Initialize reference ways

本文探讨了在Java中初始化类成员变量的四种主要方法:定义时初始化、构造函数初始化、延迟初始化及实例初始化,并通过具体代码示例展示了每种初始化方式的应用场景与特点。

There are four ways to initialize references:

1. When the objects are defined. This means they'll always be initialized before the constructor is called.

2. In the constructor for that class.

3. Right before you actually use the object. This is ofthen called lazy initialization. It can reduce overhead in situations where object creation is expensive and the object doesn't need to be created every time.

4. Using instance initialization.

All four approaches are shown here:

// reuse/Bath.java
// (c)2017 MindView LLC: see Copyright.txt
// We make no guarantees that this code is fit for any purpose.
// Visit http://OnJava8.com for more book information.
// Constructor initialization with composition

class Soap {
  private String s;

  Soap() {
    System.out.println("Soap()");
    s = "Constructed";
  }

  @Override
  public String toString() {
    return s;
  }
}

public class Bath {
  private String // Initializing at point of definition:
      s1 = "Happy",
      s2 = "Happy",
      s3,
      s4;
  private Soap castille; // Composition Syntax
  private int i;
  private float toy;

  public Bath() {
    System.out.println("Inside Bath()");
    s3 = "Joy";// Initializing in Bath constructor
    toy = 3.14f;
    castille = new Soap();
  }
  // Instance initialization:
  {
    i = 47;
    System.out.println("initialize i.");// I added to test initialize order
  }

  @Override
  public String toString() {
    if (s4 == null) {// Delayed initialization:
      s4 = "Joy";
      System.out.println("lazy initialization.");
    }
    return "s1 = "
        + s1
        + "\n"
        + "s2 = "
        + s2
        + "\n"
        + "s3 = "
        + s3
        + "\n"
        + "s4 = "
        + s4
        + "\n"
        + "i = "
        + i
        + "\n"
        + "toy = "
        + toy
        + "\n"
        + "castille = "
        + castille;
  }

  public static void main(String[] args) {
    Bath b = new Bath();
    System.out.println(b);
  }
}
/* My Output:
initialize i.
Inside Bath()
Soap()
lazy initialization.
s1 = Happy
s2 = Happy
s3 = Joy
s4 = Joy
i = 47
toy = 3.14
castille = Constructed
*/

references:

