add:剔除无用代码

demo/i2c/mpu6xxx.lua

@@ -1,219 +0,0 @@
---- 模块功能：mpu6xxx
--- @module mpu6xxx
--- @author Dozingfiretruck
--- @license MIT
--- @copyright OpenLuat.com
--- @release 2020.12.22
-
---支持mpu6500，mpu6050，mpu9250，icm2068g，icm20608d，自动判断器件id，只需要配置i2c id就可以
-
-
-local sys = require "sys"
-
---pm.wake("mpu6xxx")
-
-local i2cid = 0 --i2cid
-
-local i2cslaveaddr
-local deviceid
-
-local MPU6XXX_ADDRESS_AD0_LOW     =   0x68 -- address pin low (GND), default for InvenSense evaluation board
-local MPU6XXX_ADDRESS_AD0_HIGH    =   0x69 -- address pin high (VCC)
-
----器件通讯地址
-local MPU6050_WHO_AM_I            =   0x68 -- mpu6050
-local MPU6500_WHO_AM_I            =   0x70 -- mpu6500
-local MPU9250_WHO_AM_I            =   0x71 -- mpu9250
-local ICM20608G_WHO_AM_I          =   0xAF -- icm20608G
-local ICM20608D_WHO_AM_I          =   0xAE -- icm20608D
-
-local MPU6XXX_ACCEL_SEN           =   16384
-local MPU6XXX_GYRO_SEN            =   1310
-
-local MPU60X0_TEMP_SEN            =   340
-local MPU60X0_TEMP_OFFSET         =   36.5
-
-local MPU6500_TEMP_SEN            =   333.87
-local MPU6500_TEMP_OFFSET         =   21
-
----MPU6XXX所用地址
-local MPU6XXX_RA_ACCEL_XOUT_H     =   0x3B
-local MPU6XXX_RA_ACCEL_XOUT_L     =   0x3C
-local MPU6XXX_RA_ACCEL_YOUT_H     =   0x3D
-local MPU6XXX_RA_ACCEL_YOUT_L     =   0x3E
-local MPU6XXX_RA_ACCEL_ZOUT_H     =   0x3F
-local MPU6XXX_RA_ACCEL_ZOUT_L     =   0x40
-local MPU6XXX_RA_TEMP_OUT_H       =   0x41
-local MPU6XXX_RA_TEMP_OUT_L       =   0x42
-local MPU6XXX_RA_GYRO_XOUT_H      =   0x43
-local MPU6XXX_RA_GYRO_XOUT_L      =   0x44
-local MPU6XXX_RA_GYRO_YOUT_H      =   0x45
-local MPU6XXX_RA_GYRO_YOUT_L      =   0x46
-local MPU6XXX_RA_GYRO_ZOUT_H      =   0x47
-local MPU6XXX_RA_GYRO_ZOUT_L      =   0x48
-
-local MPU6XXX_RA_SMPLRT_DIV     =   0x19   --陀螺仪采样率，典型值：0x07(125Hz)
-local MPU6XXX_RA_CONFIG         =   0x1A   --低通滤波频率，典型值：0x06(5Hz)
-local MPU6XXX_RA_GYRO_CONFIG    =   0x1B   --陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
-local MPU6XXX_RA_ACCEL_CONFIG   =   0x1C   --加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
-local MPU6XXX_RA_FIFO_EN        =   0x23   --fifo使能
-local MPU6XXX_RA_INT_PIN_CFG    =   0x37   --int引脚有效电平
-local MPU6XXX_RA_INT_ENABLE     =   0x38   --中断使能
-local MPU6XXX_RA_USER_CTRL      =   0x6A
-local MPU6XXX_RA_PWR_MGMT_1     =   0x6B   --电源管理，典型值：0x00(正常启用)
-local MPU6XXX_RA_PWR_MGMT_2     =   0x6C
-local MPU6XXX_RA_WHO_AM_I       =   0x75
---器件ID检测
-local function mpu6xxx_check()
-    i2c.send(i2cid, MPU6XXX_ADDRESS_AD0_LOW, MPU6XXX_RA_WHO_AM_I)--读器件地址
-    sys.wait(50)
-    local revData = i2c.recv(i2cid, MPU6XXX_ADDRESS_AD0_LOW, 1)
-    if revData:byte() ~= nil then
-        i2cslaveaddr = MPU6XXX_ADDRESS_AD0_LOW
-    else
-        i2c.send(i2cid, MPU6XXX_ADDRESS_AD0_HIGH, MPU6XXX_RA_WHO_AM_I)--读器件地址
-        sys.wait(50)
-        local revData = i2c.recv(i2cid, MPU6XXX_ADDRESS_AD0_HIGH, 1)
-        if revData:byte() ~= nil then
-            i2cslaveaddr = MPU6XXX_ADDRESS_AD0_HIGH
-        else
-            log.info("i2c", "Can't find device")
-            return 1
-        end
-    end
-    i2c.send(i2cid, i2cslaveaddr, MPU6XXX_RA_WHO_AM_I)--读器件地址
-    sys.wait(50)
-    local revData = i2c.recv(i2cid, i2cslaveaddr, 1)
-    log.info("Device i2c address is#:", revData:toHex())
-    if revData:byte() == MPU6050_WHO_AM_I then
-        deviceid = MPU6050_WHO_AM_I
-        log.info("Device i2c id is: MPU6050")
-    elseif revData:byte() == MPU6500_WHO_AM_I then
-        deviceid = MPU6500_WHO_AM_I
-        log.info("Device i2c id is: MPU6500")
-    elseif revData:byte() == MPU9250_WHO_AM_I then
-        deviceid = MPU9250_WHO_AM_I
-        log.info("Device i2c id is: MPU9250")
-    elseif revData:byte() == ICM20608G_WHO_AM_I then
-        deviceid = ICM20608G_WHO_AM_I
-        log.info("Device i2c id is: ICM20608G")
-    elseif revData:byte() == ICM20608D_WHO_AM_I then
-        deviceid = ICM20608D_WHO_AM_I
-        log.info("Device i2c id is: ICM20608D")
-    else
-        log.info("i2c", "Can't find device")
-        return 1
-    end
-    return 0
-end
-
---器件初始化
-local function mpu6xxx_init()
-    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x80})--复位
-    sys.wait(100)
