#include "gSensor_manage.h" #include "msa300.h" #ifdef CONFIG_GSENSOR_ENABLE u8 msa300_sensor_command(u8 register_address, u8 function_command)//往da380某寄存器写命令 { gravity_sensor_command(WRITE_COMMAND_FOR_MSA300, register_address, function_command); return 0; } u8 msa300_sensor_get_data(u8 register_address)//获取da380 sensor 数据 { return _gravity_sensor_get_data(WRITE_COMMAND_FOR_MSA300, READ_COMMAND_FOR_MSA300, register_address); } //映射active interrupt to INT pin void msa300_int_map1(u8 map_int) { switch (map_int) { case 0x04://active interrupt to INT msa300_sensor_command(MSA300_INT_MAP1, 0x04); break; } } #if 1 ///获取当前三轴加速度值 void msa300_get_acceleration(void) { ///三轴加速度 volatile static s16 pacc_x, pacc_y, pacc_z; s16 acc_x, acc_y, acc_z; u8 acc_x_lsb, acc_x_msb; u8 acc_y_lsb, acc_y_msb; u8 acc_z_lsb, acc_z_msb; acc_x_lsb = msa300_sensor_get_data(MSA300_ACC_X_LSB); acc_x_msb = msa300_sensor_get_data(MSA300_ACC_X_MSB); acc_x = (acc_x_lsb >> 2) | ((acc_x_msb & 0x7F) << 6); if (acc_x_msb & BIT(7)) { acc_x = -((acc_x - 1) ^ 0x1fff); } acc_y_lsb = msa300_sensor_get_data(MSA300_ACC_Y_LSB); acc_y_msb = msa300_sensor_get_data(MSA300_ACC_Y_MSB); acc_y = (acc_y_lsb >> 2) | ((acc_y_msb & 0x7F) << 6); if (acc_y_msb & BIT(7)) { acc_y = -((acc_y - 1) ^ 0x1fff); } acc_z_lsb = msa300_sensor_get_data(MSA300_ACC_Y_LSB); acc_z_msb = msa300_sensor_get_data(MSA300_ACC_Y_MSB); acc_z = (acc_z_lsb >> 2) | ((acc_z_msb & 0x7F) << 6); if (acc_z_msb & BIT(7)) { acc_z = -((acc_z - 1) ^ 0x1fff); } // puts("\n ACC_Z : "); // put_u16hex(acc_z); //printf("\n x:%d, y:%d, z:%d \n",acc_x, acc_y,acc_z); //printf("\n x:%d, y:%d, z:%d \n",abs(acc_x - pacc_x),abs(acc_y- pacc_y),abs(acc_z-pacc_z)); pacc_x = acc_x; pacc_y = acc_y; pacc_z = acc_z; } #endif void msa300_init(void)//config RESOLUTION_RANGE ,MODE_BW,INT_MAP1, ACTIVE_DUR, ACTIVE_THS { msa300_resolution_range(G_SENSITY_LOW); msa300_sensor_command(MSA300_ODR_AXIS, 0x06);//enable X/Y/Z axis,62.5Hz msa300_work_mode(G_LOW_POWER_MODE);//低功耗模式 msa300_sensor_command(MSA300_SWAP_POLARITY, 0x00); //remain the polarity of X/Y/Z-axis /*INT中断配置， 分别有三种使用方式使能z轴，使能z和y轴，或者使能z,y和x，这三种方式*/ msa300_sensor_command(MSA300_INT_SET0, 0x27);//disable orient interrupt. enable the tap and active interrupt for the z, y and x,axis msa300_sensor_command(MSA300_INT_SET1, 0x00);//disable the new data interrupt and the freefall interupt msa300_sensor_command(MSA300_INT_MAP0, 0x44);////mapping active interrupt to INT1 msa300_sensor_command(MSA300_INT_MAP1, 0x00);//doesn't mappint new data interrupt to INT msa300_sensor_command(MSA300_INT_MAP2, 0x00);//doesn't mappint active 、tap\orient\freefall interrupt to INT2 msa300_sensor_command(MSA300_INT_MAP3, 0x05);//int1 2 push-pull active high msa300_sensor_command(MSA300_INT_LTACH, 0x0E);// latch 100ms msa300_sensor_command(MSA300_FREEFALL_DUR, 0x09);//freefall duration time = (freefall_dur + 1)*2ms default msa300_sensor_command(MSA300_FREEFALL_THS, 0x30);//default is 375mg msa300_sensor_command(MSA300_FREEFALL_HYST, 0x01); msa300_sensor_command(MSA300_ACTIVE_DUR, 0x11);//Active duration time = (active_dur + 1) ms msa300_sensor_command(MSA300_ACTIVE_THS, 0x8F); msa300_sensor_command(MSA300_TAP_DUR, 0x04);// msa300_sensor_command(MSA300_TAP_THS, 0x0a); msa300_sensor_command(MSA300_ORIENT_HYST, 0x18); msa300_sensor_command(MSA300_Z_BLOCK, 0x08); msa300_sensor_command(MSA300_CUSTOM_OFF_X, 