1. On Java 8 - Bruce Eckel

2. https://github.com/wangbingfeng/OnJava8-Examples/blob/master/reuse/Bath.java

内容概要:本文围绕“基于阶梯碳交易的含P基于阶梯碳交易的含 P2G-CCS 耦合和燃气掺氢的虚拟电厂优化调度(Matlab代码实现)2G-CCS耦合和燃气掺氢的虚拟电厂优化调度”展开研究,提出了一种结合电力转气体(P2G)、碳捕集与封存(CCS)技术以及燃气掺氢手段的虚拟电厂优化调度模型,旨在降低碳排放并提升能源利用效率。该模型采用Matlab进行代码实现,充分考虑阶梯碳交易机制对调度成本的影响,将碳排放成本内部化,激励低碳运行。通过引入P2G-CCS耦合系统实现二氧化碳的回收与资源化利用,同时利用燃气掺氢提高天然气系统的灵活性和清洁能源占比,从而构建了一个多能互补、低碳高效的虚拟电厂调度框架。研究重点在于优化系统运行成本、碳交易费用与环境效益之间的平衡,为新型电力系统下的碳减排提供了可行的技术路径与决策支持。; 适合人群:具备一定电力系统、能源工程或优化算法背景的研究生、科研人员及从事新能源、智慧能源系统开发的工程师。; 使用场景及目标:①应用于综合能源系统、虚拟电厂、碳交易机制等相关课题的研究与仿真;②为含氢能、碳捕集等新兴技术的电力系统低碳调度提供模型参考与代码实现范例;③支持学术论文复现、毕业设计或科研项目开发。; 阅读建议:建议读者结合Matlab代码与文档内容同步学习,重点关注目标函数构建、约束条件设置及阶梯碳交易机制的数学表达,同时可扩展研究不同碳价情景对调度结果的影响,以深化对模型性能与应用潜力的理解。
/* This is a library written for the BNO080 SparkFun sells these at its website: www.sparkfun.com Do you like this library? Help support SparkFun. Buy a board! https://www.sparkfun.com/products/14586 Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017 The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor to maintain and complete all the complex calculations for various VR, inertial, step counting, and movement operations. This library handles the initialization of the BNO080 and is able to query the sensor for different readings. https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library Development environment specifics: Arduino IDE 1.8.3 This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #include "SparkFun_BNO080_Arduino_Library.h" //Attempt communication with the device //Return true if we got a 'Polo' back from Marco boolean BNO080::begin(uint8_t deviceAddress, TwoWire &wirePort) { _deviceAddress = deviceAddress; //If provided, store the I2C address from user _i2cPort = &wirePort; //Grab which port the user wants us to use //We expect caller to begin their I2C port, with the speed of their choice external to the library //But if they forget, we start the hardware here. _i2cPort->begin(); //Begin by resetting the IMU softReset(); //Check communication with device shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info shtpData[1] = 0; //Reserved //Transmit packet on channel 2, 2 bytes sendPacket(CHANNEL_CONTROL, 2); //Now we wait for response if (receivePacket() == true) { if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) { return(true); } } return(false); //Something went wrong } //Calling this function with nothing sets the debug port to Serial //You can also call it with other streams like Serial1, SerialUSB, etc. void BNO080::enableDebugging(Stream &debugPort) { _debugPort = &debugPort; _printDebug = true; } //Updates the latest variables if possible //Returns false if new readings are not available bool BNO080::dataAvailable(void) { if (receivePacket() == true) { //Check to see if this packet is a sensor reporting its data to us if (shtpHeader[2] == CHANNEL_REPORTS && shtpData[0] == SHTP_REPORT_BASE_TIMESTAMP) { parseInputReport(); //This will update the rawAccelX, etc variables depending on which feature report is found return(true); } } return(false); } //This function pulls the data from the input report //The input reports vary in length so this function stores the various 16-bit values as globals //Unit responds with packet that contains the following: //shtpHeader[0:3]: First, a 4 byte header //shtpData[0:4]: Then a 5 byte timestamp of microsecond clicks since reading was taken //shtpData[5 + 0]: Then a feature report ID (0x01 for Accel, 0x05 for Rotation Vector) //shtpData[5 + 1]: Sequence number (See 6.5.18.2) //shtpData[5 + 2]: Status //shtpData[3]: Delay //shtpData[4:5]: i/accel x/gyro x/etc //shtpData[6:7]: j/accel y/gyro y/etc //shtpData[8:9]: k/accel z/gyro z/etc //shtpData[10:11]: real/gyro temp/etc //shtpData[12:13]: Accuracy estimate void BNO080::parseInputReport(void) { //Calculate the number of data bytes in this packet int16_t dataLength = ((uint16_t)shtpHeader[1] << 8 | shtpHeader[0]); dataLength &= ~(1 << 15); //Clear the MSbit. This bit indicates if this package is a continuation of the last. //Ignore it for now. TODO catch this as an error and exit dataLength -= 4; //Remove the header bytes from the data count uint8_t status = shtpData[5 + 2] & 0x03; //Get status bits uint16_t data1 = (uint16_t)shtpData[5 + 5] << 8 | shtpData[5 + 4]; uint16_t data2 = (uint16_t)shtpData[5 + 7] << 8 | shtpData[5 + 6]; uint16_t data3 = (uint16_t)shtpData[5 + 9] << 8 | shtpData[5 + 8]; uint16_t data4 = 0; uint16_t data5 = 0; if(dataLength - 5 > 9) { data4= (uint16_t)shtpData[5 + 11] << 8 | shtpData[5 + 10]; } if(dataLength - 5 > 11) { data5 = (uint16_t)shtpData[5 + 13] << 8 | shtpData[5 + 12]; } //Store these generic values to their proper global variable if(shtpData[5] == SENSOR_REPORTID_ACCELEROMETER) { accelAccuracy = status; rawAccelX = data1; rawAccelY = data2; rawAccelZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_LINEAR_ACCELERATION) { accelLinAccuracy = status; rawLinAccelX = data1; rawLinAccelY = data2; rawLinAccelZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_GYROSCOPE) { gyroAccuracy = status; rawGyroX = data1; rawGyroY = data2; rawGyroZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_MAGNETIC_FIELD) { magAccuracy = status; rawMagX = data1; rawMagY = data2; rawMagZ = data3; } else if(shtpData[5] == SENSOR_REPORTID_ROTATION_VECTOR || shtpData[5] == SENSOR_REPORTID_GAME_ROTATION_VECTOR) { quatAccuracy = status; rawQuatI = data1; rawQuatJ = data2; rawQuatK = data3; rawQuatReal = data4; rawQuatRadianAccuracy = data5; //Only available on rotation vector, not game rot vector } else if(shtpData[5] == SENSOR_REPORTID_STEP_COUNTER) { stepCount = data3; //Bytes 8/9 } else if(shtpData[5] == SENSOR_REPORTID_STABILITY_CLASSIFIER) { stabilityClassifier = shtpData[5 + 4]; //Byte 4 only } else if(shtpData[5] == SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER) { activityClassifier = shtpData[5 + 5]; //Most likely state //Load activity classification confidences into the array for(uint8_t x = 0 ; x < 9 ; x++) //Hardcoded to max of 9. TODO - bring in array size _activityConfidences[x] = shtpData[5 + 6 + x]; //5 bytes of timestamp, byte 6 is first confidence byte } else { //This sensor report ID is unhandled. //See reference manual to add additional feature reports as needed } //TODO additional feature reports may be strung together. Parse them all. } //Return the rotation vector quaternion I float BNO080::getQuatI() { float quat = qToFloat(rawQuatI, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion J float BNO080::getQuatJ() { float quat = qToFloat(rawQuatJ, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion K float BNO080::getQuatK() { float quat = qToFloat(rawQuatK, rotationVector_Q1); return(quat); } //Return