#ifndef __SH3001_H #define __SH3001_H #include #if TCFG_SH3001_ENABLE /****************************************************************** * user config SH3001 Macro Definition ******************************************************************/ #define SH3001_USER_INTERFACE TCFG_SH3001_INTERFACE_TYPE //0:I2C(<=400kHz), 1:SPI(<=1MHz) #define SH3001_SD0_IIC_ADDR 1 //1:iic模式SD0接VCC, 0:iic模式SD0接GND //int io config // #define SH3001_INT_IO1 IO_PORTB_03//TCFG_IOKEY_POWER_ONE_PORT //IO_PORTB_01 // #define SH3001_INT_READ_IO1() gpio_read(SH3001_INT_IO1) #define SH3001_INT_IO2 IO_PORTA_06 #define SH3001_INT_READ_IO2() gpio_read(SH3001_INT_IO2) #define TCFG_SH3001_USER_INT_EN 1 //1:中断模式读, 0:定时模式读 /****************************************************************** * SH3001 I2C address Macro Definition * (7bit): (0x37)011 0111@SDO=1; (0x36)011 0110@SDO=0; ******************************************************************/ #if SH3001_SD0_IIC_ADDR #define SH3001_ADDRESS (0x37<<1) #else #define SH3001_ADDRESS (0x36<<1) #endif /****************************************************************** * SH3001 Registers Macro Definitions ******************************************************************/ #define SH3001_ACC_XL (0x00) #define SH3001_ACC_XH (0x01) #define SH3001_ACC_YL (0x02) #define SH3001_ACC_YH (0x03) #define SH3001_ACC_ZL (0x04) #define SH3001_ACC_ZH (0x05) #define SH3001_GYRO_XL (0x06) #define SH3001_GYRO_XH (0x07) #define SH3001_GYRO_YL (0x08) #define SH3001_GYRO_YH (0x09) #define SH3001_GYRO_ZL (0x0A) #define SH3001_GYRO_ZH (0x0B) #define SH3001_TEMP_ZL (0x0C) #define SH3001_TEMP_ZH (0x0D) #define SH3001_CHIP_ID (0x0F) #define SH3001_INT_STA0 (0x10) #define SH3001_INT_STA1 (0x11) #define SH3001_INT_STA2 (0x12) #define SH3001_INT_STA3 (0x14) #define SH3001_INT_STA4 (0x15) #define SH3001_FIFO_STA0 (0x16) #define SH3001_FIFO_STA1 (0x17) #define SH3001_FIFO_DATA (0x18) #define SH3001_TEMP_CONF0 (0x20) #define SH3001_TEMP_CONF1 (0x21) #define SH3001_ACC_CONF0 (0x22) // accelerometer config 0x22-0x26 #define SH3001_ACC_CONF1 (0x23) #define SH3001_ACC_CONF2 (0x25) #define SH3001_ACC_CONF3 (0x26) #define SH3001_GYRO_CONF0 (0x28) // gyroscope config 0x28-0x2B #define SH3001_GYRO_CONF1 (0x29) #define SH3001_GYRO_CONF2 (0x2B) #define SH3001_SPI_CONF (0x32) #define SH3001_FIFO_CONF0 (0x35) #define SH3001_FIFO_CONF1 (0x36) #define SH3001_FIFO_CONF2 (0x37) #define SH3001_FIFO_CONF3 (0x38) #define SH3001_FIFO_CONF4 (0x39) #define SH3001_MI2C_CONF0 (0x3A) #define SH3001_MI2C_CONF1 (0x3B) #define SH3001_MI2C_CMD0 (0x3C) #define SH3001_MI2C_CMD1 (0x3D) #define SH3001_MI2C_WR (0x3E) #define SH3001_MI2C_RD (0x3F) #define SH3001_INT_ENABLE0 (0x40) #define SH3001_INT_ENABLE1 (0x41) #define SH3001_INT_CONF (0x44) #define SH3001_INT_LIMIT (0x45) #define SH3001_ORIEN_INTCONF0 (0x46) #define SH3001_ORIEN_INTCONF1 (0x47) #define SH3001_ORIEN_INT_LOW (0x48) #define SH3001_ORIEN_INT_HIGH (0x49) #define SH3001_ORIEN_INT_SLOPE_LOW (0x4A) #define SH3001_ORIEN_INT_SLOPE_HIGH (0x4B) #define SH3001_ORIEN_INT_HYST_LOW (0x4C) #define SH3001_ORIEN_INT_HYST_HIGH (0x4D) #define SH3001_FLAT_INT_CONF (0x4E) #define SH3001_ACT_INACT_INT_CONF (0x4F) #define SH3001_ACT_INACT_INT_LINK (0x50) #define SH3001_TAP_INT_THRESHOLD (0x51) #define SH3001_TAP_INT_DURATION (0x52) #define SH3001_TAP_INT_LATENCY (0x53) #define SH3001_DTAP_INT_WINDOW (0x54) #define SH3001_ACT_INT_THRESHOLD (0x55) #define SH3001_ACT_INT_TIME (0x56) #define SH3001_INACT_INT_THRESHOLDL (0x57) #define SH3001_INACT_INT_TIME (0x58) #define SH3001_HIGHLOW_G_INT_CONF (0x59) #define SH3001_HIGHG_INT_THRESHOLD (0x5A) #define SH3001_HIGHG_INT_TIME (0x5B) #define SH3001_LOWG_INT_THRESHOLD (0x5C) #define SH3001_LOWG_INT_TIME (0x5D) #define SH3001_FREEFALL_INT_THRES (0x5E) #define SH3001_FREEFALL_INT_TIME (0x5F) #define SH3001_INT_PIN_MAP0 (0x79) #define SH3001_INT_PIN_MAP1 (0x7A) #define SH3001_INACT_INT_THRESHOLDM (0x7B) #define SH3001_INACT_INT_THRESHOLDH (0x7C) #define SH3001_INACT_INT_1G_REFL (0x7D) #define SH3001_INACT_INT_1G_REFH (0x7E) #define SH3001_SPI_REG_ACCESS (0x7F) #define SH3001_GYRO_CONF3 (0x8F) #define SH3001_GYRO_CONF4 (0x9F) #define SH3001_GYRO_CONF5 (0xAF) #define SH3001_CHIP_ID1 (0xDF) #define SH3001_AUX_I2C_CONF (0xFD) /****************************************************************** * ACC Config Macro Definitions ******************************************************************/ #define SH3001_ODR_1000HZ (0x00) #define SH3001_ODR_500HZ (0x01) #define SH3001_ODR_250HZ (0x02) #define SH3001_ODR_125HZ (0x03) #define SH3001_ODR_63HZ (0x04) #define SH3001_ODR_31HZ (0x05) #define SH3001_ODR_16HZ (0x06) #define SH3001_ODR_2000HZ (0x08) #define SH3001_ODR_4000HZ (0x09) #define SH3001_ODR_8000HZ (0x0A) #define SH3001_ODR_16000HZ (0x0B) #define SH3001_ODR_32000HZ (0x0C) #define SH3001_ACC_RANGE_16G (0x02) #define SH3001_ACC_RANGE_8G (0x03) #define SH3001_ACC_RANGE_4G (0x04) #define SH3001_ACC_RANGE_2G (0x05) #define SH3001_ACC_ODRX040 (0x00) #define SH3001_ACC_ODRX025 (0x20) #define SH3001_ACC_ODRX011 (0x40) #define SH3001_ACC_ODRX004 (0x60) #define SH3001_ACC_ODRX002 (0x80) #define SH3001_ACC_FILTER_EN (0x00) #define SH3001_ACC_FILTER_DIS (0x08) /****************************************************************** * GYRO Config Macro Definitions ******************************************************************/ #define SH3001_GYRO_RANGE_125 (0x02) #define SH3001_GYRO_RANGE_250 (0x03) #define SH3001_GYRO_RANGE_500 (0x04) #define SH3001_GYRO_RANGE_1000 (0x05) #define SH3001_GYRO_RANGE_2000 (0x06) #define SH3001_GYRO_ODRX00 (0x00) #define SH3001_GYRO_ODRX01 (0x04) #define SH3001_GYRO_ODRX02 (0x08) #define SH3001_GYRO_ODRX03 (0x0C) #define SH3001_GYRO_FILTER_EN (0x00) #define SH3001_GYRO_FILTER_DIS (0x10) /****************************************************************** * Temperature Config Macro Definitions ******************************************************************/ #define SH3001_TEMP_ODR_500 (0x00) #define SH3001_TEMP_ODR_250 (0x10) #define SH3001_TEMP_ODR_125 (0x20) #define SH3001_TEMP_ODR_63 (0x30) #define SH3001_TEMP_EN (0x80) #define SH3001_TEMP_DIS (0x00) /****************************************************************** * INT Config Macro Definitions ******************************************************************/ #define SH3001_INT_LOWG (0x8000) #define SH3001_INT_HIGHG (0x4000) #define SH3001_INT_INACT (0x2000) #define SH3001_INT_ACT (0x1000) #define SH3001_INT_DOUBLE_TAP (0x0800) #define SH3001_INT_SINGLE_TAP (0x0400) #define SH3001_INT_FLAT (0x0200) #define SH3001_INT_ORIENTATION (0x0100) #define SH3001_INT_FIFO_GYRO (0x0010) #define SH3001_INT_GYRO_READY (0x0008) #define SH3001_INT_ACC_FIFO (0x0004) #define SH3001_INT_ACC_READY (0x0002) #define SH3001_INT_FREE_FALL (0x0001) #define SH3001_INT_UP_DOWN_Z (0x0040) #define SH3001_INT_ENABLE (0x01) #define SH3001_INT_DISABLE (0x00) #define