STM32F750制作USB鼠标键盘实验(Host)【支持STM32F7系列单片机_寄存器库驱动】.zip

/* $License: Copyright (C) 2015 InvenSense Corporation, All Rights Reserved. See included License.txt for License information. $ */ /** * @addtogroup DRIVERS Sensor Driver Layer * @brief Hardware drivers to communicate with sensors via I2C. * * @{ * @file inv_icm20608.c * @brief An I2C-based driver for Invensense 6-axis ICM20608 * @details This driver currently works for the following devices: * ICM20608 */ #include <stdio.h> #include <stdint.h> #include <stdlib.h> #include <string.h> #include <math.h> #include "inv_icm20608.h" #include "invensense.h" #include "invensense_adv.h" #include "eMPL_outputs.h" #include "mltypes.h" /* The following functions must be defined for this platform: * i2c_write(unsigned char slave_addr, unsigned char reg_addr, * unsigned char length, unsigned char const *data) * i2c_read(unsigned char slave_addr, unsigned char reg_addr, * unsigned char length, unsigned char *data) * delay_ms(unsigned long num_ms) * get_ms(unsigned long *count) * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin) * labs(long x) * fabsf(float x) * min(int a, int b) */ #if defined EMPL_TARGET_STM32F4 #include "myiic.h" #include "icm20608.h" #include "delay.h" #include "log.h" unsigned char *mpl_key = (unsigned char*)"eMPL 5.1"; #define i2c_write ICM_Write_Len #define i2c_read ICM_Read_Len #define delay_ms delay_ms #define get_ms get_tick_count #define log_i printf #define log_e printf #define min(a,b) ((a<b)?a:b) #else #error Gyro driver is missing the system layer implementations. #endif #if !defined ICM20608 #error Which gyro are you using? Define ICM20608 in your compiler options. #endif static int set_int_enable(unsigned char enable); /* Hardware registers needed by driver. */ struct sensor_reg_s { unsigned char who_am_i; unsigned char rate_div; unsigned char lpf; unsigned char prod_id; unsigned char xg_offs_usr; unsigned char yg_offs_usr; unsigned char zg_offs_usr; unsigned char user_ctrl; unsigned char fifo_en; unsigned char gyro_cfg; unsigned char accel_cfg; unsigned char accel_cfg2; unsigned char lp_mode_cfg; unsigned char motion_thr; unsigned char motion_dur; unsigned char fifo_count_h; unsigned char fifo_r_w; unsigned char raw_gyro; unsigned char raw_accel; unsigned char temp; unsigned char int_enable; unsigned char dmp_int_status; unsigned char int_status; unsigned char accel_intel; unsigned char pwr_mgmt_1; unsigned char pwr_mgmt_2; unsigned char int_pin_cfg; unsigned char mem_r_w; unsigned char xa_offset; unsigned char ya_offset; unsigned char za_offset; unsigned char i2c_mst; unsigned char bank_sel; unsigned char mem_start_addr; unsigned char prgm_start_h; unsigned char fifo_wm_th; unsigned char signal_reset; unsigned char st_gyro; unsigned char st_accel; }; /* Information specific to a particular device. */ struct hw_s { unsigned char addr; unsigned short max_fifo; unsigned char num_reg; unsigned short temp_sens; short temp_offset; unsigned short bank_size; }; /* When entering motion interrupt mode, the driver keeps track of the * previous state so that it can be restored at a later time. * TODO: This is tacky. Fix it. */ struct motion_int_cache_s { unsigned short gyro_fsr; unsigned char accel_fsr; unsigned short gyro_lpf; unsigned short accel_lpf; unsigned short sample_rate; unsigned char sensors_on; unsigned char fifo_sensors; }; struct chip_cfg_s { /* Matches gyro_cfg >> 3 & 0x03 */ unsigned