the rotation vector quaternion Real float BNO080::getQuatReal() { float quat = qToFloat(rawQuatReal, rotationVector_Q1); return(quat); } //Return the rotation vector accuracy float BNO080::getQuatRadianAccuracy() { float quat = qToFloat(rawQuatRadianAccuracy, rotationVector_Q1); return(quat); } //Return the acceleration component uint8_t BNO080::getQuatAccuracy() { return(quatAccuracy); } //Return the acceleration component float BNO080::getAccelX() { float accel = qToFloat(rawAccelX, accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getAccelY() { float accel = qToFloat(rawAccelY, accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getAccelZ() { float accel = qToFloat(rawAccelZ, accelerometer_Q1); return(accel); } //Return the acceleration component uint8_t BNO080::getAccelAccuracy() { return(accelAccuracy); } // linear acceleration, i.e. minus gravity //Return the acceleration component float BNO080::getLinAccelX() { float accel = qToFloat(rawLinAccelX, linear_accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getLinAccelY() { float accel = qToFloat(rawLinAccelY, linear_accelerometer_Q1); return(accel); } //Return the acceleration component float BNO080::getLinAccelZ() { float accel = qToFloat(rawLinAccelZ, linear_accelerometer_Q1); return(accel); } //Return the acceleration component uint8_t BNO080::getLinAccelAccuracy() { return(accelLinAccuracy); } //Return the gyro component float BNO080::getGyroX() { float gyro = qToFloat(rawGyroX, gyro_Q1); return(gyro); } //Return the gyro component float BNO080::getGyroY() { float gyro = qToFloat(rawGyroY, gyro_Q1); return(gyro); } //Return the gyro component float BNO080::getGyroZ() { float gyro = qToFloat(rawGyroZ, gyro_Q1); return(gyro); } //Return the gyro component uint8_t BNO080::getGyroAccuracy() { return(gyroAccuracy); } //Return the magnetometer component float BNO080::getMagX() { float mag = qToFloat(rawMagX, magnetometer_Q1); return(mag); } //Return the magnetometer component float BNO080::getMagY() { float mag = qToFloat(rawMagY, magnetometer_Q1); return(mag); } //Return the magnetometer component float BNO080::getMagZ() { float mag = qToFloat(rawMagZ, magnetometer_Q1); return(mag); } //Return the mag component uint8_t BNO080::getMagAccuracy() { return(magAccuracy); } //Return the step count uint16_t BNO080::getStepCount() { return(stepCount); } //Return the stability classifier uint8_t BNO080::getStabilityClassifier() { return(stabilityClassifier); } //Return the activity classifier uint8_t BNO080::getActivityClassifier() { return(activityClassifier); } //Given a record ID, read the Q1 value from the metaData record in the FRS (ya, it's complicated) //Q1 is used for all sensor data calculations int16_t BNO080::getQ1(uint16_t recordID) { //Q1 is always the lower 16 bits of word 7 uint16_t q = readFRSword(recordID, 7) & 0xFFFF; //Get word 7, lower 16 bits return(q); } //Given a record ID, read the Q2 value from the metaData record in the FRS //Q2 is used in sensor bias int16_t BNO080::getQ2(uint16_t recordID) { //Q2 is always the upper 16 bits of word 7 uint16_t q = readFRSword(recordID, 7) >> 16; //Get word 7, upper 16 bits return(q); } //Given a record ID, read the Q3 value from the metaData record in the FRS //Q3 is used in sensor change sensitivity int16_t BNO080::getQ3(uint16_t recordID) { //Q3 is always the upper 16 bits of word 8 uint16_t q = readFRSword(recordID, 8) >> 16; //Get word 8, upper 16 bits return(q); } //Given a record ID, read the resolution value from the metaData record in the FRS for a given sensor float BNO080::getResolution(uint16_t recordID) { //The resolution Q value are 'the same as those used in the sensor's input report' //This should be Q1. int16_t Q = getQ1(recordID); //Resolution is always word 2 uint32_t value = readFRSword(recordID, 2); //Get word 2 float resolution = qToFloat(value, Q); return(resolution); } //Given a record ID, read the range value from the metaData record in the FRS for a given sensor float BNO080::getRange(uint16_t recordID) { //The resolution Q value are 'the same as those used in the sensor's input report' //This should be Q1. int16_t Q = getQ1(recordID); //Range is always word 1 uint32_t value = readFRSword(recordID, 1); //Get word 1 float range = qToFloat(value, Q); return(range); } //Given a record ID and a word number, look up the word data //Helpful for pulling out a Q value, range, etc. //Use readFRSdata for pulling out multi-word objects for a sensor (Vendor data for example) uint32_t BNO080::readFRSword(uint16_t recordID, uint8_t wordNumber) { if(readFRSdata(recordID, wordNumber, 1) == true) //Get word number, just one word in length from FRS return(metaData[0]); //Return this one word return(0); //Error } //Ask the sensor for data from the Flash Record System //See 6.3.6 page 40, FRS Read Request void BNO080::frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize) { shtpData[0] = SHTP_REPORT_FRS_READ_REQUEST; //FRS Read Request shtpData[1] = 0; //Reserved shtpData[2] = (readOffset >> 0) & 0xFF; //Read Offset LSB shtpData[3] = (readOffset >> 8) & 0xFF; //Read Offset MSB shtpData[4] = (recordID >> 0) & 0xFF; //FRS Type LSB shtpData[5] = (recordID >> 8) & 0xFF; //FRS Type MSB shtpData[6] = (blockSize >> 0) & 0xFF; //Block size LSB shtpData[7] = (blockSize >> 8) & 0xFF; //Block size MSB //Transmit packet on channel 2, 8 bytes sendPacket(CHANNEL_CONTROL, 8); } //Given a sensor or record ID, and a given start/stop bytes, read the data from the Flash Record System (FRS) for this sensor //Returns true if metaData array is loaded successfully //Returns false if failure bool BNO080::readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead) { uint8_t spot = 0; //First we send a Flash Record System (FRS) request frsReadRequest(recordID, startLocation, wordsToRead); //From startLocation of record, read a # of words //Read bytes until FRS reports that the read is complete while (1) { //Now we wait for response while (1) { uint8_t counter = 0; while(receivePacket() == false) { if(counter++ > 100) return(false); //Give up delay(1); } //We have the packet, inspect it for the right contents //See page 40. Report ID should be 0xF3 and the FRS types should match the thing we requested if (shtpData[0] == SHTP_REPORT_FRS_READ_RESPONSE) if ( ( (uint16_t)shtpData[13] << 8 | shtpData[12]) == recordID) break; //This packet is one we are looking for } uint8_t dataLength = shtpData[1] >> 4; uint8_t frsStatus = shtpData[1] & 0x0F; uint32_t data0 = (uint32_t)shtpData[7] << 24 | (uint32_t)shtpData[6] << 16 | (uint32_t)shtpData[5] << 8 | (uint32_t)shtpData[4]; uint32_t data1 = (uint32_t)shtpData[11] << 24 | (uint32_t)shtpData[10] << 16 | (uint32_t)shtpData[9] << 8 | (uint32_t)shtpData[8]; //Record these words to the metaData array if (dataLength > 0) { metaData[spot++] = data0; } if (dataLength > 1) { metaData[spot++] = data1; } if (spot >= MAX_METADATA_SIZE) { if(_printDebug == true) _debugPort->println(F("metaData array over run. Returning.")); return(true); //We have run out of space in our array. Bail. } if (frsStatus == 3 || frsStatus == 6 || frsStatus == 7) { return(true); //FRS status is read completed! We're done! } } } //Send command to reset IC //Read all advertisement packets from sensor //The sensor has been seen to reset twice if we attempt too much too quickly. //This seems to work reliably. void BNO080::softReset(void) { shtpData[0] = 1; //Reset //Attempt to start communication with sensor sendPacket(CHANNEL_EXECUTABLE, 1); //Transmit packet on channel 1, 1 byte //Read all incoming data and flush it delay(50); while (receivePacket() == true) ; delay(50); while (receivePacket() == true) ; } //Get the reason for the last reset //1 = POR, 2 = Internal reset, 3 = Watchdog, 4 = External reset, 5 = Other uint8_t BNO080::resetReason() { shtpData[0] = SHTP_REPORT_PRODUCT_ID_REQUEST; //Request the product ID and reset info shtpData[1] = 0; //Reserved //Transmit packet on channel 2, 2 bytes sendPacket(CHANNEL_CONTROL, 2); //Now we wait for response if (receivePacket() == true) { if (shtpData[0] == SHTP_REPORT_PRODUCT_ID_RESPONSE) { return(shtpData[1]); } } return(0); } //Given a register value and a Q point, convert to float //See https://en.wikipedia.org/wiki/Q_(number_format) float BNO080::qToFloat(int16_t fixedPointValue, uint8_t qPoint) { float qFloat = fixedPointValue; qFloat *= pow(2, qPoint * -1); return (qFloat); } //Sends the packet to enable the rotation vector void BNO080::enableRotationVector(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_ROTATION_VECTOR, timeBetweenReports); } //Sends the packet to enable the rotation vector void BNO080::enableGameRotationVector(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_GAME_ROTATION_VECTOR, timeBetweenReports); } //Sends the packet to enable the accelerometer void BNO080::enableAccelerometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_ACCELEROMETER, timeBetweenReports); } //Sends the packet to enable the accelerometer void BNO080::enableLinearAccelerometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_LINEAR_ACCELERATION, timeBetweenReports); } //Sends the packet to enable the gyro void BNO080::enableGyro(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_GYROSCOPE, timeBetweenReports); } //Sends the packet to enable the magnetometer void BNO080::enableMagnetometer(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_MAGNETIC_FIELD, timeBetweenReports); } //Sends the packet to enable the step counter void BNO080::enableStepCounter(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_STEP_COUNTER, timeBetweenReports); } //Sends the packet to enable the Stability Classifier void BNO080::enableStabilityClassifier(uint16_t timeBetweenReports) { setFeatureCommand(SENSOR_REPORTID_STABILITY_CLASSIFIER, timeBetweenReports); } //Sends the packet to enable the various activity classifiers void BNO080::enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]) { _activityConfidences = activityConfidences; //Store pointer to array setFeatureCommand(SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER, timeBetweenReports, activitiesToEnable); } //Sends the commands to begin calibration of the accelerometer void BNO080::calibrateAccelerometer() { sendCalibrateCommand(CALIBRATE_ACCEL); } //Sends the commands to begin calibration of the gyro void BNO080::calibrateGyro() { sendCalibrateCommand(CALIBRATE_GYRO); } //Sends the commands to begin calibration of the magnetometer void BNO080::calibrateMagnetometer() { sendCalibrateCommand(CALIBRATE_MAG); } //Sends the commands to begin calibration of the planar accelerometer void BNO080::calibratePlanarAccelerometer() { sendCalibrateCommand(CALIBRATE_PLANAR_ACCEL); } //See 2.2 of the Calibration Procedure document 1000-4044 void BNO080::calibrateAll() { sendCalibrateCommand(CALIBRATE_ACCEL_GYRO_MAG); } void BNO080::endCalibration() { sendCalibrateCommand(CALIBRATE_STOP); //Disables all calibrations } //Given a sensor's report ID, this tells the BNO080 to begin reporting the values void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports) { setFeatureCommand(reportID, timeBetweenReports, 0); //No specific config } //Given a sensor's report ID, this tells the BNO080 to begin reporting the values //Also sets the specific config word. Useful for personal activity classifier void BNO080::setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig) { long microsBetweenReports = (long)timeBetweenReports * 1000L; shtpData[0] = SHTP_REPORT_SET_FEATURE_COMMAND; //Set feature command. Reference page 55 shtpData[1] = reportID; //Feature Report ID. 0x01 = Accelerometer, 0x05 = Rotation vector shtpData[2] = 0; //Feature flags shtpData[3] = 0; //Change sensitivity (LSB) shtpData[4] = 0; //Change sensitivity (MSB) shtpData[5] = (microsBetweenReports >> 0) & 0xFF; //Report interval (LSB) in microseconds. 0x7A120 = 500ms shtpData[6] = (microsBetweenReports >> 8) & 0xFF; //Report interval shtpData[7] = (microsBetweenReports >> 16) & 0xFF; //Report interval shtpData[8] = (microsBetweenReports >> 24) & 0xFF; //Report interval (MSB) shtpData[9] = 0; //Batch Interval (LSB) shtpData[10] = 0; //Batch Interval shtpData[11] = 0; //Batch Interval shtpData[12] = 0; //Batch Interval (MSB) shtpData[13] = (specificConfig >> 0) & 0xFF; //Sensor-specific config (LSB) shtpData[14] = (specificConfig >> 8) & 0xFF; //Sensor-specific config shtpData[15] = (specificConfig >> 16) & 0xFF; //Sensor-specific config shtpData[16] = (specificConfig >> 24) & 0xFF; //Sensor-specific config (MSB) //Transmit packet on channel 2, 17 bytes sendPacket(CHANNEL_CONTROL, 17); } //Tell the sensor to do a command //See 6.3.8 page 41, Command request //The caller is expected to set P0 through P8 prior to calling void BNO080::sendCommand(uint8_t command) { shtpData[0] = SHTP_REPORT_COMMAND_REQUEST; //Command Request shtpData[1] = commandSequenceNumber++; //Increments automatically each function call shtpData[2] = command; //Command //Caller must set these /*shtpData[3] = 0; //P0 shtpData[4] = 0; //P1 shtpData[5] = 0; //P2 shtpData[6] = 0; shtpData[7] = 0; shtpData[8] = 0; shtpData[9] = 0; shtpData[10] = 0; shtpData[11] = 0;*/ //Transmit packet on channel 2, 12 bytes sendPacket(CHANNEL_CONTROL, 12); } //This tells the BNO080 to begin calibrating //See page 50 of reference manual and the 1000-4044 calibration doc void BNO080::sendCalibrateCommand(uint8_t