六轴加速度传感器MPU6050官方DMP库到瑞萨RL78/G13的移植

i2c_write(unsigned char slave_addr, unsigned char reg_addr,unsigned char length, unsigned char const *data)//i2c写入函数，要求至少能连续写入16字节数据
i2c_read(unsigned char slave_addr, unsigned char reg_addr,unsigned char length, unsigned char *data)//i2c读取函数，要求至少能连续读取16字节数据
delay_ms(unsigned long num_ms)//延时函数
get_ms(unsigned long *count)//一般用不到这个函数

//宏定义位于myiic.h

#define u8 uint8_t   //正点原子的模拟IIC使用了数据类型u8，该类型在RL78/G13中对应的类型为uint8_t
#define SDA_IN()  PM7.5=1   //管脚7.5使用为SDA口，PM为端口配置寄存器，该位为1时输入，为0时输出
#define SDA_OUT() PM7.5=0

#define SCL_IN()  PM7.6=1  //管脚7.6使用为SCL口
#define SCL_OUT() PM7.6=0
 
#define IIC_SCL    P7.6 //P为端口输出寄存器
#define IIC_SDA    P7.5  
#define READ_SDA   P7.5 

//IIC初始化函数位于myiic.c，删去了大量代码，因为RL78/G13的管脚配置可以通过代码生成器直接完成，不用手动配置

void IIC_Init(void)
{            
      SDA_OUT();
    SCL_OUT();
    IIC_SCL=1;
    IIC_SDA=1;
}

//CS+没有提供官方延时函数，因此需要自定义

//首先用代码生成器生成一个1ms的定时中断

unsigned long systemtime;//定义全局变量

//在定时器中断函数中添加 systemtime++;，该函数位于r_cg_timer_user.c
__interrupt static void r_tau0_channel3_interrupt(void)
{
    /* Start user code. Do not edit comment generated here */
    systemtime++;
    /* End user code. Do not edit comment generated here */
}

//定义delay_ms
void delay_ms(unsigned long num_ms){
    unsigned long now=systemtime;
    while((systemtime-now)<num_ms){
        NOP();
    }
}

//定义delay_us，该函数由网友提供，据称完成整个调用刚好1us，我没有实测过，但是可以使用
void delay_us(void)
{
    unsigned char n;
    n = 1;
    for(; n>0; n--);
}

//定义完成后，需要将myiic.c和mpu6050.c文件中的所有delay(x)修改为x个delay()，如：
void IIC_Stop(void)
{
    SDA_OUT();
    IIC_SCL=0;
    IIC_SDA=0;
     delay_us();delay_us();delay_us();delay_us();//原为delay_us(4)
    IIC_SCL=1; 
    IIC_SDA=1;
    delay_us();delay_us();delay_us();delay_us();                                   
}

//最后在inv_mpu.c和inv_mpu_dmp_motion_driver.c中添加包含delay_ms函数所在的头文件

//首先注释掉#include <stdint.h>，该代码同时位于inv_mpu.c和inv_mpu_dmp_motion_driver.c，头文件stdint.h提供了几个数据类型，但其中定义了64位的int型，而RL78/G13支持的数据类型最高位为32位，不注释掉将无法通过编译

//然后添加包含文件
#include "mpu6050.h"

//在inv_mpu.c中添加如下宏定义
#define MPU6050    //define used sensor 6050
#define MOTION_DRIVER_TARGET_GL78G13 //define used MCU GL78/G13
#define EMPL_NO_64BIT 

//在inv_mpu_dmp_motion_driver.c添加如下宏定义
#define MOTION_DRIVER_TARGET_GL78G13
#define EMPL_NO_64BIT 

//修改如下代码（inv_mpu.c）
#if defined MOTION_DRIVER_TARGET_MSP430
#include "msp430.h"
#include "msp430_i2c.h"
#include "msp430_clock.h"
#include "msp430_interrupt.h"
#define i2c_write   msp430_i2c_write
#define i2c_read    msp430_i2c_read
#define delay_ms    msp430_delay_ms
#define get_ms      msp430_get_clock_ms
//修改为：
#if defined MOTION_DRIVER_TARGET_GL78G13
#define i2c_write   MPU_Write_Len
#define i2c_read    MPU_Read_Len
#define delay_ms    delay_ms//该行可注释掉，编译时会警告
#define get_ms      mget_ms

//修改如下代码（inv_mpu_dmp_motion_driver.c）
#if defined MOTION_DRIVER_TARGET_MSP430
#include "msp430.h"
#include "msp430_clock.h"
#define delay_ms    msp430_delay_ms
#define get_ms      msp430_get_clock_ms
#define log_i(...)     do {} while (0)
#define log_e(...)     do {} while (0)
//为：
#if defined MOTION_DRIVER_TARGET_GL78G13
#define delay_ms    delay_ms
#define get_ms          mget_ms
#define log_i           ;
#define log_e          ;