char gyro_fsr; /* Matches accel_cfg >> 3 & 0x03 */ unsigned char accel_fsr; /* Matches lp_mode_cfg >> 4 & 0x07 */ unsigned char gyro_avgf; /* Matches accel_cfg2 >> 4 & 0x03 */ unsigned char accel_avgf; /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */ unsigned char sensors; /* Matches config register. */ unsigned char gyro_lpf; unsigned char accel_lpf; unsigned char clk_src; /* Sample rate, NOT rate divider. */ unsigned short sample_rate; /* Matches fifo_en register. */ unsigned char fifo_enable; /* Matches int enable register. */ unsigned char int_enable; /* 1 if devices on auxiliary I2C bus appear on the primary. */ unsigned char bypass_mode; /* 1 if device in low-power accel-only mode. */ unsigned char lp_accel_mode; /* 1 if interrupts are only triggered on motion events. */ unsigned char int_motion_only; struct motion_int_cache_s cache; /* 1 for active low interrupts. */ unsigned char active_low_int; /* 1 for latched interrupts. */ unsigned char latched_int; }; /* Information for self-test. */ struct test_s { unsigned long gyro_sens; unsigned long accel_sens; unsigned char reg_rate_div; unsigned char reg_lpf; unsigned char reg_gyro_fsr; unsigned char reg_accel_fsr; unsigned short wait_ms; unsigned char packet_thresh; float min_dps; float max_dps; float max_gyro_var; float min_g; float max_g; float max_accel_var; float max_g_offset; unsigned short sample_wait_ms; }; /* Gyro driver state variables. */ struct gyro_state_s { const struct sensor_reg_s *reg; const struct hw_s *hw; struct chip_cfg_s chip_cfg; const struct test_s *test; }; /* Gyro Filter configurations. */ enum lpf_e { INV_GYRO_FILTER_250Hz = 0, INV_GYRO_FILTER_176HZ, INV_GYRO_FILTER_92HZ, INV_GYRO_FILTER_41HZ, INV_GYRO_FILTER_20HZ, INV_GYRO_FILTER_10HZ, INV_GYRO_FILTER_5HZ, INV_GYRO_FILTER_3200HZ, NUM_GYRO_FILTER }; /* Accel Filter configurations. */ enum lpf_a_e { INV_ACCEL_FILTER_218Hz = 0, INV_ACCEL_FILTER_218HZ, INV_ACCEL_FILTER_99HZ, INV_ACCEL_FILTER_45HZ, INV_ACCEL_FILTER_21HZ, INV_ACCEL_FILTER_10HZ, INV_ACCEL_FILTER_5HZ, INV_ACCEL_FILTER_420HZ, NUM_ACCEL_FILTER }; /* Full scale ranges. */ enum gyro_fsr_e { INV_FSR_250DPS = 0, INV_FSR_500DPS, INV_FSR_1000DPS, INV_FSR_2000DPS, NUM_GYRO_FSR }; /* Full scale ranges. */ enum accel_fsr_e { INV_FSR_2G = 0, INV_FSR_4G, INV_FSR_8G, INV_FSR_16G, NUM_ACCEL_FSR }; /* Accel Averaging Filters. */ enum accel_avgf_e { INV_ACCEL_4X_AVG = 0, INV_ACCEL_8X_AVG, INV_ACCEL_16X_AVG, INV_ACCEL_32X_AVG, NUM_ACCEL_AVG }; /* Clock sources. */ enum clock_sel_e { INV_CLK_INTERNAL = 0, INV_CLK_PLL, NUM_CLK }; /* Low-power accel wakeup rates. */ enum lp_accel_rate_e { INV_LPA_0_24HZ, INV_LPA_0_49HZ, INV_LPA_0_98HZ, INV_LPA_1_95HZ, INV_LPA_3_91HZ, INV_LPA_7_81HZ, INV_LPA_15_63HZ, INV_LPA_31_25HZ, INV_LPA_62_5HZ, INV_LPA_125HZ, INV_LPA_250HZ, INV_LPA_500HZ }; #define BIT_I2C_MST_VDDIO (0x80) #define BIT_FIFO_EN (0x40) #define BIT_DMP_EN (0x80) #define BIT_FIFO_RST (0x04) #define BIT_DMP_RST (0x08) #define BIT_FIFO_OVERFLOW (0x10) #define BIT_DATA_RDY_EN (0x01) #define BIT_DMP_INT_EN (0x02) #define BIT_MOT_INT_EN (0x40) #define BITS_FSR (0x18) #define BITS_LPF (0x07) #define BITS_HPF (0x07) #define BITS_CLK (0x07) #define BIT_FIFO_SIZE_1024 (0x40) #define BIT_FIFO_SIZE_2048 (0x80) #define BIT_FIFO_SIZE_4096 (0xC0) #define BIT_RESET (0x80) #define BIT_SLEEP (0x40) #define BIT_S0_DELAY_EN (0x01) #define BIT_S2_DELAY_EN (0x04) #define BITS_SLAVE_LENGTH (0x0F) #define BIT_SL