thingToCalibrate) { /*shtpData[3] = 0; //P0 - Accel Cal Enable shtpData[4] = 0; //P1 - Gyro Cal Enable shtpData[5] = 0; //P2 - Mag Cal Enable shtpData[6] = 0; //P3 - Subcommand 0x00 shtpData[7] = 0; //P4 - Planar Accel Cal Enable shtpData[8] = 0; //P5 - Reserved shtpData[9] = 0; //P6 - Reserved shtpData[10] = 0; //P7 - Reserved shtpData[11] = 0; //P8 - Reserved*/ for(uint8_t x = 3 ; x < 12 ; x++) //Clear this section of the shtpData array shtpData[x] = 0; if(thingToCalibrate == CALIBRATE_ACCEL) shtpData[3] = 1; else if(thingToCalibrate == CALIBRATE_GYRO) shtpData[4] = 1; else if(thingToCalibrate == CALIBRATE_MAG) shtpData[5] = 1; else if(thingToCalibrate == CALIBRATE_PLANAR_ACCEL) shtpData[7] = 1; else if(thingToCalibrate == CALIBRATE_ACCEL_GYRO_MAG) { shtpData[3] = 1; shtpData[4] = 1; shtpData[5] = 1; } else if(thingToCalibrate == CALIBRATE_STOP) ; //Do nothing, bytes are set to zero //Using this shtpData packet, send a command sendCommand(COMMAND_ME_CALIBRATE); } //This tells the BNO080 to save the Dynamic Calibration Data (DCD) to flash //See page 49 of reference manual and the 1000-4044 calibration doc void BNO080::saveCalibration() { /*shtpData[3] = 0; //P0 - Reserved shtpData[4] = 0; //P1 - Reserved shtpData[5] = 0; //P2 - Reserved shtpData[6] = 0; //P3 - Reserved shtpData[7] = 0; //P4 - Reserved shtpData[8] = 0; //P5 - Reserved shtpData[9] = 0; //P6 - Reserved shtpData[10] = 0; //P7 - Reserved shtpData[11] = 0; //P8 - Reserved*/ for(uint8_t x = 3 ; x < 12 ; x++) //Clear this section of the shtpData array shtpData[x] = 0; //Using this shtpData packet, send a command sendCommand(COMMAND_DCD); //Save DCD command } //Wait a certain time for incoming I2C bytes before giving up //Returns false if failed boolean BNO080::waitForI2C() { for (uint8_t counter = 0 ; counter < 100 ; counter++) //Don't got more than 255 { if (_i2cPort->available() > 0) return (true); delay(1); } if(_printDebug == true) _debugPort->println(F("I2C timeout")); return (false); } //Check to see if there is any new data available //Read the contents of the incoming packet into the shtpData array boolean BNO080::receivePacket(void) { _i2cPort->requestFrom((uint8_t)_deviceAddress, (uint8_t)4); //Ask for four bytes to find out how much data we need to read if (waitForI2C() == false) return (false); //Error //Get the first four bytes, aka the packet header uint8_t packetLSB = _i2cPort->read(); uint8_t packetMSB = _i2cPort->read(); uint8_t channelNumber = _i2cPort->read(); uint8_t sequenceNumber = _i2cPort->read(); //Not sure if we need to store this or not //Store the header info. shtpHeader[0] = packetLSB; shtpHeader[1] = packetMSB; shtpHeader[2] = channelNumber; shtpHeader[3] = sequenceNumber; //Calculate the number of data bytes in this packet int16_t dataLength = ((uint16_t)packetMSB << 8 | packetLSB); dataLength &= ~(1 << 15); //Clear the MSbit. //This bit indicates if this package is a continuation of the last. Ignore it for now. //TODO catch this as an error and exit if (dataLength == 0) { //Packet is empty return (false); //All done } dataLength -= 4; //Remove the header bytes from the data count getData(dataLength); return (true); //We're done! } //Sends multiple requests to sensor until all data bytes are received from sensor //The shtpData buffer has max capacity of MAX_PACKET_SIZE. Any bytes over this amount will be lost. //Arduino I2C read limit is 32 bytes. Header is 4 bytes, so max data we can read per interation is 28 bytes boolean BNO080::getData(uint16_t bytesRemaining) { uint16_t dataSpot = 0; //Start at the beginning of shtpData array //Setup a series of chunked 32 byte reads while (bytesRemaining > 0) { uint16_t numberOfBytesToRead = bytesRemaining; if (numberOfBytesToRead > (I2C_BUFFER_LENGTH-4)) numberOfBytesToRead = (I2C_BUFFER_LENGTH-4); _i2cPort->requestFrom((uint8_t)_deviceAddress, (uint8_t)(numberOfBytesToRead + 4)); if (waitForI2C() == false) return (0); //Error //The first four bytes are header bytes and are throw away _i2cPort->read(); _i2cPort->read(); _i2cPort->read(); _i2cPort->read(); for (uint8_t x = 0 ; x < numberOfBytesToRead ; x++) { uint8_t incoming = _i2cPort->read(); if (dataSpot < MAX_PACKET_SIZE) { shtpData[dataSpot++] = incoming; //Store data into the shtpData array } else { //Do nothing with the data } } bytesRemaining -= numberOfBytesToRead; } return (true); //Done! } //Given the data packet, send the header then the data //Returns false if sensor does not ACK //TODO - Arduino has a max 32 byte send. Break sending into multi packets if needed. boolean BNO080::sendPacket(uint8_t channelNumber, uint8_t dataLength) { uint8_t packetLength = dataLength + 4; //Add four bytes for the header //if(packetLength > I2C_BUFFER_LENGTH) return(false); //You are trying to send too much. Break into smaller packets. _i2cPort->beginTransmission(_deviceAddress); //Send the 4 byte packet header _i2cPort->write(packetLength & 0xFF); //Packet length LSB _i2cPort->write(packetLength >> 8); //Packet length MSB _i2cPort->write(channelNumber); //Channel number _i2cPort->write(sequenceNumber[channelNumber]++); //Send the sequence number, increments with each packet sent, different counter for each channel //Send the user's data packet for (uint8_t i = 0 ; i < dataLength ; i++) { _i2cPort->write(shtpData[i]); } if (_i2cPort->endTransmission() != 0) { return (false); } return (true); } //Pretty prints the contents of the current shtp header and data packets void BNO080::printPacket(void) { if(_printDebug == true) { uint16_t packetLength = (uint16_t)shtpHeader[1] << 8 | shtpHeader[0]; //Print the four byte header _debugPort->print(F("Header:")); for(uint8_t x = 0 ; x < 4 ; x++) { _debugPort->print(F(" ")); if(shtpHeader[x] < 0x10) _debugPort->print(F("0")); _debugPort->print(shtpHeader[x], HEX); } uint8_t printLength = packetLength - 4; if(printLength > 40) printLength = 40; //Artificial limit. We don't want the phone book. _debugPort->print(F(" Body:")); for(uint8_t x = 0 ; x < printLength ; x++) { _debugPort->print(F(" ")); if(shtpData[x] < 0x10) _debugPort->print(F("0")); _debugPort->print(shtpData[x], HEX); } if (packetLength & 1 << 15) { _debugPort->println(F(" [Continued packet] ")); packetLength &= ~(1 << 15); } _debugPort->print(F(" Length:")); _debugPort->print (packetLength); _debugPort->print(F(" Channel:")); if (shtpHeader[2] == 0) _debugPort->print(F("Command")); else if (shtpHeader[2] == 1) _debugPort->print(F("Executable")); else if (shtpHeader[2] == 2) _debugPort->print(F("Control")); else if (shtpHeader[2] == 3) _debugPort->print(F("Sensor-report")); else if (shtpHeader[2] == 4) _debugPort->print(F("Wake-report")); else if (shtpHeader[2] == 5) _debugPort->print(F("Gyro-vector")); else _debugPort->print(shtpHeader[2]); _debugPort->println(); } } /* This is a library written for the BNO080 SparkFun sells these at its website: www.sparkfun.com Do you like this library? Help support SparkFun. Buy a board! https://www.sparkfun.com/products/14586 Written by Nathan Seidle @ SparkFun Electronics, December 28th, 2017 The BNO080 IMU is a powerful triple axis gyro/accel/magnetometer coupled with an ARM processor to maintain and complete all the complex calculations for various VR, inertial, step counting, and movement operations. This library handles the initialization of the BNO080 and is able to query the sensor for different readings. https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library Development environment specifics: Arduino IDE 1.8.3 This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #pragma once #if (ARDUINO >= 100) #include "Arduino.h" #else #include "WProgram.h" #endif #include <Wire.h> //The default I2C address for the BNO080 on the SparkX breakout is 0x4B. 0x4A is also possible. #define BNO080_DEFAULT_ADDRESS 0x4B //Platform specific configurations //Define the size of the I2C buffer based on the platform the user has //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) //I2C_BUFFER_LENGTH is defined in Wire.H #define I2C_BUFFER_LENGTH BUFFER_LENGTH #elif defined(__SAMD21G18A__) //SAMD21 uses RingBuffer.h #define I2C_BUFFER_LENGTH SERIAL_BUFFER_SIZE #elif __MK20DX256__ //Teensy #elif ARDUINO_ARCH_ESP32 //ESP32 based platforms #else //The catch-all default is 32 #define I2C_BUFFER_LENGTH 32 #endif //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= //Registers const byte CHANNEL_COMMAND = 0; const byte CHANNEL_EXECUTABLE = 1; const byte CHANNEL_CONTROL = 2; const byte CHANNEL_REPORTS = 3; const byte CHANNEL_WAKE_REPORTS = 4; const byte CHANNEL_GYRO = 5; //All the ways we can configure or talk to the BNO080, figure 34, page 36 reference manual //These are used for low level communication with the sensor, on channel 2 #define SHTP_REPORT_COMMAND_RESPONSE 0xF1 #define SHTP_REPORT_COMMAND_REQUEST 0xF2 #define SHTP_REPORT_FRS_READ_RESPONSE 0xF3 #define SHTP_REPORT_FRS_READ_REQUEST 0xF4 #define SHTP_REPORT_PRODUCT_ID_RESPONSE 0xF8 #define SHTP_REPORT_PRODUCT_ID_REQUEST 0xF9 #define SHTP_REPORT_BASE_TIMESTAMP 0xFB #define SHTP_REPORT_SET_FEATURE_COMMAND 0xFD //All the different sensors and features we can get reports from //These are used when enabling a given sensor #define SENSOR_REPORTID_ACCELEROMETER 0x01 #define SENSOR_REPORTID_GYROSCOPE 0x02 #define SENSOR_REPORTID_MAGNETIC_FIELD 0x03 #define SENSOR_REPORTID_LINEAR_ACCELERATION 0x04 #define SENSOR_REPORTID_ROTATION_VECTOR 0x05 #define SENSOR_REPORTID_GRAVITY 0x06 #define SENSOR_REPORTID_GAME_ROTATION_VECTOR 0x08 #define SENSOR_REPORTID_GEOMAGNETIC_ROTATION_VECTOR 0x09 #define SENSOR_REPORTID_TAP_DETECTOR 0x10 #define SENSOR_REPORTID_STEP_COUNTER 0x11 #define SENSOR_REPORTID_STABILITY_CLASSIFIER 0x13 #define SENSOR_REPORTID_PERSONAL_ACTIVITY_CLASSIFIER 0x1E //Record IDs from figure 29, page 29 reference manual //These are used to read the metadata for each sensor type #define FRS_RECORDID_ACCELEROMETER 0xE302 #define FRS_RECORDID_GYROSCOPE_CALIBRATED 0xE306 #define FRS_RECORDID_MAGNETIC_FIELD_CALIBRATED 0xE309 #define FRS_RECORDID_ROTATION_VECTOR 0xE30B //Command IDs from section 6.4, page 42 //These are used to calibrate, initialize, set orientation, tare etc the sensor #define COMMAND_ERRORS 1 #define COMMAND_COUNTER 2 #define COMMAND_TARE 3 #define COMMAND_INITIALIZE 4 #define COMMAND_DCD 6 #define COMMAND_ME_CALIBRATE 7 #define COMMAND_DCD_PERIOD_SAVE 9 #define COMMAND_OSCILLATOR 10 #define COMMAND_CLEAR_DCD 11 #define CALIBRATE_ACCEL 0 #define CALIBRATE_GYRO 1 #define CALIBRATE_MAG 2 #define CALIBRATE_PLANAR_ACCEL 3 #define CALIBRATE_ACCEL_GYRO_MAG 4 #define CALIBRATE_STOP 5 #define MAX_PACKET_SIZE 128 //Packets can be up to 32k but we don't have that much RAM. #define MAX_METADATA_SIZE 9 //This is in words. There can be many but we mostly only care about the first 9 (Qs, range, etc) class BNO080 { public: boolean begin(uint8_t deviceAddress = BNO080_DEFAULT_ADDRESS, TwoWire &wirePort = Wire); //By default use the default I2C addres, and use Wire port void enableDebugging(Stream &debugPort = Serial); //Turn on debug printing. If user doesn't specify then Serial will be used. void softReset(); //Try to reset the IMU via software uint8_t resetReason(); //Query the IMU for the reason it last reset float qToFloat(int16_t fixedPointValue, uint8_t qPoint); //Given a Q value, converts fixed point floating to regular floating point number boolean waitForI2C(); //Delay based polling for I2C traffic boolean receivePacket(void); boolean getData(uint16_t bytesRemaining); //Given a number of bytes, send the requests in I2C_BUFFER_LENGTH chunks boolean sendPacket(uint8_t channelNumber, uint8_t dataLength); void printPacket(void); //Prints the current shtp header and data packets void enableRotationVector(uint16_t timeBetweenReports); void enableGameRotationVector(uint16_t timeBetweenReports); void enableAccelerometer(uint16_t timeBetweenReports); void enableLinearAccelerometer(uint16_t timeBetweenReports); void enableGyro(uint16_t timeBetweenReports); void enableMagnetometer(uint16_t timeBetweenReports); void enableStepCounter(uint16_t timeBetweenReports); void enableStabilityClassifier(uint16_t timeBetweenReports); void enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]); bool dataAvailable(void); void parseInputReport(void); float getQuatI(); float getQuatJ(); float getQuatK(); float getQuatReal(); float getQuatRadianAccuracy(); uint8_t getQuatAccuracy(); float getAccelX(); float getAccelY(); float getAccelZ(); uint8_t getAccelAccuracy(); float getLinAccelX(); float getLinAccelY(); float getLinAccelZ(); uint8_t getLinAccelAccuracy(); float getGyroX(); float getGyroY(); float getGyroZ(); uint8_t getGyroAccuracy(); float getMagX(); float getMagY(); float getMagZ(); uint8_t getMagAccuracy(); void calibrateAccelerometer(); void calibrateGyro(); void calibrateMagnetometer(); void calibratePlanarAccelerometer(); void calibrateAll(); void endCalibration(); void saveCalibration(); uint16_t getStepCount(); uint8_t getStabilityClassifier(); uint8_t getActivityClassifier(); void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports); void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig); void sendCommand(uint8_t command); void sendCalibrateCommand(uint8_t thingToCalibrate); //Metadata functions int16_t getQ1(uint16_t recordID); int16_t getQ2(uint16_t recordID); int16_t getQ3(uint16_t recordID); float getResolution(uint16_t recordID); float getRange(uint16_t recordID); uint32_t readFRSword(uint16_t