//找到如下结构体定义，注释掉unsigned char accel_cfg2;unsigned char lp_accel_odr;unsigned char accel_intel;三个成员变量，这三个值会引起数据飘逸，导致DMP初始化无法通过
struct gyro_reg_s {
    unsigned char who_am_i;
    unsigned char rate_div;
    unsigned char lpf;
    unsigned char prod_id;
    unsigned char user_ctrl;
    unsigned char fifo_en;
    unsigned char gyro_cfg;
    unsigned char accel_cfg;
    //unsigned char accel_cfg2;
    //unsigned char lp_accel_odr;
    unsigned char motion_thr;
    unsigned char motion_dur;
    unsigned char fifo_count_h;
    unsigned char fifo_r_w;
    unsigned char raw_gyro;
    unsigned char raw_accel;
    unsigned char temp;
    unsigned char int_enable;
    unsigned char dmp_int_status;
    unsigned char int_status;
   // unsigned char accel_intel;
    unsigned char pwr_mgmt_1;
    unsigned char pwr_mgmt_2;
    unsigned char int_pin_cfg;
    unsigned char mem_r_w;
    unsigned char accel_offs;
    unsigned char i2c_mst;
    unsigned char bank_sel;
    unsigned char mem_start_addr;
    unsigned char prgm_start_h;
#if defined AK89xx_SECONDARY
    unsigned char s0_addr;
    unsigned char s0_reg;
    unsigned char s0_ctrl;
    unsigned char s1_addr;
    unsigned char s1_reg;
    unsigned char s1_ctrl;
    unsigned char s4_ctrl;
    unsigned char s0_do;
    unsigned char s1_do;
    unsigned char i2c_delay_ctrl;
    unsigned char raw_compass;
    /* The I2C_MST_VDDIO bit is in this register. */
    unsigned char yg_offs_tc;
#endif
};

//结构体实例化一律将：
const struct gyro_reg_s reg = {
    .who_am_i       = 0x75,
    .rate_div       = 0x19,
    .lpf            = 0x1A,
    .prod_id        = 0x0C,
    .user_ctrl      = 0x6A,
    .fifo_en        = 0x23,
    .gyro_cfg       = 0x1B,
    .accel_cfg      = 0x1C,
    .motion_thr     = 0x1F,
    .motion_dur     = 0x20,
    .fifo_count_h   = 0x72,
    .fifo_r_w       = 0x74,
    .raw_gyro       = 0x43,
    .raw_accel      = 0x3B,
    .temp           = 0x41,
    .int_enable     = 0x38,
    .dmp_int_status = 0x39,
    .int_status     = 0x3A,
    .pwr_mgmt_1     = 0x6B,
    .pwr_mgmt_2     = 0x6C,
    .int_pin_cfg    = 0x37,
    .mem_r_w        = 0x6F,
    .accel_offs     = 0x06,
    .i2c_mst        = 0x24,
    .bank_sel       = 0x6D,
    .mem_start_addr = 0x6E,
    .prgm_start_h   = 0x70
#ifdef AK89xx_SECONDARY
    ,.raw_compass   = 0x49,
    .yg_offs_tc     = 0x01,
    .s0_addr        = 0x25,
    .s0_reg         = 0x26,
    .s0_ctrl        = 0x27,
    .s1_addr        = 0x28,
    .s1_reg         = 0x29,
    .s1_ctrl        = 0x2A,
    .s4_ctrl        = 0x34,
    .s0_do          = 0x63,
    .s1_do          = 0x64,
    .i2c_delay_ctrl = 0x67
#endif
};
//此种形式的修改为如下形式：（CS+编译器不支持该c特性）
const struct gyro_reg_s reg = {
    0x75,
    0x19,
    0x1A,
    0x0C,
    0x6A,
    0x23,
    0x1B,
    0x1C,
    0x1F,
    0x20,
    0x72,
    0x74,
    0x43,
    0x3B,
    0x41,
    0x38,
    0x39,
    0x3A,
    0x6B,
    0x6C,
    0x37,
    0x6F,
    0x06,
    0x24,
    0x6D,
    0x6E,
    0x70
/*#ifdef AK89xx_SECONDARY
    0x49,
    0x01,
    0x25,
    0x26,
    0x27,
    0x28,
    0x29,
    0x2A,
    0x34,
    0x63,
    0x64,
    0x67
#endif*/
};

//同时在结构体 gyro_reg_s实例化的地方注释掉相应的值
const struct gyro_reg_s reg = {
    0x75,
    0x19,
    0x1A,
    0x0C,
    0x6A,
    0x23,
    0x1B,
    0x1C,
   // 0x1D,
   // 0x1E,
    0x1F,
    0x20,
    0x72,
    0x74,
    0x43,
    0x3B,
    0x41,
    0x38,
    0x39,
    0x3A,
    //0x69,
    0x6B,
    0x6C,
    0x37,
    0x6F,
    0x77,
    0x24,
    0x6D,
    0x6E,
    0x70
/*#ifdef AK89xx_SECONDARY
    raw_compass   = 0x49,
    s0_addr        = 0x25,
    s0_reg         = 0x26,
    s0_ctrl        = 0x27,
    s1_addr        = 0x28,
    s1_reg         = 0x29,
    s1_ctrl        = 0x2A,
    s4_ctrl        = 0x34,
    s0_do          = 0x63,
    s1_do          = 0x64,
    i2c_delay_ctrl = 0x67
#endif*/
};

