day4 驱动

.config

@@ -428,7 +428,7 @@ CONFIG_RT_USING_ULOG=y
 # CONFIG_ULOG_OUTPUT_LVL_I is not set
 CONFIG_ULOG_OUTPUT_LVL_D=y
 CONFIG_ULOG_OUTPUT_LVL=7
-# CONFIG_ULOG_USING_ISR_LOG is not set
+CONFIG_ULOG_USING_ISR_LOG=y
 CONFIG_ULOG_ASSERT_ENABLE=y
 CONFIG_ULOG_LINE_BUF_SIZE=128
 # CONFIG_ULOG_USING_ASYNC_OUTPUT is not set
@@ -1072,7 +1072,11 @@ CONFIG_PKG_AHT10_VER="latest"
 # CONFIG_PKG_USING_MAX17048 is not set
 # CONFIG_PKG_USING_AS7341 is not set
 # CONFIG_PKG_USING_CW2015 is not set
-# CONFIG_PKG_USING_ICM20608 is not set
+CONFIG_PKG_USING_ICM20608=y
+CONFIG_PKG_ICM20608_PATH="/packages/peripherals/sensors/icm20608"
+# CONFIG_PKG_USING_ICM20608_V100 is not set
+CONFIG_PKG_USING_ICM20608_LATEST_VERSION=y
+CONFIG_PKG_ICM20608_VER="latest"
 # CONFIG_PKG_USING_PAJ7620 is not set
 # CONFIG_PKG_USING_STHS34PF80 is not set
 # end of sensors drivers
@@ -1561,7 +1565,7 @@ CONFIG_BSP_USING_FAL=y
 CONFIG_BSP_USING_RW007_WLAN=y
 CONFIG_BSP_USING_AHT21=y
 # CONFIG_BSP_USING_AP3216C is not set
-# CONFIG_BSP_USING_ICM20608 is not set
+CONFIG_BSP_USING_ICM20608=y
 # CONFIG_BSP_USING_USB_MOUSE is not set
 # CONFIG_BSP_USING_CAN is not set
 # CONFIG_BSP_USING_AUDIO is not set
@@ -1598,7 +1602,9 @@ CONFIG_BSP_USING_SPI2=y
 # CONFIG_BSP_USING_ADC is not set
 CONFIG_BSP_USING_I2C=y
 # CONFIG_BSP_USING_I2C1 is not set
-# CONFIG_BSP_USING_I2C2 is not set
+CONFIG_BSP_USING_I2C2=y
+CONFIG_BSP_I2C2_SCL_PIN=81
+CONFIG_BSP_I2C2_SDA_PIN=80
 CONFIG_BSP_USING_I2C3=y
 CONFIG_BSP_I2C3_SCL_PIN=64
 CONFIG_BSP_I2C3_SDA_PIN=65

Day4/README.md

@@ -11,6 +11,7 @@
 I/O设备：显示屏、串口通信、flash、SD卡、以太网接口……
 接口：open,close...
 ![I/O框架图](image-4.png)
+![I/O框架图演进](image-7.png)
 ### 派生设备种类
 ![alt text](image.png)
 ``` c 
@@ -38,39 +39,144 @@ RT_Device_Class_Miscellaneous    /* 杂类设备        */
 ### 为什么分类设备
 一类的控制相同
 ### 例子
-RT_D
+![alt text](image-5.png)
 
-## 
+## api
+[点击查看官网文档api介绍](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/device?id=%e5%88%9b%e5%bb%ba%e5%92%8c%e6%b3%a8%e5%86%8c-io-%e8%ae%be%e5%a4%87)
 ### 创建销毁设备
 ### 注册销毁
 ### flags
-分行？
-### 实验1：注册
+……_stream :向串口终端输出字符串
+`\n `→ `\r\n`
+### 实验1：注册字符设备
+``` c
+#include <rtthread.h>
+#include <rtdevice.h>
+
+static int rt_device_test_init(void)
+{
+    rt_device_t test_dev = rt_device_create(RT_Device_Class_Char,0);
+    if(!test_dev)
+    {
+        rt_kprintf("test_dev create failed\n");
+        return -RT_ERROR;
+    }
+    if(rt_device_register(test_dev,"test_dev",RT_DEVICE_FLAG_RDWR)!=RT_EOK)
+    {
+        rt_kprintf("test_dev register failed\n");
+    }
+    return RT_EOK;
+}
+MSH_CMD_EXPORT_ALIAS(rt_device_test_init,devtest, test device init);
+```
+![alt text](image-6.png)
+### 访问设备
+open,close...