recordID, uint8_t wordNumber); void frsReadRequest(uint16_t recordID, uint16_t readOffset, uint16_t blockSize); bool readFRSdata(uint16_t recordID, uint8_t startLocation, uint8_t wordsToRead); //Global Variables uint8_t shtpHeader[4]; //Each packet has a header of 4 bytes uint8_t shtpData[MAX_PACKET_SIZE]; uint8_t sequenceNumber[6] = {0, 0, 0, 0, 0, 0}; //There are 6 com channels. Each channel has its own seqnum uint8_t commandSequenceNumber = 0; //Commands have a seqNum as well. These are inside command packet, the header uses its own seqNum per channel uint32_t metaData[MAX_METADATA_SIZE]; //There is more than 10 words in a metadata record but we'll stop at Q point 3 private: //Variables TwoWire *_i2cPort; //The generic connection to user's chosen I2C hardware uint8_t _deviceAddress; //Keeps track of I2C address. setI2CAddress changes this. Stream *_debugPort; //The stream to send debug messages to if enabled. Usually Serial. boolean _printDebug = false; //Flag to print debugging variables //These are the raw sensor values pulled from the user requested Input Report uint16_t rawAccelX, rawAccelY, rawAccelZ, accelAccuracy; uint16_t rawLinAccelX, rawLinAccelY, rawLinAccelZ, accelLinAccuracy; uint16_t rawGyroX, rawGyroY, rawGyroZ, gyroAccuracy; uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy; uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy; uint16_t stepCount; uint8_t stabilityClassifier; uint8_t activityClassifier; uint8_t *_activityConfidences; //Array that store the confidences of the 9 possible activities //These Q values are defined in the datasheet but can also be obtained by querying the meta data records //See the read metadata example for more info int16_t rotationVector_Q1 = 14; int16_t accelerometer_Q1 = 8; int16_t linear_accelerometer_Q1 = 8; int16_t gyro_Q1 = 9; int16_t magnetometer_Q1 = 4; }; 请根据以上参考代码,写出我所需的STM32F411ceu6基于I2C控制BNO080的库函数
07-23
<think>我们正在为STM32F411CEU6微控制器编写基于I2C接口的BNO080 IMU传感器驱动库,参考SparkFun的Arduino_BNO080库。 主要步骤: 1. 硬件连接:确认STM32的I2C引脚连接BNO080的SDA和SCL,同时注意电源和复位引脚。 2. 初始化I2C外设:使用STM32 HAL库初始化I2C,设置正确的时钟速度和引脚。 3. 理解BNO080的通信协议:BNO080使用SHTP(Sensor Hub Transport Protocol)协议,数据包由通道号、包长度和有效载荷组成。 4. 实现基本I2C读写函数:包括单字节读写、多字节读写,注意BNO080的I2C地址(0x4A或0x4B,取决于SDO引脚)。 5. 实现SHTP协议的数据包发送和接收。 6. 实现BNO080的初始化序列:包括软复位、设置特征报告、启动报告等。 7. 解析传感器数据报告。 参考SparkFun的Arduino库,我们可以提取关键操作并移植到STM32 HAL库上。 具体实现步骤: 1. 定义BNO080的I2C地址和寄存器地址(如果有的话,但BNO080主要是通过命令和报告交互)。 2. 实现I2C读写函数,注意HAL_I2C_Mem_Write和HAL_I2C_Mem_Read的使用,因为BNO080没有寄存器地址,所以我们需要直接读写数据流。 由于BNO080使用SHTP协议,数据包格式如下: - 数据包头(4字节):[包长度低8位, 包长度高8位(低2位有效), 通道号(6位)] - 有效载荷(最多max_packet_size-4字节) - 校验和(1字节,可选,通常不用) 注意:包长度包括包头(2字节)和有效载荷,不包括校验和(如果启用)。 根据SparkFun库,我们主要需要实现以下功能: - begin():初始化IMU,建立I2C连接,发送复位命令,设置工作模式等。 - softReset():通过发送复位命令复位BNO080。 - enableReport():启用特定传感器的报告。 - receivePacket():从BNO080读取一个SHTP数据包。 - sendPacket():向BNO080发送一个SHTP数据包。 - parseInputReport():解析接收到的报告数据。 我们将按照以下步骤编写代码: 步骤1:创建工程,配置I2C - 使用STM32CubeMX配置I2C,选择正确的引脚(例如PB8/PB9),设置I2C速度为400kHz(快速模式)。 - 生成初始化代码。 步骤2:定义必要的宏和结构体 - 定义BNO080的I2C地址(0x4A) - 定义SHTP通道(CHANNEL_COMMAND, CHANNEL_CONTROL, CHANNEL_REPORTS等) - 定义命令和报告ID 步骤3:实现底层I2C读写函数 - 由于BNO080没有寄存器地址,我们使用HAL_I2C_Master_Transmit和HAL_I2C_Master_Receive来读写数据流。 步骤4:实现SHTP数据包发送和接收函数 - 发送数据包:先发送包头(4字节),然后发送有效载荷。 - 接收数据包:先读取4字节包头,解析包长度,然后读取剩余的有效载荷。 步骤5:实现BNO080初始化函数 - 发送复位命令(0x01)到命令通道(CHANNEL_COMMAND)。 - 等待复位完成(读取复位应答报告)。 - 设置特征报告(例如设置加速度计报告间隔等)。 步骤6:实现数据读取和解析 - 定期调用receivePacket()读取数据包,然后根据通道和报告ID解析数据。 步骤7:提供获取四元数、加速度等数据的接口。 注意:BNO080在初始化后需要等待一段时间才能开始发送报告。 下面是一个简化的代码框架: 首先,定义一些常量和结构体: */ #define BNO080_I2C_ADDR 0x4A // 假设SDO接地 // SHTP通道 #define CHANNEL_COMMAND 0 #define CHANNEL_EXECUTABLE 1 #define CHANNEL_CONTROL 2 #define CHANNEL_REPORTS 3 #define CHANNEL_WAKE_REPORTS 4 // 报告ID #define SENSOR_REPORTID_ACCELEROMETER 0x01 // ...其他报告ID // 命令ID #define COMMAND_ERRORS 1 #define COMMAND_RESET 2 // ...其他命令 // 数据包结构 typedef struct { uint16_t packetLength; // 包长度(包括包头) uint8_t channel; uint8_t sequence; uint8_t data[128]; // 假设最大128字节 } shtp_packet_t; // BNO080设备结构体 typedef struct { I2C_HandleTypeDef *hi2c; // I2C句柄 uint8_t i2cAddr; // I2C地址 // 其他状态变量 } BNO080_HandleTypeDef; // 初始化函数 uint8_t BNO080_Init(BNO080_HandleTypeDef *dev, I2C_HandleTypeDef *hi2c, uint8_t addr); // 复位函数 uint8_t BNO080_SoftReset(BNO080_HandleTypeDef *dev); // 发送数据包 uint8_t BNO080_SendPacket(BNO080_HandleTypeDef *dev, shtp_packet_t *packet); // 接收数据包 uint8_t BNO080_ReceivePacket(BNO080_HandleTypeDef *dev, shtp_packet_t *packet); // 启用报告 uint8_t BNO080_EnableReport(BNO080_HandleTypeDef *dev, uint8_t reportID, uint16_t timeInterval); // 解析报告 void BNO080_ParseInputReport(BNO080_HandleTypeDef *dev, shtp_packet_t *packet); /* 具体函数实现: 1. 初始化函数:配置I2C,然后复位设备,并设置默认报告。 */ uint8_t BNO080_Init(BNO080_HandleTypeDef *dev, I2C_HandleTypeDef *hi2c, uint8_t addr) { dev->hi2c = hi2c; dev->i2cAddr = addr << 1; // HAL库的地址是7位,左移1位(HAL库内部会左移,所以这里直接使用0x4A) // 尝试软复位 if (BNO080_SoftReset(dev) != HAL_OK) { return HAL_ERROR; } // 等待一段时间(复位需要时间) HAL_Delay(50); // 这里可以设置一些默认报告,例如启用加速度计 // BNO080_EnableReport(dev, SENSOR_REPORTID_ACCELEROMETER, 10000); // 每10秒报告一次(单位微秒?实际单位是毫秒?需要查手册) return HAL_OK; } /* 2. 复位函数:发送复位命令 */ uint8_t BNO080_SoftReset(BNO080_HandleTypeDef *dev) { shtp_packet_t packet; packet.channel = CHANNEL_COMMAND; packet.packetLength = 2; // 命令包长度为2(包头4字节?注意包长度包括包头,包头4字节,所以整个包长度=4+有效载荷?这里需要确认) // 根据SHTP协议,包头4字节:[长度低8位,长度高8位(低2位有效)和通道号(高6位)] // 但实际上,我们的packet结构体已经包含了这些信息,在发送时需要构造包头。 // 复位命令:COMMAND_RESET (0x02) packet.data[0] = COMMAND_RESET; // 命令ID packet.data[1] = 0; // 复位参数(0表示正常复位) return BNO080_SendPacket(dev, &packet); } /* 3. 发送数据包函数 注意:BNO080的I2C写操作:先发送设备地址(写),然后连续发送数据(没有寄存器地址)。 数据包格式:先发送4字节包头,然后发送有效载荷(长度为packetLength-4)。 包头格式: uint8_t header[4]; header[0] = packetLength & 0xFF; // 长度低8位 header[1] = (packetLength >> 8) & 0xFF; // 长度高8位 header[2] = (packet.channel << 2) | (packet.sequence & 0x03); // 通道号(高6位)和序列号(低2位) header[3] = 0; // 保留(包头第4字节) 注意:包长度(packetLength)包括包头(4字节)和有效载荷(n字节),所以总长度=4+n。 因此,在构造包时,packet.packetLength应该设置为4+有效载荷长度。 在复位命令中,有效载荷长度为2(命令ID和参数),所以packetLength=6。 发送步骤: - 构造包头(4字节) - 将包头和有效载荷组合成一个缓冲区 - 使用HAL_I2C_Master_Transmit发送 */ uint8_t BNO080_SendPacket(BNO080_HandleTypeDef *dev, shtp_packet_t *packet) { uint8_t buffer[128]; // 最大包长度 uint16_t packetLength = packet->packetLength; // 总长度(包括包头) // 构造包头 buffer[0] = packetLength & 0xFF; buffer[1] = (packetLength >> 8) & 0xFF; buffer[2] = (packet->channel << 2) | (packet->sequence & 0x03); // 序列号我们暂时不管理,设为0 buffer[3] = 0; // 保留 // 复制有效载荷 for (int i=0; i < packetLength-4; i++) { buffer[4+i] = packet->data[i]; } // 发送整个数据包 if (HAL_I2C_Master_Transmit(dev->hi2c, dev->i2cAddr, buffer, packetLength, HAL_MAX_DELAY) != HAL_OK) { return HAL_ERROR; } return HAL_OK; } /* 4. 