mirror of
https://github.com/rvtr/ctr_mcu.git
synced 2025-06-18 16:45:33 -04:00
247 lines
7.0 KiB
C
247 lines
7.0 KiB
C
/* ========================================================
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加速度センサ関係
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・データ更新完了でデータを吸い上げ手レジスタを更新、CPUに割り込み
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・フラグが立っていれば歩数カウント
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・加速度センサ割り込みからタスクを登録して下さい。（I2Cの競合回避などがあるので）
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======================================================== */
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#pragma SFR
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#pragma NOP
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#pragma HALT
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#pragma STOP
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#pragma ROT
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// rorb, rolb, rorw, rolw
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#pragma MUL
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#pragma BCD
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#include "config.h"
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#ifdef _MCU_BSR_
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#pragma interrupt INTP23 intp23_ACC_ready RB3 // 加速度センサ、データ準備完了
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#endif
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#include "incs.h"
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#include <math.h>
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// ========================================================
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// レジスタ名
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#define ACC_REG_WHOAMI 0x0F
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#define ACC_REG_CTRL1 0x20
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#define ACC_REG_CTRL5 0x24
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#define ACC_REG_X 0x28
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// ビット位置
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#define ACC_bP_PM0 5
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#define ACC_bP_DR0 3
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// ビット設定値
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#define ACC_BITS_PM_PDN 0
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#define ACC_BITS_PM_NORM 1
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#define ACC_BITS_PM_LP0R5 2
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#define ACC_BITS_PM_LP1 3
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#define ACC_BITS_PM_LP2 4
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#define ACC_BITS_PM_LP5 5
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#define ACC_BITS_PM_LP10 6
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#define ACC_BITS_DR_50Hz 0
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#define ACC_BITS_DR_100Hz 1
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#define ACC_BITS_DR_400Hz 2
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#define ACC_BITS_DR_1000Hz 3
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#define ACC_BITS_ALL_AXIS_ON 7
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#define VREG_BITMASK_ACC_CONF_ACQ ( 1 << 0 )
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#define VREG_BITMASK_ACC_CONF_HOSU ( 1 << 1 )
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// ========================================================
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task_status tsk_soft_int( );
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/* ========================================================
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・割り込みを確認してデータを吸い上げ、レジスタに書き出します
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・本当であればコールバック関数を登録しておけばいいじゃんとなるのですが、
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I2Cが使用中だったら？とか考えると私ではそこまでできないのです。
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・自動歩数計とかでも結局
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======================================================== */
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task_status_immed tski_cbk_accero( )
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{ // （疑似）isrから登録されます
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static u8 err_count;
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// 加速度センサデータレジスタへの反映
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if( iic_mcu_read( IIC_SLA_ACCEL, ( ACC_REG_X | 0x80 ), 6, &vreg_ctr[VREG_C_ACC_XL] )
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!= ERR_SUCCESS )
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{
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err_count += 1;
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if( err_count < 8 )
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{
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// リトライ
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return( ERR_CONTINUE );
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}
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else
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{
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// 加速度センサが異常になったので止める
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vreg_ctr[ VREG_C_ACC_CONFIG ] &= ~( VREG_BITMASK_ACC_CONF_HOSU | VREG_BITMASK_ACC_CONF_ACQ );
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tski_acc_hosu_set();
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vreg_ctr[ VREG_C_STATUS_1 ] |= REG_BIT_ACCERO_ERR;
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return ( ERR_FINISED ); // タスクの削除は必要
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}
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}
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else
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{
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err_count = 0;
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// 正常時パス //
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// 加速度更新＆割り込み
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if( (( vreg_ctr[VREG_C_ACC_CONFIG] & VREG_BITMASK_ACC_CONF_ACQ ) != 0 ) &&
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( system_status.pwr_state == ON )
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)
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{
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set_irq( VREG_C_IRQ1, REG_BIT_ACC_DAT_RDY );
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// ゴミデータのカラ読み
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if( ACC_VALID )
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{
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u8 temp[6];
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iic_mcu_read( IIC_SLA_ACCEL, ( ACC_REG_X | 0x80 ), 6, temp );
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}
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}
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if(( system_status.pwr_state != ON_CHECK )
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&&( system_status.pwr_state != OFF )
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#ifndef _DBG_PEDO_AUTO_ENABLE_
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&&( ( vreg_ctr[VREG_C_ACC_CONFIG] & VREG_BITMASK_ACC_CONF_HOSU ) != 0 )
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#endif
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)
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{
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pedometer(); // 歩数計
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}
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}
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return ( ERR_FINISED );
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}
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/*=======================================================
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加速度センサ透過アクセス リード
