diff --git a/.config b/.config index f51b6c1..f967739 100644 --- a/.config +++ b/.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 diff --git a/Day4/README.md b/Day4/README.md index 4922b05..b338866 100644 --- a/Day4/README.md +++ b/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 +#include + +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 +#include +#include +#define LOG_TAG "pin.irq" +#define LOG_LVL LOG_LVL_DBG +#include +#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 \ No newline at end of file diff --git a/Day4/icm_20608_sample.c b/Day4/icm_20608_sample.c new file mode 100644 index 0000000..8fb5c40 --- /dev/null +++ b/Day4/icm_20608_sample.c @@ -0,0 +1,85 @@ +#include +#include +#include +#include + +#define LOG_TAG "icm.app" +#define LOG_LVL LOG_LVL_DBG +#include + +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); \ No newline at end of file diff --git a/Day4/image-10.png b/Day4/image-10.png new file mode 100644 index 0000000..9a06e61 Binary files /dev/null and b/Day4/image-10.png differ diff --git a/Day4/image-11.png b/Day4/image-11.png new file mode 100644 index 0000000..66280e4 Binary files /dev/null and b/Day4/image-11.png differ diff --git a/Day4/image-12.png b/Day4/image-12.png new file mode 100644 index 0000000..c5a4d77 Binary files /dev/null and b/Day4/image-12.png differ diff --git a/Day4/image-13.png b/Day4/image-13.png new file mode 100644 index 0000000..517341f Binary files /dev/null and b/Day4/image-13.png differ diff --git a/Day4/image-14.png b/Day4/image-14.png new file mode 100644 index 0000000..0f5c158 Binary files /dev/null and b/Day4/image-14.png differ diff --git a/Day4/image-5.png b/Day4/image-5.png new file mode 100644 index 0000000..386bde8 Binary files /dev/null and b/Day4/image-5.png differ diff --git a/Day4/image-6.png b/Day4/image-6.png new file mode 100644 index 0000000..047a3cb Binary files /dev/null and b/Day4/image-6.png differ diff --git a/Day4/image-7.png b/Day4/image-7.png new file mode 100644 index 0000000..95bc8dd Binary files /dev/null and b/Day4/image-7.png differ diff --git a/Day4/image-8.png b/Day4/image-8.png new file mode 100644 index 0000000..538ec70 Binary files /dev/null and b/Day4/image-8.png differ diff --git a/Day4/image-9.png b/Day4/image-9.png new file mode 100644 index 0000000..03c9bd4 Binary files /dev/null and b/Day4/image-9.png differ diff --git a/rtconfig.h b/rtconfig.h index c9d0ac9..a277f80 100644 --- a/rtconfig.h +++ b/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