+### ……
 
-### 访问
-### 查找、初始化
-### 打开、关闭
-### 打开标志位
-### 控制设备
-### 读写设备
-### 回调
 ### 调用关系图
 
 IO设备管理层
 PIN设备驱动框架层
 PIN设备驱动层
+## PIN设备
 
-## GPIO
-引脚：电源、时钟、控制、I/O
-GPIO,功能复用I/O
-可编程控制中断
+### GPIO
+芯片上的引脚分为 4 类：电源、时钟、控制、I/O
+I/O 口使用模式：
+- GPIO（General Purpose Input Output（通用输入 / 输出））,
+- 功能复用I/O（如 SPI/I2C/UART 等）
+
+### 可编程控制中断
 ![alt text](image-1.png)
-rt_pin_mode()
-rt_pin_write()
-rt_pin_read()
-
+### 常用接口
+- rt_pin_mode()
+- rt_pin_write()
+- rt_pin_read()
+- rt_pin_attach_irq() ：绑定引脚中断回调函数
+- rt_pin_irq_enable() ：使能引脚中断
+- rt_pin_detach_irq() ：脱离引脚中断回调函数
+……
 ![alt text](image-2.png)
+Assert（）断言：判断是否为真，假则报错，终止运行
 
-### 外部中断
+### 实验：外部中断
+LOG 不用\n
+``` c
+#include <drv_gpio.h>
+#include <rtdevice.h>
+#include <rtthread.h>
+#define LOG_TAG "pin.irq"
+#define LOG_LVL LOG_LVL_DBG
+#include <ulog.h>
 
+#define KEY_UP GET_PIN(C, 5)
+#define KEY_DOWN GET_PIN(C, 1)
+#define KEY_LEFT GET_PIN(C, 0)
+#define KEY_RIGHT GET_PIN(C, 4)
+
+void key_up_callback(void *args) 
+{ 
+    int value = rt_pin_read(KEY_UP);
+    LOG_I("key up value: %d\n", value);
+}
+
+void key_down_callback(void *args) 
+{ 
+    int value = rt_pin_read(KEY_DOWN);
+    LOG_I("key down value: %d\n", value);
+}
+
+void key_left_callback(void *args) 
+{ 
+    int value = rt_pin_read(KEY_LEFT);
+    LOG_I("key left value: %d\n", value);
+}
+
+void key_right_callback(void *args) 
+{ 
+    int value = rt_pin_read(KEY_RIGHT);
+    LOG_I("key right value: %d\n", value);
+}
+
+static int rt_pin_irq_example(void)
+{
+    rt_pin_mode(KEY_UP, PIN_MODE_INPUT_PULLUP);
+    rt_pin_mode(KEY_DOWN, PIN_MODE_INPUT_PULLUP);
+    rt_pin_mode(KEY_LEFT, PIN_MODE_INPUT_PULLUP);
+    rt_pin_mode(KEY_RIGHT, PIN_MODE_INPUT_PULLUP);
+
+    rt_pin_attach_irq(KEY_UP, PIN_IRQ_MODE_FALLING, key_up_callback, RT_NULL);
+    rt_pin_attach_irq(KEY_DOWN, PIN_IRQ_MODE_FALLING, key_down_callback, RT_NULL);
+    rt_pin_attach_irq(KEY_LEFT, PIN_IRQ_MODE_FALLING, key_left_callback, RT_NULL);
+    rt_pin_attach_irq(KEY_RIGHT, PIN_IRQ_MODE_FALLING, key_right_callback, RT_NULL);
+
+    rt_pin_irq_enable(KEY_UP,PIN_IRQ_ENABLE);
+    rt_pin_irq_enable(KEY_DOWN,PIN_IRQ_ENABLE);
+    rt_pin_irq_enable(KEY_LEFT,PIN_IRQ_ENABLE);
+    rt_pin_irq_enable(KEY_RIGHT,PIN_IRQ_ENABLE);
+    
+    return RT_EOK;
+}
+MSH_CMD_EXPORT_ALIAS(rt_pin_irq_example,irq, pin_irq_example);
+```
+![irq](image-8.png)
+### FlexibleButton 按键库(可用)
+![fexible button config](image-9.png)
 ## I2C总线
+[官方文档链接](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/device/i2c/i2c)
+I2C 是 Inter-Integrated Circuit 的简称，读作：I-squared-C
+I2C 总线传输数据时只需两根信号线，一根是双向数据线 **SDA**（serial data），另一根是双向时钟线 **SCL**（serial clock）。SPI 总线有两根线分别用于主从设备之间接收数据和发送数据，而 I2C 总线只使用一根线进行数据收发。不同于 SPI 一主多从的结构，它允许同时有多个主设备存在
+RTT用GPIO模拟I2C
+
+![alt text](image-10.png)
+应答信号： 每传输完成一个字节的数据，接收方就需要回复一个 ACK（acknowledge）。写数据时由从机发送 ACK，读数据时由主机发送 ACK。当主机读到最后一个字节数据时，可发送 NACK（Not acknowledge）然后跟停止条件。
+![alt text](image-11.png)
+![alt text](image-12.png)
+![alt text](image-13.png)
+手动添加
+Kconfig → drv_soft_i2c.c&h
+list device 查看
+六轴***：
+![alt text](image-14.png)
+可尝试i2c-tools 软件包

Day4/icm_20608_sample.c

@@ -0,0 +1,85 @@