//找到inv_mpu_dmp_motion_driver.c中的
int dmp_set_accel_bias(long *bias)
{
    long accel_bias_body[3];
    unsigned char regs[12];
    long long accel_sf;//将long long 修改为long，原因为RL78/G13不支持64位数据类型，修改为long后不会影响精度
   ……
}

//找到inv_mpu.c中的：
int mpu_read_fifo_stream(unsigned short length, unsigned char *data,
    unsigned char *more)
{
    unsigned char tmp[2];
    unsigned short fifo_count;
    if (!st.chip_cfg.dmp_on)
        return -1;
    if (!st.chip_cfg.sensors)
        return -1;

    if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp))
        return -1;
    
    //fifo_count = (tmp[0] << 8) | tmp[1];//将该行语句修改为下面三行，原因为CS+不会自动将tmp[]数组转换为16位数据类型，需要手动转换
    fifo_count+=tmp[0];
    fifo_count=fifo_count<<8;
    fifo_count|=tmp[1];
   ……
}

//然后在inv_mpu.c中添加以下代码，以方便调用
#define q30  1073741824.0f

int mget_ms(unsigned long *time)
{
    return 0;
}

static signed char gyro_orientation[9] = { 1, 0, 0,
                                           0, 1, 0,
                                           0, 0, 1};

unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx)
{
    unsigned short scalar; 
    /*
       XYZ  010_001_000 Identity Matrix
       XZY  001_010_000
       YXZ  010_000_001
       YZX  000_010_001
       ZXY  001_000_010
       ZYX  000_001_010
     */

    scalar = inv_row_2_scale(mtx);
    scalar |= inv_row_2_scale(mtx + 3) << 3;
    scalar |= inv_row_2_scale(mtx + 6) << 6;


    return scalar;
}

unsigned short inv_row_2_scale(const signed char *row)
{
    unsigned short b;

    if (row[0] > 0)
        b = 0;
    else if (row[0] < 0)
        b = 4;
    else if (row[1] > 0)
        b = 1;
    else if (row[1] < 0)
        b = 5;
    else if (row[2] > 0)
        b = 2;
    else if (row[2] < 0)
        b = 6;
    else
        b = 7;      // error
    return b;
}

uint8_t mpu_dmp_init(void)
{
    uint8_t res=0;
    long gyro[3], accel[3]; 
    if(mpu_init()==0)    
    {     
        res=mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);
        if(res)return 1; 
        res=mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);
        if(res)return 2; 
        res=mpu_set_sample_rate(DEFAULT_MPU_HZ);    
        if(res)return 3; 
        res=dmp_load_motion_driver_firmware();        
        if(res)return 4; 
        res=dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));
        if(res)return 5; 
        res=dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_TAP|    
            DMP_FEATURE_ANDROID_ORIENT|DMP_FEATURE_SEND_RAW_ACCEL|DMP_FEATURE_SEND_CAL_GYRO|
            DMP_FEATURE_GYRO_CAL);
        if(res)return 6; 
        res=dmp_set_fifo_rate(DEFAULT_MPU_HZ);    
        if(res)return 7;   
        res=mpu_run_self_test(gyro, accel);        
        if(res==0x3)return 8;    
        res=mpu_set_dmp_state(1);    
        if(res)return 9;   
        return 0;
    }
    else{
        return 10;
    }
}

uint8_t mpu_dmp_get_data(float *pitch,float *roll,float *yaw)
{
    float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
    unsigned long sensor_timestamp;
    short gyro[3], accel[3], sensors;
    unsigned char more;
    long quat[4]; 
    if(dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,&more))return 1;     
    /* Gyro and accel data are written to the FIFO by the DMP in chip frame and hardware units.
     * This behavior is convenient because it keeps the gyro and accel outputs of dmp_read_fifo and mpu_read_fifo consistent.
    **/
    /*if (sensors & INV_XYZ_GYRO )
    send_packet(PACKET_TYPE_GYRO, gyro);
    if (sensors & INV_XYZ_ACCEL)
    send_packet(PACKET_TYPE_ACCEL, accel); */
    /* Unlike gyro and accel, quaternions are written to the FIFO in the body frame, q30.
     * The orientation is set by the scalar passed to dmp_set_orientation during initialization. 
    **/
    if(sensors&INV_WXYZ_QUAT) 
    {
        q0 = quat[0] / q30;
        q1 = quat[1] / q30;
        q2 = quat[2] / q30;
        q3 = quat[3] / q30; 
        *pitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3;    // pitch
        *roll  = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3;    // roll
        *yaw   = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3;    //yaw
    }else return 2;
    return 0;
}

//头文件包含
#include "mpu6050.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"

//MPU6050初始化
MPU_Init();

//DMP初始化
 while(mpu_dmp_init()){//mpu_dmp_init()初始化成功将返回0
        NOP();
}

//获取俯仰角，横滚角以及偏航角
if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0){//成功获取偏航角返回0,建议成功获取数据后再开始相关操作
  ……
}

//其他库函数使用请参照DMP官方手册