请问Minifly 源码V1.2 是如何获取传感器数据的？

窈窈之冥 · 发表于 2021-11-22 16:19:27

/*传感器任务*/
void sensorsTask(void *param)
{
sensorsInit(); /*传感器初始化*/
vTaskDelay(150);
sensorsSetupSlaveRead();/*设置传感器从模式读取*/
while (1)
{
if (pdTRUE == xSemaphoreTake(sensorsDataReady, portMAX_DELAY))
{
/*确定数据长度*/
u8 dataLen = (u8) (SENSORS_MPU6500_BUFF_LEN +
(isMagPresent ? SENSORS_MAG_BUFF_LEN : 0) +
(isBaroPresent ? SENSORS_BARO_BUFF_LEN : 0));
i2cdevRead(I2C1_DEV, MPU6500_ADDRESS_AD0_HIGH, MPU6500_RA_ACCEL_XOUT_H, dataLen, buffer);
/*处理原始数据，并放入数据队列中*/
processAccGyroMeasurements(&(buffer[0]));
if (isMagPresent)
{
processMagnetometerMeasurements(&(buffer[SENSORS_MPU6500_BUFF_LEN]));
}
if (isBaroPresent)
{
processBarometerMeasurements(&(buffer[isMagPresent ?
SENSORS_MPU6500_BUFF_LEN + SENSORS_MAG_BUFF_LEN : SENSORS_MPU6500_BUFF_LEN]));
}
vTaskSuspendAll(); /*确保同一时刻把数据放入队列中*/
xQueueOverwrite(accelerometerDataQueue, &sensors.acc);
xQueueOverwrite(gyroDataQueue, &sensors.gyro);
if (isMagPresent)
{
xQueueOverwrite(magnetometerDataQueue, &sensors.mag);
}
if (isBaroPresent)
{
xQueueOverwrite(barometerDataQueue, &sensors.baro);
}
xTaskResumeAll();
}
}
}

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任务的流程：
  先初始化硬件I2C（Enable I2C_SENSORS error interrupts,IC DMA初始化），初始化传感器----->进入循环，等待传感器中断发送二值信号量------>得到信号量后读取传感器数据到buffer数组中---->处理buffer数据得到加速度，陀螺仪，磁力，气压等，然后把它们各自入到自己的队列中。