+#include <rtthread.h>
+#include <rtdevice.h>
+#include <board.h>
+#include <icm20608.h>
+
+#define LOG_TAG     "icm.app"
+#define LOG_LVL     LOG_LVL_DBG
+#include <ulog.h>
+
+static void icm_thread_entry(void *parameter)
+{
+    icm20608_device_t dev = RT_NULL;
+    const char *i2c_bus_name = "i2c2";
+    int count = 0;
+    rt_err_t result;
+
+    /* 初始化 icm20608 传感器 */
+    dev = icm20608_init(i2c_bus_name);
+    if (dev == RT_NULL)
+    {
+        LOG_E("The sensor initializes failure");
+    }
+    else
+    {
+        LOG_D("The sensor initializes success");
+    }
+
+    /* 对 icm20608 进行零值校准：采样 10 次，求取平均值作为零值 */
+    result = icm20608_calib_level(dev, 10);
+    if (result == RT_EOK)
+    {
+        LOG_D("The sensor calibrates success");
+        LOG_D("accel_offset: X%6d  Y%6d  Z%6d", dev->accel_offset.x, dev->accel_offset.y, dev->accel_offset.z);
+        LOG_D("gyro_offset : X%6d  Y%6d  Z%6d", dev->gyro_offset.x, dev->gyro_offset.y, dev->gyro_offset.z);
+    }
+    else
+    {
+        LOG_E("The sensor calibrates failure");
+        icm20608_deinit(dev);
+    }
+
+    while (count++ < 100)
+    {
+        rt_int16_t accel_x, accel_y, accel_z;
+        rt_int16_t gyros_x, gyros_y, gyros_z;
+
+        /* 读取三轴加速度 */
+        result = icm20608_get_accel(dev, &accel_x, &accel_y, &accel_z);
+        if (result == RT_EOK)
+        {
+            LOG_D("current accelerometer: accel_x%6d, accel_y%6d, accel_z%6d", accel_x, accel_y, accel_z);
+        }
+        else
+        {
+            LOG_E("The sensor does not work");
+        }
+
+        /* 读取三轴陀螺仪 */
+        result = icm20608_get_gyro(dev, &gyros_x, &gyros_y, &gyros_z);
+        if (result == RT_EOK)
+        {
+            LOG_D("current gyroscope    : gyros_x%6d, gyros_y%6d, gyros_z%6d", gyros_x, gyros_y, gyros_z);
+        }
+        else
+        {
+            LOG_E("The sensor does not work");
+            break;
+        }
+        rt_thread_mdelay(1000);
+    }
+}
+
+static int icm_app(void)
+{
+    rt_thread_t res = rt_thread_create("icm", icm_thread_entry, RT_NULL, 1024, 20, 50);
+    if(res == RT_NULL)
+    {
+        return -RT_ERROR;
+    }
+
+    rt_thread_startup(res);
+    
+    return RT_EOK;
+}
+MSH_CMD_EXPORT(icm_app, icm_app);

rtconfig.h

@@ -270,6 +270,7 @@
 #define RT_USING_ULOG
 #define ULOG_OUTPUT_LVL_D
 #define ULOG_OUTPUT_LVL 7
+#define ULOG_USING_ISR_LOG
 #define ULOG_ASSERT_ENABLE
 #define ULOG_LINE_BUF_SIZE 128
 
@@ -463,6 +464,8 @@
 
 #define PKG_USING_AHT10
 #define PKG_USING_AHT10_LATEST_VERSION
+#define PKG_USING_ICM20608
+#define PKG_USING_ICM20608_LATEST_VERSION
 /* end of sensors drivers */
 
 /* touch drivers */
@@ -567,6 +570,7 @@
 #define BSP_USING_FAL
 #define BSP_USING_RW007_WLAN
 #define BSP_USING_AHT21
+#define BSP_USING_ICM20608
 /* end of Onboard Peripheral Drivers */
 
 /* On-chip Peripheral Drivers */
@@ -581,6 +585,9 @@
 #define BSP_USING_SPI
 #define BSP_USING_SPI2
 #define BSP_USING_I2C
+#define BSP_USING_I2C2
+#define BSP_I2C2_SCL_PIN 81
+#define BSP_I2C2_SDA_PIN 80
 #define BSP_USING_I2C3
 #define BSP_I2C3_SCL_PIN 64
 #define BSP_I2C3_SDA_PIN 65