【2024 DigiKey创意大赛】+ 控制模块的使用

zsy-s · 发表于2024-10-29 22:29

【2024 DigiKey创意大赛】+ 控制模块的使用 [复制链接]

<i class="pstatus"> 本帖最后由 zsy-s 于 2024-10-29 22:29 编辑 </i>

# 前言
    此节实现对 模块 icm20948 9轴传感器的数据读写

# 模块介绍
    ICM-20948集成了三轴陀螺仪、三轴加速度计、三轴磁力计以及数字运动处理器（DMP）。这种高度集成的设计简化了系统设计，降低了成本，并提高了系统的可靠性。三轴陀螺仪的可编程满量程范围（FSR）为±250dps、±500dps、±1000dps和±2000dps；三轴加速度计的可编程FSR为±2g、±4g、±8g和±16g；三轴磁力计的量程可达±4900µT。这些高精度的测量参数使得ICM-20948能够准确地进行姿态测量和运动追踪。ICM-20948提供了I2C和7MHz的高速SPI通信接口，方便与主控器进行数据传输。

#硬件支持
    开发板提供了1.8v的输出，可惜实际测量有2.1v

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通过拍照查看丝印为S5XE，不是1.8v的丝印，可能焊接错误了。
~~输出的电压用于给电压转换器芯片提供电压转换的基准，所以我需要买一个1.8v芯片给这个换下来。~~
开发板的引脚使用， io48（scl），io47（sda）。

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iic的地址，通过文档可知默认为：0x69

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# 控制模块

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通过iic接口与此控制模块通信。
上面的1.8v引脚是输出引脚，可以对外提供1.8v电压。模块内部有电压芯片，用于转换vdd到1.8v。
vdd的电压提供3.3v或者5v都是可以的。

对于9轴数据，位于band0的寄存器区，如下：

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3轴惯导（GYRO），3轴加速度（ACCLE），3轴磁罗盘（COMPASS），为 此小应用工具需要的数据。
# 程序讲解
```c
//初始化iic的句柄
static esp_err_t
i2c_bus_init(void)
{
    i2c_config_t conf;
    conf.mode = I2C_MODE_MASTER;
    conf.sda_io_num = 47;
    conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
    conf.scl_io_num = 48;
    conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
    conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
    conf.clk_flags = I2C_SCLK_SRC_FLAG_FOR_NOMAL;

esp_err_t ret = i2c_param_config(I2C_MASTER_NUM, &conf);
    if (ret != ESP_OK)
        return ret;

return i2c_driver_install(I2C_MASTER_NUM, conf.mode, 0, 0, 0);
}

保存iic的配置信息
```c
icm20948_handle_t
icm20948_create(i2c_port_t port, const uint16_t dev_addr)
{
    icm20948_dev_t *sensor = (icm20948_dev_t *)calloc(1, sizeof(icm20948_dev_t));
    sensor->bus = port;
    sensor->dev_addr = dev_addr << 1;
    sensor->counter = 0;
    sensor->dt = 0;
    sensor->timer = (struct timeval *)calloc(1, sizeof(struct timeval));
    return (icm20948_handle_t)sensor;
}
```

