2023-02-03 15:25:58 +08:00
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#include "bsp_dwt.h"
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2023-02-02 14:15:57 +08:00
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#include "ist8310.h"
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2023-02-03 15:25:58 +08:00
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#include "memory.h"
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#include "stdlib.h"
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static IST8310Instance *ist8310_instance = NULL;
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// -------------------初始化写入数组,只使用一次,详见datasheet-------------------------
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// the first column:the registers of IST8310. 第一列:IST8310的寄存器
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// the second column: the value to be writed to the registers.第二列:需要写入的寄存器值
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// the third column: return error value.第三列:返回的错误码
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#define IST8310_WRITE_REG_NUM 4
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#define IST8310_DATA_REG 0x03 // 数据寄存器
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#define IST8310_WHO_AM_I 0x00 // ist8310 id 寄存器值
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#define IST8310_WHO_AM_I_VALUE 0x10 // ist8310 id 寄存器值,用于检测是否连接成功
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static uint8_t ist8310_write_reg_data_error[IST8310_WRITE_REG_NUM][3] = {
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{0x0B, 0x08, 0x01}, // enalbe interrupt and low pin polarity.开启中断，并且设置低电平
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{0x41, 0x09, 0x02}, // average 2 times.平均采样两次
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{0x42, 0xC0, 0x03}, // must be 0xC0. 必须是0xC0
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{0x0A, 0x0B, 0x04}}; // 200Hz output rate.200Hz输出频率
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/**
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* @brief IST8310解码函数,EXTI中断来临时被调用,将数据放到ist.mag中
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* @note 如果使用IT或DMA方式传输IIC,则传输完成后也会进入此函数
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*
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* @param ist 发生中断的IST8310实例
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*/
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static void IST8310Decode(IICInstance *iic)
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{
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static int16_t temp[3];
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static IST8310Instance *ist;
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ist = (IST8310Instance *)(iic->id);
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memcpy(temp, ist->iic_buffer, 6 * sizeof(uint8_t));
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for (uint8_t i = 0; i < 3; i++)
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ist->mag[i] = (float)temp[i] * MAG_SEN;
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}
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// EXTI中断回调函数,说明DRDY拉低.主机启动传输并在结束后调用IST8310Decode进行数据解析
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// 注意IICAccessMem是阻塞的
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static void IST8310StartTransfer(GPIOInstance *gpio)
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{
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IST8310Instance *ist_for_transfer = (IST8310Instance *)gpio->id;
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IICAccessMem(ist_for_transfer->iic, IST8310_DATA_REG, ist_for_transfer->iic_buffer, 6, IIC_READ_MEM);
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IST8310Decode(ist_for_transfer->iic);
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}
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IST8310Instance *IST8310Init(IST8310_Init_Config_s *config)
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{
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static const uint8_t sleepTime = 50;
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uint8_t check_who_i_am = 0;
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// 分配空间,清除flash
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IST8310Instance *ist = (IST8310Instance *)malloc(sizeof(IST8310Instance));
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memset(ist, 0, sizeof(IST8310Instance));
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// c语言赋值从右到左
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config->iic_config.id = config->gpio_conf_exti.id = config->gpio_conf_rst.id = ist;
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// 传入回调函数
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config->iic_config.callback = IST8310Decode;
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config->gpio_conf_exti.gpio_model_callback = IST8310StartTransfer;
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// 注册两个GPIO和IIC
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ist->iic = IICRegister(&config->iic_config);
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ist->gpio_exti = GPIORegister(&config->gpio_conf_exti);
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ist->gpio_rst = GPIORegister(&config->gpio_conf_rst);
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// 重置IST8310,需要HAL_Delay等待完成Reset
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GPIOReset(ist->gpio_rst);
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HAL_Delay(sleepTime);
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GPIOSet(ist->gpio_rst);
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HAL_Delay(sleepTime);
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// 读取IST8310的ID,如果不是0x10,则返回错误
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IICAccessMem(ist->iic, IST8310_WHO_AM_I, &check_who_i_am, 1, IIC_READ_MEM);
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if (check_who_i_am != IST8310_WHO_AM_I_VALUE)
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return NULL; // while(1)
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// 进行初始化配置写入并检查是否写入成功
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for (uint8_t i = 0; i < IST8310_WRITE_REG_NUM; i++)
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{ // 写入配置
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IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &ist8310_write_reg_data_error[i][1], 1, IIC_WRITE_MEM);
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IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &check_who_i_am, 1, IIC_READ_MEM); // 读回自身id
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if (check_who_i_am != ist8310_write_reg_data_error[i][1])
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while (1)
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ist8310_write_reg_data_error[i][2]; // 掉线/写入失败/未知错误,返回对应的错误码
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}
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ist8310_instance = ist;
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return ist;
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}
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