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========================================================*/
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task_status_immed tski_acc_read( )
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{
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vreg_ctr[VREG_C_ACC_W_BUF] = iic_mcu_read_a_byte( IIC_SLA_ACCEL, vreg_ctr[VREG_C_ACC_R_ADRS] );
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// vreg_ctr[ VREG_C_ACC_R_BUF ] = iic_mcu_read_a_byte( IIC_SLA_ACCEL, vreg_ctr[VREG_C_ACC_R_ADRS] );
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vreg_ctr[VREG_C_IRQ1] |= REG_BIT_ACC_ACK;
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if( ( vreg_ctr[VREG_C_IRQ_MASK1] & REG_BIT_ACC_ACK ) == 0 )
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{
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IRQ0_ast;
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}
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return ( ERR_FINISED );
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}
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/*=========================================================
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加速度センサ透過アクセス ライト
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========================================================*/
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task_status_immed tski_acc_write( )
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{
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iic_mcu_write_a_byte( IIC_SLA_ACCEL, vreg_ctr[VREG_C_ACC_W_ADRS], vreg_ctr[VREG_C_ACC_W_BUF] );
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vreg_ctr[VREG_C_IRQ1] |= REG_BIT_ACC_ACK;
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if( ( vreg_ctr[VREG_C_IRQ_MASK1] & REG_BIT_ACC_ACK ) == 0 )
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{
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IRQ0_ast;
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}
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return ( ERR_FINISED );
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}
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/*=========================================================
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加速度センサの設定
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========================================================*/
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task_status_immed tski_acc_hosu_set( )
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{
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u8 str_send_buf[4];
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iic_mcu_read_a_byte( IIC_SLA_ACCEL, ACC_REG_WHOAMI );
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if( iic_mcu_result == ERR_NOSLAVE )
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{
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vreg_ctr[ VREG_C_STATUS_1 ] |= REG_BIT_ACCERO_ERR;
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return ( ERR_FINISED ); // とりあえず、タスクは削除しなくてはならない
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}else{
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vreg_ctr[ VREG_C_STATUS_1 ] &= ~REG_BIT_ACCERO_ERR;
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}
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str_send_buf[1] = 0x00; // ctrl2 HPF:normal, filterd, HPF for IRQ : dis/dis, HPF coeff:norm
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/*
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if( system_status.model == MODEL_TS_BOARD )
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{
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// TS Final SoC
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str_send_buf[2] = 0x02; // 3 IRQ pol :Active HI, Drive:Pushpull,
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}
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else
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{
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// 実機＆派生種、白箱
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str_send_buf[2] = 0x10; // 3 IRQ pol :Active HI, Drive:Pushpull,
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}
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*/
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str_send_buf[2] = 0b00010010; // 面倒なので両方...。
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str_send_buf[3] = 0x80; // ctrl3 block update:enable, MSB first, scale: +-2G(default), selftest: dis
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if( ( vreg_ctr[VREG_C_ACC_CONFIG] &
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( VREG_BITMASK_ACC_CONF_HOSU | VREG_BITMASK_ACC_CONF_ACQ ) ) == 0 )
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{
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PMK23 = 1;
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// 完全停止
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str_send_buf[0] =
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( ACC_BITS_PM_PDN << ACC_bP_PM0 | 0 << ACC_bP_DR0 | ACC_BITS_ALL_AXIS_ON );
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}
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else
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{
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PMK23 = 0;
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// 100Hz 自動取り込み
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str_send_buf[0] =
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( ACC_BITS_PM_NORM << ACC_bP_PM0
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| ACC_BITS_DR_100Hz << ACC_bP_DR0
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| ACC_BITS_ALL_AXIS_ON );
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}
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iic_mcu_write( IIC_SLA_ACCEL, ( ACC_REG_CTRL1 | 0x80 ), 4, str_send_buf );
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// カラ読み
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if( ACC_VALID )
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{
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if( system_status.pwr_state == ON )
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{
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u8 temp[6];
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iic_mcu_read( IIC_SLA_ACCEL, ( ACC_REG_X | 0x80 ), 6, temp );
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}
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}
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return ( ERR_FINISED );
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}
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/* ========================================================
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加速度センサ割り込み
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I2Cが使用中かもしれないので、読み出しタスクの登録を行うのみ
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======================================================== */
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__interrupt void intp23_ACC_ready( )
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{
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EI();
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if( ( vreg_ctr[VREG_C_ACC_CONFIG] & 0x03 ) != 0x00 )
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{
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if( ( system_status.pwr_state == ON ) || ( system_status.pwr_state == SLEEP ) )
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{
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if( ACC_VALID )
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{
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renge_task_immed_add( tski_cbk_accero );
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}
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}
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}
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}
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