```
创建写寄存器的接口
```c
static esp_err_t
icm20948_write(icm20948_handle_t sensor,
     const uint8_t reg_start_addr,
     const uint8_t *const data_buf,
     const uint8_t data_len)
{
    icm20948_dev_t *sens = (icm20948_dev_t *)sensor;
    esp_err_t ret;

i2c_cmd_handle_t cmd = i2c_cmd_link_create();
    ret = i2c_master_start(cmd);
    assert(ESP_OK == ret);
    ret = i2c_master_write_byte(cmd, sens->dev_addr | I2C_MASTER_WRITE, true);
    assert(ESP_OK == ret);
    ret = i2c_master_write_byte(cmd, reg_start_addr, true);
    assert(ESP_OK == ret);
    ret = i2c_master_write(cmd, data_buf, data_len, true);
    assert(ESP_OK == ret);
    ret = i2c_master_stop(cmd);
    assert(ESP_OK == ret);
    ret = i2c_master_cmd_begin(sens->bus, cmd, 1000 / portTICK_PERIOD_MS);
    i2c_cmd_link_delete(cmd);

return ret;
}
```
创建读的接口
```c
static esp_err_t
icm20948_read(icm20948_handle_t sensor, const uint8_t reg_start_addr, uint8_t *const data_buf, const uint8_t data_len)
{
    icm20948_dev_t *sens = (icm20948_dev_t *)sensor;
    esp_err_t ret;

i2c_cmd_handle_t cmd = i2c_cmd_link_create();
    ret = i2c_master_start(cmd);
    assert(ESP_OK == ret);
    ret = i2c_master_write_byte(cmd, sens->dev_addr | I2C_MASTER_WRITE, true);
    assert(ESP_OK == ret);
    ret = i2c_master_write_byte(cmd, reg_start_addr, true);
    assert(ESP_OK == ret);
    ret = i2c_master_start(cmd);
    assert(ESP_OK == ret);
    ret = i2c_master_write_byte(cmd, sens->dev_addr | I2C_MASTER_READ, true);
    assert(ESP_OK == ret);
    ret = i2c_master_read(cmd, data_buf, data_len, I2C_MASTER_LAST_NACK);
    assert(ESP_OK == ret);
    ret = i2c_master_stop(cmd);
    assert(ESP_OK == ret);
    ret = i2c_master_cmd_begin(sens->bus, cmd, 1000 / portTICK_PERIOD_MS);
    i2c_cmd_link_delete(cmd);

return ret;
}
```
设置活跃的bank寄存器区
```c
esp_err_t
icm20948_set_bank(icm20948_handle_t sensor, uint8_t bank)
{
    esp_err_t ret;
    if (bank > 3)
        return ESP_FAIL;
    bank = (bank << 4) & 0x30;
    ret = icm20948_write(sensor, ICM20948_REG_BANK_SEL, &bank, 1);
    return ret;
}
```
重启芯片
```c
esp_err_t
icm20948_reset(icm20948_handle_t sensor)
{
    esp_err_t ret;
    uint8_t tmp;

ret = icm20948_read(sensor, ICM20948_PWR_MGMT_1, &tmp, 1);
    if (ret != ESP_OK)
        return ret;
    tmp |= 0x80;
    ret = icm20948_write(sensor, ICM20948_PWR_MGMT_1, &tmp, 1);
    if (ret != ESP_OK)
        return ret;

return ret;
}
```
唤醒芯片，开始工作
```c
esp_err_t
icm20948_wake_up(icm20948_handle_t sensor)
{
    esp_err_t ret;
    uint8_t tmp;
    ret = icm20948_read(sensor, ICM20948_PWR_MGMT_1, &tmp, 1);
    if (ESP_OK != ret) {
        return ret;
    }
    tmp &= (~BIT6);
    ret = icm20948_write(sensor, ICM20948_PWR_MGMT_1, &tmp, 1);
    return ret;
}
```

获取加速度三轴
```c
esp_err_t
icm20948_get_acce_fs(icm20948_handle_t sensor, icm20948_acce_fs_t *acce_fs)
{
    esp_err_t ret;
    uint8_t tmp;

ret = icm20948_set_bank(sensor, 2);
    if (ret != ESP_OK)
        return ret;

ret = icm20948_read(sensor, ICM20948_ACCEL_CONFIG, &tmp, 1);

#if CONFIG_LOG_DEFAULT_LEVEL == 4
    printf(BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(tmp));
#endif

tmp &= 0x06;
    tmp >>= 1;
    *acce_fs = tmp;
    return ret;
}
```
获取惯导三轴
```c
esp_err_t
icm20948_get_acce_fs(icm20948_handle_t sensor, icm20948_acce_fs_t *acce_fs)
{
    esp_err_t ret;
    uint8_t tmp;

ret = icm20948_set_bank(sensor, 2);
    if (ret != ESP_OK)
        return ret;

ret = icm20948_read(sensor, ICM20948_ACCEL_CONFIG, &tmp, 1);

#if CONFIG_LOG_DEFAULT_LEVEL == 4
    printf(BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(tmp));
#endif

tmp &= 0x06;
    tmp >>= 1;
    *acce_fs = tmp;
    return ret;
}
```

Jacktang · 发表于2024-10-30 07:46

1.8v电压供电也够低了

为什么实际测量有2.1v呢

zsy-s · 发表于2024-10-30 14:11

Jacktang 发表于 2024-10-30 07:46 1.8v电压供电也够低了为什么实际测量有2.1v呢

降压芯片错了吧

不过这不是个问题，模块上有降压芯片，我学习不到位

【2024 DigiKey创意大赛】+ 控制模块的使用 [复制链接]

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