SH3001_INT_MAP_INT1 (0x01) #define SH3001_INT_MAP_INT (0x00) #define SH3001_INT0_LEVEL_LOW (0x80) #define SH3001_INT0_LEVEL_HIGH (0x7F) #define SH3001_INT_NO_LATCH (0x40) #define SH3001_INT_LATCH (0xBF) #define SH3001_INT1_LEVEL_LOW (0x20) #define SH3001_INT1_LEVEL_HIGH (0xDF) #define SH3001_INT_CLEAR_ANY (0x10) #define SH3001_INT_CLEAR_STATUS (0xEF) #define SH3001_INT1_NORMAL (0x04) #define SH3001_INT1_OD (0xFB) #define SH3001_INT0_NORMAL (0x01) #define SH3001_INT0_OD (0xFE) /****************************************************************** * Orientation Blocking Config Macro Definitions ******************************************************************/ #define SH3001_ORIENT_BLOCK_MODE0 (0x00) #define SH3001_ORIENT_BLOCK_MODE1 (0x04) #define SH3001_ORIENT_BLOCK_MODE2 (0x08) #define SH3001_ORIENT_BLOCK_MODE3 (0x0C) #define SH3001_ORIENT_SYMM (0x00) #define SH3001_ORIENT_HIGH_ASYMM (0x01) #define SH3001_ORIENT_LOW_ASYMM (0x02) /****************************************************************** * Flat Time Config Macro Definitions ******************************************************************/ #define SH3001_FLAT_TIME_500MS (0x40) #define SH3001_FLAT_TIME_1000MS (0x80) #define SH3001_FLAT_TIME_2000MS (0xC0) /****************************************************************** * ACT and INACT Int Config Macro Definitions ******************************************************************/ #define SH3001_ACT_AC_MODE (0x80) #define SH3001_ACT_DC_MODE (0x00) #define SH3001_ACT_X_INT_EN (0x40) #define SH3001_ACT_X_INT_DIS (0x00) #define SH3001_ACT_Y_INT_EN (0x20) #define SH3001_ACT_Y_INT_DIS (0x00) #define SH3001_ACT_Z_INT_EN (0x10) #define SH3001_ACT_Z_INT_DIS (0x00) #define SH3001_INACT_AC_MODE (0x08) #define SH3001_INACT_DC_MODE (0x00) #define SH3001_INACT_X_INT_EN (0x04) #define SH3001_INACT_X_INT_DIS (0x00) #define SH3001_INACT_Y_INT_EN (0x02) #define SH3001_INACT_Y_INT_DIS (0x00) #define SH3001_INACT_Z_INT_EN (0x01) #define SH3001_INACT_Z_INT_DIS (0x00) #define SH3001_LINK_PRE_STA (0x01) #define SH3001_LINK_PRE_STA_NO (0x00) /****************************************************************** * TAP Int Config Macro Definitions ******************************************************************/ #define SH3001_TAP_X_INT_EN (0x08) #define SH3001_TAP_X_INT_DIS (0x00) #define SH3001_TAP_Y_INT_EN (0x04) #define SH3001_TAP_Y_INT_DIS (0x00) #define SH3001_TAP_Z_INT_EN (0x02) #define SH3001_TAP_Z_INT_DIS (0x00) /****************************************************************** * HIGHG Int Config Macro Definitions ******************************************************************/ #define SH3001_HIGHG_ALL_INT_EN (0x80) #define SH3001_HIGHG_ALL_INT_DIS (0x00) #define SH3001_HIGHG_X_INT_EN (0x40) #define SH3001_HIGHG_X_INT_DIS (0x00) #define SH3001_HIGHG_Y_INT_EN (0x20) #define SH3001_HIGHG_Y_INT_DIS (0x00) #define SH3001_HIGHG_Z_INT_EN (0x10) #define SH3001_HIGHG_Z_INT_DIS (0x00) /****************************************************************** * LOWG Int Config Macro Definitions ******************************************************************/ #define SH3001_LOWG_ALL_INT_EN (0x01) #define SH3001_LOWG_ALL_INT_DIS (0x00) /****************************************************************** * SPI Interface Config Macro Definitions ******************************************************************/ #define SH3001_SPI_3_WIRE (0x01) #define SH3001_SPI_4_WIRE (0x00) /****************************************************************** * FIFO Config Macro Definitions ******************************************************************/ #define SH3001_FIFO_MODE_DIS (0x00) #define SH3001_FIFO_MODE_FIFO (0x01) #define SH3001_FIFO_MODE_STREAM (0x02) #define SH3001_FIFO_MODE_TRIGGER (0x03) #define SH3001_FIFO_ACC_DOWNS_EN (0x80) #define SH3001_FIFO_ACC_DOWNS_DIS (0x00) #define SH3001_FIFO_GYRO_DOWNS_EN (0x08) #define SH3001_FIFO_GYRO_DOWNS_DIS (0x00) #define SH3001_FIFO_FREQ_X1_2 (0x00) #define SH3001_FIFO_FREQ_X1_4 (0x01) #define SH3001_FIFO_FREQ_X1_8 (0x02) #define SH3001_FIFO_FREQ_X1_16 (0x03) #define SH3001_FIFO_FREQ_X1_32 (0x04) #define SH3001_FIFO_FREQ_X1_64 (0x05) #define SH3001_FIFO_FREQ_X1_128 (0x06) #define SH3001_FIFO_FREQ_X1_256 (0x07) #define SH3001_FIFO_EXT_Z_EN (0x2000) #define SH3001_FIFO_EXT_Y_EN (0x1000) #define SH3001_FIFO_EXT_X_EN (0x0080) #define SH3001_FIFO_TEMPERATURE_EN (0x0040) #define SH3001_FIFO_GYRO_Z_EN (0x0020) #define SH3001_FIFO_GYRO_Y_EN (0x0010) #define SH3001_FIFO_GYRO_X_EN (0x0008) #define SH3001_FIFO_ACC_Z_EN (0x0004) #define SH3001_FIFO_ACC_Y_EN (0x0002) #define SH3001_FIFO_ACC_X_EN (0x0001) #define SH3001_FIFO_ALL_DIS (0x0000) /****************************************************************** * AUX I2C Config Macro Definitions ******************************************************************/ #define SH3001_MI2C_NORMAL_MODE (0x00) #define SH3001_MI2C_BYPASS_MODE (0x01) #define SH3001_MI2C_READ_ODR_200HZ (0x00) #define SH3001_MI2C_READ_ODR_100HZ (0x10) #define SH3001_MI2C_READ_ODR_50HZ (0x20) #define SH3001_MI2C_READ_ODR_25HZ (0x30) #define SH3001_MI2C_FAIL (0x20) #define SH3001_MI2C_SUCCESS (0x10) #define SH3001_MI2C_READ_MODE_AUTO (0x40) #define SH3001_MI2C_READ_MODE_MANUAL (0x00) /****************************************************************** * Other Macro Definitions ******************************************************************/ #define SH3001_TRUE (1) #define SH3001_FALSE (0) #define SH3001_NORMAL_MODE (0x00) #define SH3001_SLEEP_MODE (0x01) #define SH3001_POWERDOWN_MODE (0x02) #define SH3001_ACC_NORMAL_MODE (0x03) /*************************************************************************** * Type Definitions ****************************************************************************/ typedef unsigned char (*IMU_read)(unsigned char devAddr, unsigned char regAddr, unsigned char readLen, unsigned char *readBuf); typedef unsigned char (*IMU_write)(unsigned char devAddr, unsigned char regAddr, unsigned char writeLen, unsigned char *writeBuf); typedef struct { signed char cXY; signed char cXZ; signed char cYX; signed char cYZ; signed char cZX; signed char cZY; signed char jX; signed char jY; signed char jZ; unsigned char xMulti; unsigned char yMulti; unsigned char zMulti; unsigned char paramP0; } compCoefType; typedef struct { // u8 comms; //0:IIC; 1:SPI //宏控制 #if (SH3001_USER_INTERFACE==0) u8 iic_hdl; u8 iic_delay; //这个延时并非影响iic的时钟频率，而是2Byte数据之间的延时 // u8 iic_clk; //iic_clk: <=400kHz #else u8 spi_hdl; //SPIx (role:master) u8 spi_cs_pin; // u8 spi_work_mode;//1:3wire(SPI_MODE_UNIDIR_1BIT) or 0:4wire(SPI_MODE_BIDIR_1BIT) (与spi结构体一样) // u8 port; //SPIx group:A,B,C,D (spi结构体) // U8 spi_clk; //spi_clk: <=1MHz (spi结构体) #endif } sh3001_param; /*************************************************************************** Exported Functions ****************************************************************************/ extern unsigned char SH3001_init(void); extern void SH3001_GetImuData(short accData[3], short gyroData[3]); extern void SH3001_GetImuCompData(short accData[3], short gyroData[3]); extern float SH3001_GetTempData(void); extern unsigned char SH3001_SwitchPowerMode(unsigned char powerMode); // interrupt related fucntions extern void SH3001_INT_Enable(unsigned short int intType, unsigned char intEnable, unsigned char intPinSel); extern void SH3001_INT_Config(unsigned char int0Level, unsigned char intLatch, unsigned char int1Level, unsigned char intClear, unsigned char int1Mode, unsigned char int0Mode, unsigned char intTime); extern void SH3001_INT_LowG_Config(unsigned char lowGEnDisIntAll, unsigned char lowGThres, unsigned char lowGTimsMs); extern void SH3001_INT_HighG_Config(unsigned char highGEnDisIntX, unsigned char highGEnDisIntY, unsigned char highGEnDisIntZ, unsigned char highGEnDisIntAll, unsigned char highGThres, unsigned char highGTimsMs); extern void SH3001_INT_Inact_Config(unsigned char inactEnDisIntX, unsigned char inactEnDisIntY, unsigned char inactEnDisIntZ, unsigned char inactIntMode, unsigned char inactLinkStatus, unsigned char inactTimeS, unsigned int inactIntThres, unsigned short int inactG1); extern void SH3001_INT_Act_Config(unsigned char actEnDisIntX, unsigned char actEnDisIntY, unsigned char actEnDisIntZ, unsigned char actIntMode, unsigned char actTimeNum, unsigned char actIntThres, unsigned char actLinkStatus); extern void SH3001_INT_Tap_Config(unsigned char tapEnDisIntX, unsigned char tapEnDisIntY, unsigned char tapEnDisIntZ, unsigned char tapIntThres, unsigned char tapTimeMs, unsigned char tapWaitTimeMs, unsigned char tapWaitTimeWindowMs); extern void SH3001_INT_Flat_Config(unsigned char flatTimeTH, unsigned char flatTanHeta2); extern void SH3001_INT_Orient_Config(unsigned char orientBlockMode, unsigned char orientMode, unsigned char orientTheta, unsigned short orientG1point5, unsigned short orientSlope, unsigned short orientHyst); extern void SH3001_INT_FreeFall_Config(unsigned char freeFallThres, unsigned char freeFallTimsMs); extern unsigned short SH3001_INT_Read_Status0(void); extern unsigned char SH3001_INT_Read_Status2(void); extern unsigned char SH3001_INT_Read_Status3(void); extern unsigned char SH3001_INT_Read_Status4(void); extern void SH3001_pre_INT_config(void); // Fifo related fucntions extern void SH3001_FIFO_Reset(unsigned char fifoMode); extern void SH3001_FIFO_Freq_Config(unsigned char fifoAccDownSampleEnDis, unsigned char fifoAccFreq, unsigned char fifoGyroDownSampleEnDis, unsigned char fifoGyroFreq); extern void SH3001_FIFO_Data_Config(unsigned short fifoMode, unsigned short fifoWaterMarkLevel); extern unsigned char SH3001_FIFO_Read_Status(unsigned short int *fifoEntriesCount); extern void SH3001_FIFO_Read_Data(unsigned char *fifoReadData, unsigned short int fifoDataLength); // Master I2C related fucntions extern void SH3001_MI2C_Reset(void); extern void SH3001_MI2C_Bus_Config(unsigned char mi2cReadMode, unsigned char mi2cODR, unsigned char mi2cFreq); extern void SH3001_MI2C_Cmd_Config(unsigned char mi2cSlaveAddr, unsigned char mi2cSlaveCmd, unsigned char mi2cReadMode); extern unsigned char SH3001_MI2C_Write(unsigned char mi2cWriteData); extern unsigned char SH3001_MI2C_Read(unsigned char *mi2cReadData); // SPI interface related fucntions extern void SH3001_SPI_Config(unsigned char spiInterfaceMode); #endif #endif