学习MSP432M0手册——第十节简单计步、姿态检测

最新推荐文章于 2024-08-21 23:32:17 发布

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最新推荐文章于 2024-08-21 23:32:17 发布

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分类专栏： MSP432M0 文章标签：学习 c语言单片机嵌入式硬件

本文链接：https://blog.csdn.net/m0_73609670/article/details/139882942

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一、本节内容

1. 读取BMI160角加速度信息

2. 处理数据进行采样，存储数值

3. 将数值进行对比，检测姿态

二、原理讲解

本节先使用寄存器读取数据，然后使用数据进行处理，通过简单算法推断姿态。

三、库函数

部分库函数和寄存器：

学习MSP432M0手册——第二节GPIO输入和输出

学习MSP432M0手册——第三节GPIO中断

学习MSP432M0手册——第四节SDK和UART

学习MSP432M0手册——第五节systick和UART接收

学习MSP432M0手册——第六节ADC采样

学习MSP432M0手册——第八节PWM定时器实验

学习MSP432M0手册——第九节SPI和LCD显示

四、软件代码

void I2Cwrite(uint32_t I2C_TARGET_ADDRESS, uint8_t I2C_TX_PACKET_SIZE, uint8_t *senddataAdd)

I2C通讯下对某一从机的寄存器的写入

void I2Cwrite(uint32_t I2C_TARGET_ADDRESS, uint8_t I2C_TX_PACKET_SIZE, uint8_t *senddataAdd)
{

    DL_I2C_fillControllerTXFIFO(I2C_INST, &senddataAdd[0], I2C_TX_PACKET_SIZE);
    while (!(
        DL_I2C_getControllerStatus(I2C_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
        ;

    DL_I2C_startControllerTransfer(I2C_INST, I2C_TARGET_ADDRESS,
        DL_I2C_CONTROLLER_DIRECTION_TX, I2C_TX_PACKET_SIZE);

    while (DL_I2C_getControllerStatus(I2C_INST) &
           DL_I2C_CONTROLLER_STATUS_BUSY_BUS)
        ;

    if (DL_I2C_getControllerStatus(I2C_INST) &
        DL_I2C_CONTROLLER_STATUS_ERROR) {
        __BKPT(0);
    }

    while (!(
        DL_I2C_getControllerStatus(I2C_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
        ;
    delay_cycles(1000);
}

void I2Cread(uint32_t I2C_TARGET_ADDRESS, uint8_t I2C_TX_PACKET_SIZE, uint8_t *senddataAdd, uint8_t I2C_RX_PACKET_SIZE,uint8_t *gRxPacket)

I2C通讯下对某一从机的寄存器的读取

void I2Cread(uint32_t I2C_TARGET_ADDRESS, uint8_t I2C_TX_PACKET_SIZE, uint8_t *senddataAdd, uint8_t I2C_RX_PACKET_SIZE,uint8_t *gRxPacket)
{

    DL_I2C_fillControllerTXFIFO(I2C_INST, &senddataAdd[0], I2C_TX_PACKET_SIZE);

    while (!(
        DL_I2C_getControllerStatus(I2C_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
        ;

    DL_I2C_startControllerTransfer(I2C_INST, I2C_TARGET_ADDRESS,
        DL_I2C_CONTROLLER_DIRECTION_TX, I2C_TX_PACKET_SIZE);

    while (DL_I2C_getControllerStatus(I2C_INST) &
           DL_I2C_CONTROLLER_STATUS_BUSY_BUS)
        ;

    if (DL_I2C_getControllerStatus(I2C_INST) &
        DL_I2C_CONTROLLER_STATUS_ERROR) {
        __BKPT(0);
    }

    while (!(
        DL_I2C_getControllerStatus(I2C_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
        ;

    delay_cycles(1000);

   DL_I2C_startControllerTransfer(I2C_INST, I2C_TARGET_ADDRESS,
        DL_I2C_CONTROLLER_DIRECTION_RX, I2C_RX_PACKET_SIZE);

    for (uint8_t i = 0; i < I2C_RX_PACKET_SIZE; i++) {
        while (DL_I2C_isControllerRXFIFOEmpty(I2C_INST))
            ;
        gRxPacket[i] = DL_I2C_receiveControllerData(I2C_INST);
    }
}

