K60 + L3G4200 LPLD 底层库 - 智能车制作

#ifndef __DEV_L3G4200_H__
#define __DEV_L3G4200_H__
#include "common.h"
#include "HW_I2C.h"
/********用户可修改值开始***********/
//连接L3G4200用到的I2C通道
#define L3G4200_I2CX (I2C1)
//连接L3G4200用到的SCL引脚
#define L3G4200_SCLPIN (PTC10)
//连接L3G4200用到的SDA引脚
#define L3G4200_SDAPIN (PTC11)
/********用户可修改值结束***********/
//定义SCL Bus Speed取值，外设总线为50Mhz时的计算结果
#define L3G4200_SCL_50KHZ (0x33)
#define L3G4200_SCL_100KHZ (0x2B)
#define L3G4200_SCL_150KHZ (0x28)
#define L3G4200_SCL_200KHZ (0x23)
#define L3G4200_SCL_250KHZ (0x21)
#define L3G4200_SCL_300KHZ (0x20)
#define L3G4200_SCL_400KHZ (0x17)
//=========MMA8451 功能参数==================//
#define L3G4200_DEV_ADDR 0x69 //定义器件地址，可根据硬件修改
#define L3G4200_DEV_WRITE 0xD2
#define L3G4200_DEV_READ 0xD3
#define L3G4200_DEV_ID 0xD3 //设备ID
//L3G4200 内部寄存器地址
#define WHO_AM_I 0x0F
#define CTRL_REG1 0x20
#define CTRL_REG2 0x21
#define CTRL_REG3 0x22
#define CTRL_REG4 0x23
#define CTRL_REG5 0x24
#define REFERENCE 0x25
#define OUT_TEMP 0x26
#define STATUS_REG 0x27
#define OUT_X_L 0x28
#define OUT_X_H 0x29
#define OUT_Y_L 0x2A
#define OUT_Y_H 0x2B
#define OUT_Z_L 0x2C
#define OUT_Z_H 0x2D
//=========L3G4200 STATUS寄存器寄存器位==================//
#define L3G4200_STATUS_X_READY 0x01
#define L3G4200_STATUS_Y_READY 0x02
#define L3G4200_STATUS_Z_READY 0x04
#define L3G4200_STATUS_XYZ_READY 0x08
#define L3G4200_STATUS_X_OW 0x10
#define ML3G4200_STATUS_Y_OW 0x20
#define L3G4200_STATUS_Z_OW 0x40
#define L3G4200_STATUS_XYZ_OW 0x80
//函数声明
uint8 L3G4200_Init(void);
void L3G4200_WriteReg(uint8, uint8);
uint8 L3G4200_ReadReg(uint8);
int16 L3G4200_GetResult(uint8, uint8);
#endif
#include "dev_l3g4200.h"
static void L3G4200_Delay(void);
uint8 L3G4200_Init(void)
{
I2C_InitTypeDef i2c_init_param;
uint8 device_id=0;
//初始化L3G4200_I2CX
i2c_init_param.I2C_I2Cx = L3G4200_I2CX ; //在DEV_L3G4200.h中修改该值
i2c_init_param.I2C_IntEnable = FALSE;
i2c_init_param.I2C_ICR = L3G4200_SCL_200KHZ; //可根据实际电路更改SCL频率
i2c_init_param.I2C_SclPin = L3G4200_SCLPIN; //在DEV_MMA8451.h中修改该值
i2c_init_param.I2C_SdaPin = L3G4200_SDAPIN; //在DEV_MMA8451.h中修改该值
i2c_init_param.I2C_Isr = NULL;
LPLD_I2C_Init(i2c_init_param);
//读取设备ID
device_id = L3G4200_ReadReg(WHO_AM_I);
//进行寄存器配置
L3G4200_WriteReg(CTRL_REG1, 0x0f); //100hz 0xff(800hz)