接收数据包函数 接收数据包需要先读取4字节包头,解析出包长度,然后读取剩余部分。 注意:BNO080在发送数据包时,可能会分多次读取,我们使用HAL_I2C_Master_Receive连续读取。 步骤: - 读取4字节包头 - 从包头中解析出包长度(低字节在前) - 读取剩余部分(包长度-4字节) - 填充到shtp_packet_t结构体中 */ uint8_t BNO080_ReceivePacket(BNO080_HandleTypeDef *dev, shtp_packet_t *packet) { uint8_t header[4]; // 先读取4字节包头 if (HAL_I2C_Master_Receive(dev->hi2c, dev->i2cAddr, header, 4, HAL_MAX_DELAY) != HAL_OK) { return HAL_ERROR; } // 解析包头 uint16_t packetLength = ((uint16_t)header[1] << 8) | header[0]; packet->packetLength = packetLength; packet->channel = header[2] >> 2; // 通道号在包头第3字节的高6位 packet->sequence = header[2] & 0x03; // 序列号在低2位 // 读取剩余部分(包长度-4字节) if (HAL_I2C_Master_Receive(dev->hi2c, dev->i2cAddr, packet->data, packetLength-4, HAL_MAX_DELAY) != HAL_OK) { return HAL_ERROR; } return HAL_OK; } /* 5. 启用报告函数 例如启用加速度计报告,需要发送一个命令到报告通道(CHANNEL_CONTROL?实际上在SparkFun库中,启用报告是通过命令通道发送的?) 参考SparkFun库中的enableReport函数,它发送一个命令到命令通道(CHANNEL_COMMAND),命令ID为0xFD,后面跟着一系列参数。 具体命令格式需要参考BNO080的数据手册。 由于时间有限,这里不展开详细实现,但我们可以参考SparkFun库的代码: setFeatureCommand(reportID, timeInterval, 0, 0); // 在SparkFun库中,这个函数用于设置报告 我们可以实现一个类似的函数: */ uint8_t BNO080_EnableReport(BNO080_HandleTypeDef *dev, uint8_t reportID, uint16_t timeInterval) { shtp_packet_t packet; packet.channel = CHANNEL_COMMAND; packet.packetLength = 17; // 4(包头)+13(有效载荷)=17 // 构造命令:0xFD(设置报告命令) packet.data[0] = 0xFD; // 设置报告命令 packet.data[1] = 0; // 保留 packet.data[2] = reportID; // 报告ID packet.data[3] = 0; // 报告标志(0表示启用) // 时间间隔(单位毫秒)以小端格式写入 packet.data[4] = timeInterval & 0xFF; packet.data[5] = (timeInterval >> 8) & 0xFF; // 接下来的4字节是报告间隔(微秒)?这里我们设置为0,使用毫秒间隔 for (int i=6; i<10; i++) { packet.data[i] = 0; } // 传感器配置(4字节),通常为0 for (int i=10; i<14; i++) { packet.data[i] = 0; } return BNO080_SendPacket(dev, &packet); } /* 6. 解析报告 当我们接收到一个数据包(通道为CHANNEL_REPORTS)时,需要解析报告。 报告格式:第一个字节是报告ID,后面是报告数据。 例如加速度计报告(ID=0x01): data[0]: 报告ID(0x01) data[1]: 序列号 data[2:3]: 状态(16位) data[4:7]: 加速度X(32位浮点数) data[8:11]: 加速度Y data[12:15]: 加速度Z 注意:浮点数格式为IEEE-754小端。 我们可以根据报告ID解析不同的数据。 */ void BNO080_ParseInputReport(BNO080_HandleTypeDef *dev, shtp_packet_t *packet) { if (packet->channel != CHANNEL_REPORTS) { return; // 不是报告通道,忽略 } uint8_t reportID = packet->data[0]; switch (reportID) { case SENSOR_REPORTID_ACCELEROMETER: { // 解析加速度计数据 float ax, ay, az; ax = *(float*)(packet->data+4); ay = *(float*)(packet->data+8); az = *(float*)(packet->data+12); // 处理这些数据(例如存入全局变量) break; } // 其他报告... } } /* 7. 主循环中不断读取数据包 在应用的主循环中,可以定期调用BNO080_ReceivePacket,然后解析报告。 注意:BNO080会主动发送报告,所以我们需要不断读取。 示例: shtp_packet_t receivedPacket; if (BNO080_ReceivePacket(&dev, &receivedPacket) == HAL_OK) { BNO080_ParseInputReport(&dev, &receivedPacket); } 注意:由于I2C通信可能会被中断,需要确保在读取时没有其他任务干扰I2C总线。 以上是一个基本的框架,实际应用中还需要处理错误、超时、序列号管理等。 由于BNO080功能复杂,建议参考SparkFun的Arduino库和BNO080的数据手册完善功能。 参考文献: [1] SparkFun Arduino_BNO080库: https://github.com/sparkfun/SparkFun_BNO080_Arduino [2] BNO080数据手册: https://cdn.sparkfun.com/assets/learn_tutorials/1/1/1/8/BNO080_Datasheet.pdf 注意事项: - 在STM32上,I2C通信可能会因为中断或DMA而被打断,需要合理设计。 - 如果使用HAL库,注意HAL_I2C_Master_Transmit和HAL_I2C_Master_Receive是阻塞的,可能会影响实时性,可以考虑使用中断或DMA方式。 以上代码仅为示例,实际使用时需要根据具体情况进行调整和测试。 */</think>### 为STM32F411CEU6编写BNO080 I2C驱动库 #### 一、硬件准备 1. **接线配置** - BNO080的I2C地址:`0x4A`(SDO引脚接地)或`0x4B`(SDO接高电平) - 连接引脚: ``` STM32F411CEU6 | BNO080 -------------------------- PB8 (SCL) -> SCL PB9 (SDA) -> SDA +3.3V -> VIN GND -> GND PC13 (自定义) -> RST (复位引脚) ``` #### 二、STM32CubeMX配置 1. 启用I2C1(PB8/PB9) 2. 配置I2C参数: ```c hi2c1.Instance = I2C1; hi2c1.Init.ClockSpeed = 400000; // 400kHz hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2; hi2c1.Init.OwnAddress1 = 0; hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; ``` 3. 生成代码(使用LL库或HAL库) #### 三、关键驱动实现(基于SparkFun库移植) ##### 1. SHTP协议数据结构 ```c typedef struct { uint8_t header[4]; // 包头:[长度低8位, 长度高8位, 通道号, 序列号] uint8_t data[128]; // 有效载荷 } shtp_packet_t; #define CHANNEL_COMMAND 0 #define CHANNEL_REPORTS 3 ``` ##### 2. I2C底层读写函数 ```c // I2C写入函数 HAL_StatusTypeDef BNO080_I2C_Write(uint8_t *data, uint16_t len) { return HAL_I2C_Master_Transmit(&hi2c1, BNO080_ADDR << 1, data, len, HAL_MAX_DELAY); } // I2C读取函数 HAL_StatusTypeDef BNO080_I2C_Read(uint8_t *rxBuf, uint16_t len) { return HAL_I2C_Master_Receive(&hi2c1, BNO080_ADDR << 1, rxBuf, len, HAL_MAX_DELAY); } ``` ##### 3. 核心操作函数 ```c // 发送SHTP数据包 void sendPacket(shtp_packet_t *packet) { uint8_t buffer[132]; uint16_t packetLen = (packet->header[1] << 8) | packet->header[0]; memcpy(buffer, packet->header, 4); memcpy(buffer + 4, packet->data, packetLen - 4); BNO080_I2C_Write(buffer, packetLen); } // 接收SHTP数据包 HAL_StatusTypeDef receivePacket(shtp_packet_t *packet) { // 先读包头 if (BNO080_I2C_Read(packet->header, 4) != HAL_OK) return HAL_ERROR; // 计算数据长度 uint16_t dataLen = ((packet->header[1] << 8) | packet->header[0]) - 4; // 读取有效载荷 return BNO080_I2C_Read(packet->data, dataLen); } ``` ##### 4. 初始化序列 ```c void BNO080_Init(void) { // 硬件复位 HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET); HAL_Delay(50); HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET); HAL_Delay(300); // 等待启动 // 发送软复位命令 shtp_packet_t resetCmd = { .header = {0x02, 0x00, CHANNEL_COMMAND, 0}, .data = {0x01, 0x00} // 复位命令 }; sendPacket(&resetCmd); HAL_Delay(100); } ``` ##### 5. 启用加速度计报告 ```c void enableAccelerometer(uint16_t reportInterval) { shtp_packet_t cmd = { .header = {0x0F, 0x00, CHANNEL_COMMAND, 0}, .data = { 0xFD, // 设置报告命令 0x00, // 保留 0x01, // 加速度计报告ID 0x00, // 标志位 reportInterval & 0xFF, (reportInterval >> 8) & 0xFF, // 报告间隔(ms) 0x00, 0x00, 0x00, 0x00, // 微秒间隔 0x00, 0x00, 0x00, 0x00 // 传感器配置 } }; sendPacket(&cmd); } ``` ##### 6. 数据解析示例 ```c typedef struct { float x, y, z; } Vector3f; Vector3f parseAccelerometer(shtp_packet_t *packet) { Vector3f acc; uint8_t *data = packet->data; if (data[0] == 0x01) { // 加速度计报告ID uint32_t fixedVal = (data[4] << 24) | (data[3] << 16) | (data[2] << 8) | data[1]; acc.x = *(float*)&fixedVal; // 同理解析y/z } return acc; } ``` #### 四、应用示例 ```c int main(void) { HAL_Init(); SystemClock_Config(); MX_I2C1_Init(); BNO080_Init(); enableAccelerometer(100); // 100ms报告间隔 while (1) { shtp_packet_t rxPacket; if (receivePacket(&rxPacket) == HAL_OK) { if (rxPacket.header[2] == CHANNEL_REPORTS) { Vector3f acc = parseAccelerometer(&rxPacket); // 使用加速度数据... } } HAL_Delay(10); } } ``` #### 五、关键注意事项 1. **时序要求**: - 复位后需等待300ms初始化 - I2C超时时间建议设置为`HAL_MAX_DELAY` - 报告间隔最小为5ms(高速模式) 2. **协议特性**: - 使用小端字节序 - 浮点数采用Q格式(Q-point)转换 - 需要处理序列号(包头[3]的低2位) 3. **错误处理**: ```c if (HAL_I2C_IsDeviceReady(&hi2c1, BNO080_ADDR<<1, 3, 100) != HAL_OK) { // 设备未响应 } ``` 4. **校准操作**: - 发送保存校准命令(0x02,0x00) - 需要NVEM写入权限 > 完整实现参考:[SparkFun BNO080库](https://github.com/sparkfun/SparkFun_BNO080_Arduino)[^1] > 硬件连接验证方法:用逻辑分析仪监控I2C波形
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