通过向命令寄存器写入0x15,使陀螺仪处于正常工作模式，再根据地址读取对应信息进行公式计算后可得到正确加速度值。（我这边就不放源代码了，有需要私聊我）

对经过处理后的数据，进行采样滤波。

void lvbo()

volatile float max_value_x;//x最大值
volatile float max_value_y;//y最大值
volatile float max_value_z;//z最大值
volatile float min_value_x;//x最小值
volatile float min_value_y;//y最小值
volatile float min_value_z;//z最小值
volatile int16_t step = 0;//步数
volatile int16_t count_i = 0;//循环位
volatile float ave_x;
volatile float ave_y;
volatile float ave_z;
volatile float ACC_X_AVE[5];
volatile float ACC_Y_AVE[5];
volatile float ACC_Z_AVE[5];
volatile float diff_x;//x差值
volatile float diff_y;//y差值
volatile float diff_z;//z差值

void lvbo()
{
    ACC_X_AVE[count_i] = acc_x;
    ACC_Y_AVE[count_i] = acc_y;
    ACC_Z_AVE[count_i] = acc_z;
    if(count_i>=2)
    {
        
       
        max_value_x = ACC_X_AVE[0];
        max_value_y = ACC_Y_AVE[0];
        max_value_z = ACC_Z_AVE[0];
        min_value_x = ACC_X_AVE[0];
        min_value_y = ACC_Y_AVE[0];
        min_value_z = ACC_Z_AVE[0];


        // 遍历数组，找出最大最小值_x
        for (int count_c = 1; count_c < 2; count_c++) 
        {
            if (ACC_X_AVE[count_c] > max_value_x) 
            {
                max_value_x = ACC_X_AVE[count_c];
            }
            if (ACC_X_AVE[count_c] < min_value_x) 
            {
                min_value_x = ACC_X_AVE[count_c];
            }
        }
        // 遍历数组，找出最大最小值_y
        for (int count_d = 1; count_d < 2; count_d++) 
        {
            if (ACC_Y_AVE[count_d] > max_value_y) 
            {
                max_value_y = ACC_Y_AVE[count_d];
            }
            if (ACC_Y_AVE[count_d] < min_value_y) 
            {
                min_value_y = ACC_Y_AVE[count_d];
            }
        }
        // 遍历数组，找出最大最小值_z
        for (int count_f = 1; count_f < 2; count_f++) 
        {
            if (ACC_Z_AVE[count_f] > max_value_z) 
            {
                max_value_z = ACC_Z_AVE[count_f];
            }
            if (ACC_Z_AVE[count_f] < min_value_z) 
            {
                min_value_z = ACC_Z_AVE[count_f];
            }
        }
    }
}

经过数据处理后，对比数据检测姿态，在数据合理时，当记录的数据达到峰值的时候计为一步，然后当角加速度一段时间内的差值大于某一数值时计为跌倒。

#define count_high 2.8 //计步器调参
#define count_low -2.8
#define count_dao 10.00 //跌倒报警调参

int detect_step(double threshold)
{
    

    diff_x = max_value_x - min_value_x;
    diff_y = max_value_y - min_value_y;
    diff_z = max_value_z - min_value_z;
    if(diff_x > diff_y && diff_x > diff_z)
    {
        if(diff_x > threshold && (ACC_X_AVE[1] - ACC_X_AVE[0] > count_high || ACC_X_AVE[1] - ACC_X_AVE[2] < count_low))
        {
            step++;
        }
    }

    if(diff_y > diff_x && diff_x > diff_z)
    {
        if(diff_x > threshold && (ACC_Y_AVE[1] - ACC_Y_AVE[0] > count_high || ACC_Y_AVE[1] - ACC_Y_AVE[2] < count_low))
        {
            step++;
        }
    }

    if(diff_z > diff_y && diff_z > diff_x)
    {
        if(diff_x > threshold && (ACC_Z_AVE[1] - ACC_Z_AVE[0] > count_high || ACC_Z_AVE[1] - ACC_Z_AVE[2] < count_low))
        {
            step++;
        }
    }
}

void zitai_baojing(float acc_Z)
{
    int key;
    if (diff_x > count_dao || diff_y > count_dao || diff_z > count_dao)
    {
        while(1)
        {
            DL_GPIO_setPins(GPIO_baojing_PORT,GPIO_baojing_PIN_0_PIN);
            key = (GPIOA->DIN31_0&(0x01<<27));
            if(key == 0)
            {
                break;
            }
        }  
    }
    else
    {
    DL_GPIO_clearPins(GPIO_baojing_PORT,GPIO_baojing_PIN_0_PIN);
    }
}

主函数需要这样写：

int main(void)
{
    SYSCFG_DL_init();                          //M0初始化
    while (1) {
        getAccelerometerValue();              //获取加速度数据
        getGyroscopeValue();                  //获取角速度数据
        delay_cycles(100000);
        lvbo();//记步数
        detect_step(0.5);
        count_i++;
        if(count_i == 3)
        {
            count_i = 0;
            ave_x = 0;
            ave_y = 0;
            ave_z = 0;
        }
    }
}

一些简单的算法，主要是要学会IIC通讯，和数据运用。