0x00);//校正补偿 msa300_sensor_command(MSA300_CUSTOM_OFF_Y, 0x00); msa300_sensor_command(MSA300_CUSTOM_OFF_Z, 0x00); } //工作分辨率选着 void msa300_resolution_range(u8 range) { switch (range) { case G_SENSITY_HIGH: msa300_sensor_command(MSA300_RESOLUTION_RANGE, 0x00);//14bit +/-2g 对应分辨率4096 LSB/g 高 break; case G_SENSITY_MEDIUM: msa300_sensor_command(MSA300_RESOLUTION_RANGE, 0x01);//14bit +/-4g 对应分辨率2048 LSB/g 中 break; case G_SENSITY_LOW: msa300_sensor_command(MSA300_RESOLUTION_RANGE, 0x02);//14bit +/-8g 对应分辨率512 LSB/g break; } } //工作模式选着 void msa300_work_mode(u8 work_mode) { switch (work_mode) { case G_NORMAL_MODE: msa300_sensor_command(MSA300_ODR_AXIS, 0x07); msa300_sensor_command(MSA300_MODE_BW, 0X0E);//normal mode 62.5HZ break; case G_LOW_POWER_MODE: msa300_sensor_command(MSA300_ODR_AXIS, 0x05); msa300_sensor_command(MSA300_MODE_BW, 0X4A);//low power mode 15.63hz break; case G_SUSPEND_MODE: // msa300_sensor_command(MSA300_INT_MAP3, 0x00);//int1 2 push-pull active high // msa300_sensor_command(MSA300_INT_LTACH, 0x80);// RESET latch msa300_sensor_command(MSA300_ODR_AXIS, 0xE2); msa300_sensor_command(MSA300_MODE_BW, 0XC0);//suspend mode 1.95HZ break; } } extern int msa300_pin_int_interrupt(); /**提供给二级子菜单回调函数使用*/ int msa300_gravity_sensity(u8 gsid) { if (gsid == G_SENSOR_SCAN) { if (msa300_pin_int_interrupt()) { return -EINVAL; } return 0; } if (gsid == G_SENSOR_HIGH) { puts("\n msa300 G_SENSOR_HIGH \n"); msa300_work_mode(G_NORMAL_MODE);//normal mode msa300_resolution_range(G_SENSITY_HIGH); msa300_sensor_command(MSA300_ACTIVE_THS, 0x3F);//0x4F); } if (gsid == G_SENSOR_MEDIUM) { puts("\n msa300 G_SENSOR_HIGH \n"); msa300_work_mode(G_NORMAL_MODE);//normal mode msa300_resolution_range(G_SENSITY_MEDIUM); msa300_sensor_command(MSA300_ACTIVE_THS, 0x5F);//0x8F); } if (gsid == G_SENSOR_LOW) { puts("\n msa300 G_SENSOR_LOW \n"); msa300_work_mode(G_NORMAL_MODE);//normal mode msa300_resolution_range(G_SENSITY_LOW); msa300_sensor_command(MSA300_ACTIVE_THS, 0x6F);//0xFF); } if (gsid == G_SENSOR_CLOSE) { puts("\n msa300 G_SENSOR_CLOSE \n"); msa300_work_mode(G_SUSPEND_MODE);//暂停 } if (gsid == G_SENSOR_LOW_POWER_MODE) { //低功耗 puts("\n msa300 G_SENSOR_LOW_POWER_MODE \n"); msa300_work_mode(G_NORMAL_MODE); msa300_sensor_command(MSA300_INT_LTACH, 0x0F);//latched msa300_resolution_range(G_SENSITY_MEDIUM); } return 0; } /** 返回值 TRUE 重力传感器触发 FALSE 重力传感器未触发 */ u8 get_msa300_int_state() { u8 date_tmp; date_tmp = msa300_sensor_get_data(MSA300_MOTION_FLAG); if (date_tmp & 0x24) { // BIT0 FreeFall BIT2 Active BIT4 Double Tap BI5 Tap BIT6 Orient return TRUE; } return FALSE; } /**加速度超过与设定的阀值，产生中断。为当前视频文件上锁*/ int msa300_pin_int_interrupt() { if (get_msa300_int_state()) { return 0; } return -EINVAL; } /**返回0 id正确*/ s8 msa300_id_check(void) { u8 chipid = 0x00; chipid = msa300_sensor_get_data(CHIPID_MSA300); log_d("CHIPID_msa300: %x\n", chipid); if (chipid != 0x13) { puts("not msa300\n"); return -1; } return 0; } /**返回0 id正确*/ s8 msa300_check(void) { if (0 != msa300_id_check()) { return -1; } return 0; } _G_SENSOR_INTERFACE msa300_ops = { .logo = "msa300", .gravity_sensor_check = msa300_check, .gravity_sensor_init = msa300_init, .gravity_sensor_sensity = msa300_gravity_sensity, // .gravity_sensor_interrupt = msa300_pin_int_interrupt, }; REGISTER_GRAVITY_SENSOR(msa300) .gsensor_ops = &msa300_ops, }; #endif // CONFIG_GSENSOR_ENABLE