/**
* 事件中断服务函数
*/
static void i2cdrvEventIsrHandler(I2cDrv* i2c);
/**
* 错误中断服务函数
*/
static void i2cdrvErrorIsrHandler(I2cDrv* i2c);
/**
* DMA中断服务函数
*/
static void i2cdrvDmaIsrHandler(I2cDrv* i2c);
/**
* 事件中断服务函数
*/
static void i2cdrvDmaIsrHandler(I2cDrv* i2c)
{
if (DMA_GetFlagStatus(i2c->def->dmaRxStream, i2c->def->dmaRxTCFlag)) // Tranasfer complete
{
i2cdrvClearDMA(i2c);
i2cNotifyClient(i2c);
// Are there any other messages to transact?
i2cTryNextMessage(i2c);
}
if (DMA_GetFlagStatus(i2c->def->dmaRxStream, i2c->def->dmaRxTEFlag)) // Transfer error
{
DMA_ClearITPendingBit(i2c->def->dmaRxStream, i2c->def->dmaRxTEFlag);
//TODO: Best thing we could do?
i2c->txMessage.status = i2cNack;
i2cNotifyClient(i2c);
i2cTryNextMessage(i2c);
}
}
/**
* 事件中断服务函数
*/
static void i2cdrvEventIsrHandler(I2cDrv* i2c)
{
uint16_t SR1;
uint16_t SR2;
// read the status register first
SR1 = i2c->def->i2cPort->SR1;
// Start bit event
if (SR1 & I2C_SR1_SB)
{
i2c->messageIndex = 0;
if(i2c->txMessage.direction == i2cWrite ||
i2c->txMessage.internalAddress != I2C_NO_INTERNAL_ADDRESS)
{
I2C_Send7bitAddress(i2c->def->i2cPort, i2c->txMessage.slaveAddress << 1, I2C_Direction_Transmitter);
}
else
{
I2C_AcknowledgeConfig(i2c->def->i2cPort, ENABLE);
I2C_Send7bitAddress(i2c->def->i2cPort, i2c->txMessage.slaveAddress << 1, I2C_Direction_Receiver);
}
}
// Address event
else if (SR1 & I2C_SR1_ADDR)
{
if(i2c->txMessage.direction == i2cWrite ||
i2c->txMessage.internalAddress != I2C_NO_INTERNAL_ADDRESS)
{
SR2 = i2c->def->i2cPort->SR2; // clear ADDR
// In write mode transmit is always empty so can send up to two bytes
if (i2c->txMessage.internalAddress != I2C_NO_INTERNAL_ADDRESS)
{
if (i2c->txMessage.isInternal16bit)
{
I2C_SendData(i2c->def->i2cPort, (i2c->txMessage.internalAddress & 0xFF00) >> 8);
I2C_SendData(i2c->def->i2cPort, (i2c->txMessage.internalAddress & 0x00FF));
}
else
{
I2C_SendData(i2c->def->i2cPort, (i2c->txMessage.internalAddress & 0x00FF));
}
i2c->txMessage.internalAddress = I2C_NO_INTERNAL_ADDRESS;
}
I2C_ITConfig(i2c->def->i2cPort, I2C_IT_BUF, ENABLE); // allow us to have an EV7
}
else // Reading, start DMA transfer
{
if(i2c->txMessage.messageLength == 1)
{
I2C_AcknowledgeConfig(i2c->def->i2cPort, DISABLE);
}
else
{
I2C_DMALastTransferCmd(i2c->def->i2cPort, ENABLE); // No repetitive start
}
// Disable buffer I2C interrupts
I2C_ITConfig(i2c->def->i2cPort, I2C_IT_EVT | I2C_IT_BUF, DISABLE);
// Enable the Transfer Complete interrupt
DMA_ITConfig(i2c->def->dmaRxStream, DMA_IT_TC | DMA_IT_TE, ENABLE);
I2C_DMACmd(i2c->def->i2cPort, ENABLE); // Enable before ADDR clear
__DMB(); // Make sure instructions (clear address) are in correct order
SR2 = i2c->def->i2cPort->SR2; // clear ADDR
}
}
// Byte transfer finished
else if (SR1 & I2C_SR1_BTF)
{
SR2 = i2c->def->i2cPort->SR2;
if (SR2 & I2C_SR2_TRA) // In write mode?
{
if (i2c->txMessage.direction == i2cRead) // internal address read
{
/* Internal address written, switch to read */
i2c->def->i2cPort->CR1 = (I2C_CR1_START | I2C_CR1_PE); // Generate start
}
else
{
i2cNotifyClient(i2c);
// Are there any other messages to transact? If so stop else repeated start.
i2cTryNextMessage(i2c);
}
}
else // Reading. Shouldn't happen since we use DMA for reading.
{
ASSERT(1);
i2c->txMessage.buffer[i2c->messageIndex++] = I2C_ReceiveData(i2c->def->i2cPort);
if(i2c->messageIndex == i2c->txMessage.messageLength)
{
i2cNotifyClient(i2c);
// Are there any other messages to transact?
i2cTryNextMessage(i2c);
}
}
// A second BTF interrupt might occur if we don't wait for it to clear.
// TODO Implement better method.
while (i2c->def->i2cPort->CR1 & 0x0100) { ; }
}
// Byte received
else if (SR1 & I2C_SR1_RXNE) // Should not happen when we use DMA for reception.
{
i2c->txMessage.buffer[i2c->messageIndex++] = I2C_ReceiveData(i2c->def->i2cPort);
if(i2c->messageIndex == i2c->txMessage.messageLength)
{
I2C_ITConfig(i2c->def->i2cPort, I2C_IT_BUF, DISABLE); // disable RXE to get BTF
}
}
// Byte ready to be transmitted
else if (SR1 & I2C_SR1_TXE)
{
if (i2c->txMessage.direction == i2cRead)
{
// Disable TXE to flush and get BTF to switch to read.
// Switch must be done in BTF or strange things happen.
I2C_ITConfig(i2c->def->i2cPort, I2C_IT_BUF, DISABLE);
}
else
{
I2C_SendData(i2c->def->i2cPort, i2c->txMessage.buffer[i2c->messageIndex++]);
if(i2c->messageIndex == i2c->txMessage.messageLength)
{
// Disable TXE to allow the buffer to flush and get BTF
I2C_ITConfig(i2c->def->i2cPort, I2C_IT_BUF, DISABLE);
}
}
}
}

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请问Minifly 源码V1.2 是如何获取传感器数据的？

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