-    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x00})--唤醒
-    sys.wait(100)
-    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_SMPLRT_DIV, 0x07})--陀螺仪采样率，典型值：0x07(125Hz)
-    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_CONFIG, 0x06})--低通滤波频率，典型值：0x06(5Hz)
-    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_GYRO_CONFIG, 0x18})--陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
-    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_ACCEL_CONFIG, 0x01})--加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
-    --i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_FIFO_EN, 0x00})--关闭fifo
-    --i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_INT_ENABLE, 0x00})--关闭所有中断
-    --i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_USER_CTRL, 0x00})--I2C主模式关闭
-    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_1, 0x01})--设置x轴的pll为参考
-    i2c.send(i2cid, i2cslaveaddr, {MPU6XXX_RA_PWR_MGMT_2, 0x00})--加速度计与陀螺仪开启
-    log.info("i2c init_ok")
-end
---获取温度的原始数据
-local function mpu6xxx_get_temp_raw()
-    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_TEMP_OUT_H)--获取的地址
-    local buffer = i2c.recv(i2cid, i2cslaveaddr, 2)--获取2字节
-    local temp = string.unpack(">h",buffer)
-    --log.info("get_temp_raw type: "..type(buffer).." hex: "..buffer:toHex().." temp: "..temp)
-    return temp or 0
-end
---获取加速度计的原始数据
-local function mpu6xxx_get_accel_raw()
-    local accel={x=nil,y=nil,z=nil}
-    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_XOUT_H)--获取的地址
-    local x = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
-    accel.x = string.unpack(">h",x)
-    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_YOUT_H)--获取的地址
-    local y = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
-    accel.y = string.unpack(">h",y)
-    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_ACCEL_ZOUT_H)--获取的地址
-    local z = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
-    accel.z = string.unpack(">h",z)
-    --log.info("get_accel_raw: x="..x:toHex().." y="..y:toHex().." z="..z:toHex())
-    return accel or 0
-end
---获取陀螺仪的原始数据
-local function mpu6xxx_get_gyro_raw()
-    local gyro={x=nil,y=nil,z=nil}
-    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_XOUT_H)--获取的地址
-    local x = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
-    gyro.x = string.unpack(">h",x)
-    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_YOUT_H)--获取的地址
-    local y = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
-    gyro.y = string.unpack(">h",y)
-    i2c.send(i2cid, i2cslaveaddr,MPU6XXX_RA_GYRO_ZOUT_H)--获取的地址
-    local z = i2c.recv(i2cid, i2cslaveaddr, 2)--获取6字节
-    gyro.z = string.unpack(">h",z)
-    return gyro or 0
-end
---获取温度的原始数据
-local function mpu6xxx_get_temp()
-    local temp=nil
-    local tmp = mpu6xxx_get_temp_raw()
-    if deviceid == MPU6050_WHO_AM_I then
-        temp = tmp / MPU60X0_TEMP_SEN + MPU60X0_TEMP_OFFSET
-    else
-        temp = tmp / MPU6500_TEMP_SEN + MPU6500_TEMP_OFFSET
-    end
-    return temp
-end
---获取加速度计的数据，单位: mg
-local function mpu6xxx_get_accel()
-    local accel={x=nil,y=nil,z=nil}
-    local tmp = mpu6xxx_get_accel_raw()
-    accel.x = tmp.x*1000/MPU6XXX_ACCEL_SEN
-    accel.y = tmp.y*1000/MPU6XXX_ACCEL_SEN
-    accel.z = tmp.z*1000/MPU6XXX_ACCEL_SEN
-    return accel
-end
---获取陀螺仪的数据，单位: deg / 10s
-local function mpu6xxx_get_gyro()
-    local gyro={x=nil,y=nil,z=nil}
-    local tmp = mpu6xxx_get_gyro_raw()
-    gyro.x = tmp.x*100/MPU6XXX_GYRO_SEN
-    gyro.y = tmp.y*100/MPU6XXX_GYRO_SEN
-    gyro.z = tmp.z*100/MPU6XXX_GYRO_SEN
-    return gyro
-end
-local function mpu6xxx()
-    sys.wait(4000)
-    if i2c.setup(i2cid,i2c.SLOW) ~= i2c.SLOW then
-        log.error("testI2c.init","fail")
-        return
-    end
-    if mpu6xxx_check()~= 0 then
-        return
-    end
-    mpu6xxx_init()
-    while true do
-        local t = mpu6xxx_get_temp()
-            log.info("6050temptest", t)
-        local a = mpu6xxx_get_accel()
-            log.info("6050acceltest", "accel.x",a.x,"accel.y",a.y,"accel.z",a.z)
-        local g = mpu6xxx_get_gyro()
-            log.info("6050gyrotest", "gyro.x",g.x,"gyro.y",g.y,"gyro.z",g.z)
-
-        sys.wait(1000)
-    end
-end
-
-sys.taskInit(mpu6xxx)
-
-
-
-