script/libs/l3g4200d.lua

   1 --[[
   2 @module l3g4200d
   3 @summary l3g4200d 三轴数字陀螺仪传感器
   4 @version 1.0
   5 @date    2022.04.12
   6 @author  Dozingfiretruck
   7 @usage
   8 --注意:因使用了sys.wait()所有api需要在协程中使用
   9 -- 用法实例
  10 local l3g4200d = require "l3g4200d"
  11 i2cid = 0
  12 i2c_speed = i2c.FAST
  13 sys.taskInit(function()
  14     i2c.setup(i2cid,i2c_speed)
  15     l3g4200d.init(i2cid)--初始化,传入i2c_id
  16     while 1 do
  17     local l3g4200d_data = l3g4200d.get_data()
  18     log.info("l3g4200d_data", l3g4200d_data.x,l3g4200d_data.y,l3g4200d_data.z)
  19         sys.wait(1000)
  20     end
  21 end)
  22 ]]
  23
  24
  25 local l3g4200d = {}
  26 local sys = require "sys"
  27 local i2cid
  28
  29 local L3G4200D_ADDRESS_ADR
  30
  31 local L3G4200D_ADDRESS_ADR_LOW       =   0x68
  32 local L3G4200D_ADDRESS_ADR_HIGH      =   0x69
  33
  34 local L3G4200D_CHIP_ID_CHECK         =   0x0F
  35 local L3G4200D_CHIP_ID               =   0xD3
  36
  37 ---器件所用地址
  38
  39 local L3G4200D_CTRL_REG1             =   0x20
  40 local L3G4200D_CTRL_REG2             =   0x21
  41 local L3G4200D_CTRL_REG3             =   0x22
  42 local L3G4200D_CTRL_REG4             =   0x23
  43 local L3G4200D_CTRL_REG5             =   0x24
  44 local L3G4200D_REFERENCE             =   0x25
  45 local L3G4200D_OUT_TEMP              =   0x26
  46 local L3G4200D_STATUS_REG            =   0x27
  47 local L3G4200D_OUT_X_L               =   0x28
  48 local L3G4200D_OUT_X_H               =   0x29
  49 local L3G4200D_OUT_Y_L               =   0x2A
  50 local L3G4200D_OUT_Y_H               =   0x2B
  51 local L3G4200D_OUT_Z_L               =   0x2C
  52 local L3G4200D_OUT_Z_H               =   0x2D
  53 local L3G4200D_FIFO_CTRL_REG         =   0x2E
  54 local L3G4200D_FIFO_SRC_REG          =   0x2F
  55 local L3G4200D_INT1_CFG              =   0x30
  56 local L3G4200D_INT1_SRC              =   0x31
  57 local L3G4200D_INT1_TSH_XH           =   0x32
  58 local L3G4200D_INT1_TSH_XL           =   0x33
  59 local L3G4200D_INT1_TSH_YH           =   0x34
  60 local L3G4200D_INT1_TSH_YL           =   0x35
  61 local L3G4200D_INT1_TSH_ZH           =   0x36
  62 local L3G4200D_INT1_TSH_ZL           =   0x37
  63 local L3G4200D_INT1_DURATION         =   0x38
  64
  65 --器件ID检测
  66 local function chip_check()
  67     i2c.send(i2cid, L3G4200D_ADDRESS_ADR_HIGH, L3G4200D_CHIP_ID_CHECK)--读器件地址
  68     local revData = i2c.recv(i2cid, L3G4200D_ADDRESS_ADR_HIGH, 1)
  69     if revData:byte() ~= nil then
  70         L3G4200D_ADDRESS_ADR = L3G4200D_ADDRESS_ADR_HIGH
  71     else
  72         i2c.send(i2cid, L3G4200D_ADDRESS_ADR_LOW, L3G4200D_CHIP_ID_CHECK)--读器件地址
  73         sys.wait(50)
  74         local revData = i2c.recv(i2cid, L3G4200D_ADDRESS_ADR_LOW, 1)
  75         if revData:byte() ~= nil then
  76             L3G4200D_ADDRESS_ADR = L3G4200D_ADDRESS_ADR_LOW
  77         else
  78             log.info("Can't find L3G4200D device")
  79             return false
  80         end
  81     end
  82
  83     i2c.send(i2cid, L3G4200D_ADDRESS_ADR, L3G4200D_CHIP_ID_CHECK)--读器件地址
  84     local revData = i2c.recv(i2cid, L3G4200D_ADDRESS_ADR, 1)
  85     if revData:byte() == L3G4200D_CHIP_ID then
  86         log.info("Device i2c id is: L3G4200D")
  87         return true
  88     else
  89         log.info("Can't find L3G4200D device")
  90         return false
  91     end
  92 end
  93
  94 --[[
  95 l3g4200d 初始化
  96 @api l3g4200d.init(i2c_id)
  97 @number 所在的i2c总线id
  98 @return bool   成功返回true
  99 @usage
 100 l3g4200d.init(0)
 101 ]]
 102 function l3g4200d.init(i2c_id)
 103     i2cid = i2c_id
 104     if chip_check() then
 105         i2c.send(i2cid, L3G4200D_ADDRESS_ADR, {L3G4200D_CTRL_REG1,0x0F})
 106         i2c.send(i2cid, L3G4200D_ADDRESS_ADR, {L3G4200D_CTRL_REG2,0x00})
 107         i2c.send(i2cid, L3G4200D_ADDRESS_ADR, {L3G4200D_CTRL_REG3,0x08})
 108         i2c.send(i2cid, L3G4200D_ADDRESS_ADR, {L3G4200D_CTRL_REG4,0x30})
 109         i2c.send(i2cid, L3G4200D_ADDRESS_ADR, {L3G4200D_CTRL_REG5,0x00})
 110     end
 111     return true
 112 end
 113
 114 --[[
 115 获取 l3g4200d 数据
 116 @api l3g4200d.get_data()
 117 @return table l3g4200d 数据
 118 @usage
 119 local l3g4200d_data = l3g4200d.get_data()
 120 log.info("l3g4200d_data", l3g4200d_data.x,l3g4200d_data.y,l3g4200d_data.z)
 121 ]]
 122 function l3g4200d.get_data()
 123     local l3g4200d_data = {}
 124     i2c.send(i2cid, L3G4200D_ADDRESS_ADR,L3G4200D_OUT_X_L)
 125     local data = i2c.recv(i2cid, L3G4200D_ADDRESS_ADR, 6)
 126     _, l3g4200d_data.x, l3g4200d_data.y, l3g4200d_data.z = pack.unpack(data, "<h3")
 127     return l3g4200d_data
 128 end
 129
 130 return l3g4200d
 131
 132