578f; // 180/π=57.29578
    temp = sqrt( ((float)p->acc_x * (float)p->acc_x + (float)p->acc_y * (float)p->acc_y) ) / (float)p->acc_z;
    p->AngleZ = atan(temp)*57.29578f; // 180/π=57.29578
}
enum qmi8658_reg
{
    QMI8658_WHO_AM_I,
    QMI8658_REVISION_ID,
    QMI8658_CTRL1,
    QMI8658_CTRL2,
    QMI8658_CTRL3,
    QMI8658_CTRL4,
    QMI8658_CTRL5,
    QMI8658_CTRL6,
    QMI8658_CTRL7,
    QMI8658_CTRL8,
    QMI8658_CTRL9,
    QMI8658_CATL1_L,
    QMI8658_CATL1_H,
    QMI8658_CATL2_L,
    QMI8658_CATL2_H,
    QMI8658_CATL3_L,
    QMI8658_CATL3_H,
    QMI8658_CATL4_L,
    QMI8658_CATL4_H,
    QMI8658_FIFO_WTM_TH,
    QMI8658_FIFO_CTRL,
    QMI8658_FIFO_SMPL_CNT,
    QMI8658_FIFO_STATUS,
    QMI8658_FIFO_DATA,
    QMI8658_STATUSINT = 45,
    QMI8658_STATUS0,
    QMI8658_STATUS1,
    QMI8658_TIMESTAMP_LOW,
    QMI8658_TIMESTAMP_MID,
    QMI8658_TIMESTAMP_HIGH,
    QMI8658_TEMP_L,
    QMI8658_TEMP_H,
    QMI8658_AX_L,
    QMI8658_AX_H,
    QMI8658_AY_L,
    QMI8658_AY_H,
    QMI8658_AZ_L,
    QMI8658_AZ_H,
    QMI8658_GX_L,
    QMI8658_GX_H,
    QMI8658_GY_L,
    QMI8658_GY_H,
    QMI8658_GZ_L,
    QMI8658_GZ_H,
    QMI8658_COD_STATUS = 70,
    QMI8658_dQW_L = 73,
    QMI8658_dQW_H,
    QMI8658_dQX_L,
    QMI8658_dQX_H,
    QMI8658_dQY_L,
    QMI8658_dQY_H,
    QMI8658_dQZ_L,
    QMI8658_dQZ_H,
    QMI8658_dVX_L,
    QMI8658_dVX_H,
    QMI8658_dVY_L,
    QMI8658_dVY_H,
    QMI8658_dVZ_L,
    QMI8658_dVZ_H,
    QMI8658_TAP_STATUS = 89,
    QMI8658_STEP_CNT_LOW,
    QMI8658_STEP_CNT_MIDL,
    QMI8658_STEP_CNT_HIGH,
    QMI8658_RESET = 96
};

目录

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esp_err_t gpio_install_isr_service(int intr_alloc_flags);

姿态传感器