L3G4200_WriteReg(CTRL_REG2, 0x00);
L3G4200_WriteReg(CTRL_REG3, 0x08);
L3G4200_WriteReg(CTRL_REG4, 0x30); //+-2000dps , Data LSB @ lower address
L3G4200_WriteReg(CTRL_REG5, 0x00);
return device_id ;
}
/*
* L3G4200_WriteReg
* 该函数用于配置L3G4200的寄存器
*
* 参数：
* RegisterAddress
* |__ L3G4200寄存器地址
* Data
* |__ 具体写入的字节型数据
*/
void L3G4200_WriteReg(uint8 RegisterAddress, uint8 Data)
{
//发送从机地址
LPLD_I2C_StartTrans(L3G4200_I2CX,L3G4200_DEV_ADDR, I2C_MWSR);
LPLD_I2C_WaitAck(L3G4200_I2CX, I2C_ACK_ON);
//写L3G4200寄存器地址
LPLD_I2C_WriteByte(L3G4200_I2CX, RegisterAddress);
LPLD_I2C_WaitAck(L3G4200_I2CX, I2C_ACK_ON);
//向寄存器中写具体数据
LPLD_I2C_WriteByte(L3G4200_I2CX, Data);
LPLD_I2C_WaitAck(L3G4200_I2CX, I2C_ACK_ON);
LPLD_I2C_Stop(L3G4200_I2CX);
L3G4200_Delay();
}
/*
* L3G4200_ReadReg
* 该函数用于读取L3G4200的数据
*
* 参数：
* RegisterAddress
* |__ MMA8451寄存器地址
* 返回值
* 加速传感器的测量值
*/
uint8 L3G4200_ReadReg(uint8 RegisterAddress)
{
uint8 result=0;
//发送从机地址
LPLD_I2C_StartTrans(L3G4200_I2CX,L3G4200_DEV_ADDR, I2C_MWSR);
LPLD_I2C_WaitAck(L3G4200_I2CX, I2C_ACK_ON);
//写L3G4200_I2CX寄存器地址
LPLD_I2C_WriteByte(L3G4200_I2CX, RegisterAddress);
LPLD_I2C_WaitAck(L3G4200_I2CX, I2C_ACK_ON);
//再次产生开始信号
LPLD_I2C_ReStart(L3G4200_I2CX);
//发送从机地址和读取位
LPLD_I2C_WriteByte(L3G4200_I2CX , L3G4200_DEV_READ);
LPLD_I2C_WaitAck(L3G4200_I2CX, I2C_ACK_ON);
//转换主机模式为读
LPLD_I2C_SetMasterWR(L3G4200_I2CX, I2C_MRSW);
//关闭应答ACK
LPLD_I2C_WaitAck(L3G4200_I2CX, I2C_ACK_OFF);//关闭ACK
// Dummy read 虚假读取
result =LPLD_I2C_ReadByte(L3G4200_I2CX);
LPLD_I2C_WaitAck(L3G4200_I2CX, I2C_ACK_ON);
//发送停止信号
LPLD_I2C_Stop(L3G4200_I2CX);
//读IIC数据
result = LPLD_I2C_ReadByte(L3G4200_I2CX);
L3G4200_Delay();
return result;
}
/*
* 函数功能：读L3G4200加速度输出
* 参数?
* Status - 数据寄存器状态
* Regs_Addr - 数据寄存器地址
* 函数返回值：加速度值（int16）
*/
int16 L3G4200_GetResult(uint8 Status, uint8 Regs_Addr)
{
uint8 ret=0;
uint16 cnt=0;
int16 result,temp;
// 等待转换完成并取出值
while(!(ret&Status))
{
ret = L3G4200_ReadReg( STATUS_REG);
if(++cnt>500)
// break;
;
}
temp= L3G4200_ReadReg( Regs_Addr); //低字节数据
result = L3G4200_ReadReg( Regs_Addr+1); //高字节
result=result<<8;
result=result|temp;
return result;
}
/*
* 延时函数
*/
static void L3G4200_Delay(void){
int n;
for(n=1;n<200;n++) {
asm("nop");
}
}

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