mirror of
https://github.com/rvtr/ctr_mcu.git
synced 2025-10-31 13:51:10 -04:00
272 lines
8.6 KiB
C
272 lines
8.6 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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#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_HOSU ( 1 << 1 )
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#define VREG_BITMASK_ACC_CONF_ACQ ( 1 << 0 )
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// ========================================================
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extern u8 pool[];
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u16* hyst_pedometer;
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// ========================================================
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task_interval 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 tsk_cbk_accero( )
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{ // （疑似）isrから登録されます
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if( system_status.pwr_state == ON )
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{
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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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iic_mcu_read( IIC_SLA_ACCEL, ( ACC_REG_X | 0x80 ), 6, &vreg_ctr[VREG_C_ACC_XL] );
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if( ( vreg_ctr[VREG_C_ACC_CONFIG] &
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( VREG_BITMASK_ACC_CONF_ACQ | VREG_BITMASK_ACC_CONF_HOSU ) ) != 0 )
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{
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set_irq( VREG_C_IRQ1, REG_BIT_ACC_DAT_RDY );
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}
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}
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// 歩数計 /////////////////////////////////////////////
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// offでなければ、電源off中でも計測
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// if( ( vreg_ctr[VREG_C_ACC_CONFIG] & VREG_BITMASK_ACC_CONF_HOSU ) != 0x00 )
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if( 1 )
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{
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static s16 th_H = 0x3500; // 閾値。暫定。動的変更とかしたい…
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static s16 th_L = 0x2A00;
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static u16 acc_norm[3]; // 加速度の大きさのヒストリ。数字が大きい方が古い
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static u8 direction; // (0)極大を待つか (1)極小を待つか
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static u16 interval; // 山と谷の間の時間。短すぎても長すぎてもはじく。
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u16 sx16 = abs( (u16)vreg_ctr[VREG_C_ACC_XH] * 256 + vreg_ctr[VREG_C_ACC_XL] );
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u16 sy16 = abs( (u16)vreg_ctr[VREG_C_ACC_YH] * 256 + vreg_ctr[VREG_C_ACC_YL] );
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u16 sz16 = abs( (u16)vreg_ctr[VREG_C_ACC_ZH] * 256 + vreg_ctr[VREG_C_ACC_ZL] );
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acc_norm[2] = acc_norm[1];
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acc_norm[1] = acc_norm[0];
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// そのうちローコストな方法を考える、かも
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acc_norm[0] = sqrt( (long)sx16 * ( sx16 / 2 ) +
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(long)sy16 * ( sy16 / 2 ) +
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(long)sz16 * ( sz16 / 2 ) );
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if( direction == 0 ) // 前回は谷
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{
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if( acc_norm[2] <= acc_norm[1] && acc_norm[1] > acc_norm[0]
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&& acc_norm[0] > th_H ) // 極大で、閾値を超えていた
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{
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direction = 1; // 極小を待つ
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interval = 0; // 極小までの時間を計る
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}
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}
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else
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{
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if( acc_norm[2] >= acc_norm[1] && acc_norm[1] < acc_norm[0]
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&& acc_norm[0] < th_L )
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{
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direction = 0;
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if( 2 < interval && interval < 20 ) // 早すぎず、遅すぎず
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{
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// 一歩加算。 いろいろ失敗した
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if( ++vreg_ctr[ VREG_C_ACC_HOSU_L ] == 0 )
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{
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if( ++vreg_ctr[ VREG_C_ACC_HOSU_M ] == 0 )
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{
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++vreg_ctr[ VREG_C_ACC_HOSU_H ];
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}
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}
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if( ++*hyst_pedometer == 0 )
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{
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*hyst_pedometer = 65535;
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}
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}
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interval = 0;
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}
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interval += 1;
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}
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}
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return ( ERR_SUCCESS );
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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 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_SUCCESS );
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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 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_SUCCESS );
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}
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/*=========================================================
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自動歩数カウントモードにセット
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todo 他のモードだったら止めたり、復帰させたり
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割り込みルーチンなどでカウント判定が必要
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========================================================*/
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task_status_immed 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_bus_status == ERR_NOSLAVE )
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{
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vreg_ctr[ VREG_C_STATUS_1 ] |= 0x02;
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#ifdef _MCU_BSR_
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// PMK23 = 1;
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#endif
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return ( ERR_SUCCESS ); // 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 ] &= ~0x02;
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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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#ifdef _MODEL_WM0_
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str_send_buf[2] = 0x10; // 3 IRQ pol :Active HI, Drive:Pushpull,
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/// IRQ2flg latch: auto clear after read, IRQ2 conf: IRQ( fall,shock,...)
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/// 1 : auto clear after read, conf: data ready
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#else
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str_send_buf[2] = 0x02; // 3 IRQ pol :Active HI, Drive:Pushpull,
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/// IRQ2flg latch: auto clear after read, IRQ2 conf: IRQ( fall,shock,...)
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/// 1 : auto clear after read, conf: data ready
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#endif
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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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#ifdef _MCU_BSR_
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PMK23 = 1;
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#endif
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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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hyst_pedometer = (u16*)pool; // 止めるとヒストリが無効になります（暫定）
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}
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else
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{
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#ifdef _MCU_BSR_
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PMK23 = 0;
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#endif
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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 == 1 )
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{
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if( system_status.pwr_state == ON )
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{
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renge_task_immed_add( tsk_cbk_accero );
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}
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}
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return ( ERR_SUCCESS );
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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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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( tsk_cbk_accero );
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}
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}
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}
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}
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