#include "PT32x007x.h"
#include "string.h"
#include "filter.h"

#include "gpio_i2c.h"

#define READ_ADDR 0xA7
#define DEVICE_ADDR 0xA6

u8 arry_write[8]={0x0B,0x08,0x08,0x80,0x00,0x00,0x00};
u8 arry_read[7]={0};

float anglex = 0.0 ;
float angley = 0.0 ;
float anglez = 0.0 ;

void Software_Delay(u32 val)//延時函數
{
while(val)
{
val--;
}
}
/*******************************************************************************
*Function: UART_GPIO_Config
*Description: 配置UART引腳
*Input: 無
*Return: 無

*Others:
該函數負責使能UART模塊相關引腳
*******************************************************************************/
void UART_GPIO_Config(void)
{
/* 配置UART管腳的復用功能 */
GPIO_DigitalRemapConfig(AFIOD, GPIO_Pin_5, AFIO_AF_0,ENABLE); //PD5 TX0
GPIO_DigitalRemapConfig(AFIOD, GPIO_Pin_6, AFIO_AF_0,ENABLE); //PD6 RX0
}

/*******************************************************************************
*Function: UART_Mode_Config
*Description: 配置UART
*Input: 無
*Return: 無
*Others:
該函數負責初始化UART模塊的工作及其工作方式
*******************************************************************************/
void UART_Mode_Config(void)
{
UART_InitTypeDef UART_InitStruct;

/*初始化UART0*/
UART_InitStruct.UART_BaudRate = 9600;
UART_InitStruct.UART_WordLengthAndParity=UART_WordLengthAndParity_8D;
UART_InitStruct.UART_StopBitLength=UART_StopBitLength_1;
UART_InitStruct.UART_ParityMode=UART_ParityMode_Even;
UART_InitStruct.UART_Receiver=UART_Receiver_Enable;
UART_InitStruct.UART_LoopbackMode=UART_LoopbackMode_Disable;

UART_Init(UART0, &UART_InitStruct);

/*開啟UART0的收發功能*/
UART_Cmd(UART0, ENABLE);
}

static void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;


/* 配置USART為中斷源 */
NVIC_InitStructure.NVIC_IRQChannel = UART0_IRQn;
/* 優先級*/
NVIC_InitStructure.NVIC_IRQChannelPriority = 1;
/* 使能中斷 */
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
/* 初始化配置NVIC */
NVIC_Init(&NVIC_InitStructure);

UART_ITConfig(UART0, UART_IT_RXNEI, ENABLE); // 使能串口接收中斷
//---------------------------------
// 使能串口
UART_Cmd(UART0, ENABLE);
}

/*******************************************************************************
*Function: UART_Driver
*Description: UART模塊驅動函數
*Input: 無
*Return: 無
*Others:
*******************************************************************************/
void UART_Driver(void)
{
UART_GPIO_Config();
UART_Mode_Config();
//
NVIC_Configuration() ;//串口接受
}

void I2C_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure; //定義一個GPIO_InitTypeDef類型的結構體
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5; //選擇要控制的GPIO引腳
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OutPP; //設置引腳模式為通用推挽輸出
GPIO_InitStructure.GPIO_Pull = GPIO_Pull_Up; //無偏置
GPIO_Init(GPIOC, &GPIO_InitStructure); //調用庫函數，初始化GPIO

// /* 配置I2C管腳的復用功能 */
// GPIO_DigitalRemapConfig(AFIOB, GPIO_Pin_5, AFIO_AF_0,ENABLE); //PB5 I2C SDA
// GPIO_DigitalRemapConfig(AFIOB, GPIO_Pin_4, AFIO_AF_0,ENABLE); //PB4 I2C SCL
}
void I2C_Driver(void)
{
I2C_InitTypeDef I2C_InitStruct;
I2C_InitStruct.I2C_Acknowledge = I2C_Acknowledge_Disable;
I2C_InitStruct.I2C_Broadcast = I2C_Broadcast_Disable;
I2C_InitStruct.I2C_OwnAddress = 0x00;
I2C_InitStruct.I2C_Prescaler = 640-1;
I2C_Init(I2C,&I2C_InitStruct);
}

int main (void)
{
uint32_t time = 0 ;
uint16_t i=0;

UART_Driver();
I2C_GPIO_Config();
// I2C_Driver();

printf("start......rn");
adxl_i2c_write(0x31, 0x0B) ; //Software_Delay(100000) ;
adxl_i2c_write(0x2c, 0x08) ; //Software_Delay(100000) ;
adxl_i2c_write(0x2d, 0x08) ; //Software_Delay(100000) ;
adxl_i2c_write(0x2e, 0x80) ; //Software_Delay(100000) ;
adxl_i2c_write(0x1E, 0x00) ; //Software_Delay(100000) ;
adxl_i2c_write(0x1F, 0x00) ; //Software_Delay(100000) ;
adxl_i2c_write(0x20, 0x05) ; //Software_Delay(100000) ;

//////// I2C_EE_Write(0xc0, 0x38, 1);Software_Delay(100000) ;
printf("device id=0x%xn", adxl_i2c_read(0x00)) ;

//I2C_EE_Read(arry_read, 0x20, DEVICE_ADDR, 1);
sc7a20_filter_init() ; //初始化濾波
while(1)
{
time++;

if(time%5000==0)
{
ADXL345_ReadDates(&anglex, &angley, &anglez) ;
printf("x=%.2f y=%.2f z=%.2fn", anglex, angley , anglez) ;
}

// Software_Delay(100000) ;
}

}

#include "filter.h"
#include "math.h"
#include "string.h"
#include "stdlib.h"

extern short x ;
extern short y ;
extern short z ;

typedef struct FilterChannelTag{
int16_t sample_l;
int16_t sample_h;

int16_t flag_l;
int16_t flag_h;

} FilterChannel;

typedef struct Silan_core_channel_s{
int16_t filter_param_l;
int16_t filter_param_h;
int16_t filter_threhold;
FilterChannel sl_channel[3];
} Silan_core_channel;

Silan_core_channel core_channel;

void sc7a20_filter_init(void)
{
int16_t j = 0;

core_channel.filter_param_l = 4;
core_channel.filter_param_h = 16;
core_channel.filter_threhold = 50; //4G scale: 25; 2G scale: 50

for(j = 0; j < 3; j++)
{
core_channel.sl_channel[j].sample_l = 0;
core_channel.sl_channel[j].sample_h = 0;
core_channel.sl_channel[j].flag_l = 0;
core_channel.sl_channel[j].flag_h = 0;
}

}

static int16_t filter_average(int16_t preAve, int16_t sample, int16_t Filter_num, int16_t * flag)
{
if (*flag == 0)
{
preAve = sample;
*flag = 1;
}

return preAve + (sample - preAve) / Filter_num;
}

static int16_t silan_filter_process(FilterChannel* fac, int16_t sample)
{
if(fac == NULL)
{
return 0;
}

fac->sample_l = filter_average(fac->sample_l, sample, core_channel.filter_param_l, &fac->flag_l);
fac->sample_h = filter_average(fac->sample_h, sample, core_channel.filter_param_h, &fac->flag_h);
if (abs(fac->sample_l - fac->sample_h) > core_channel.filter_threhold)
{
fac->sample_h = fac->sample_l;
}

return fac->sample_h;
}

void filter_base_dates(void)
{
x = silan_filter_process(&core_channel.sl_channel[0], x);
y = silan_filter_process(&core_channel.sl_channel[1], y);
z = silan_filter_process(&core_channel.sl_channel[2], z);
}

審核編輯 黃宇