131 lines
3.4 KiB
C
131 lines
3.4 KiB
C
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#include "driver/i2c_master.h"
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#ifndef __SC7U22_H_
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#define __SC7U22_H_
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#define SC7U22_CONFIG 0x1A
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#define SC7U22_GYRO_CONFIG 0x42
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#define SC7U22_ACCEL_CONFIG 0x40
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#define SC7U22_ACCEL_XOUT_H 0x0C
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#define SC7U22_ACCEL_XOUT_L 0x0D
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#define SC7U22_ACCEL_YOUT_H 0x0E
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#define SC7U22_ACCEL_YOUT_L 0x0F
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#define SC7U22_ACCEL_ZOUT_H 0x10
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#define SC7U22_ACCEL_ZOUT_L 0x11
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#define SC7U22_GYRO_XOUT_H 0x12
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#define SC7U22_GYRO_XOUT_L 0x13
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#define SC7U22_GYRO_YOUT_H 0x14
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#define SC7U22_GYRO_YOUT_L 0x15
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#define SC7U22_GYRO_ZOUT_H 0x16
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#define SC7U22_GYRO_ZOUT_L 0x17
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#define SC7U22_WHO_AM_I 0x01
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#define SC7U22_I2C_ADDR 0x18
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#define NST112_I2C_ADDR 0x48
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#define MS523_I2C_ADDR 0x28
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#define I2C_MASTER_FREQ_HZ 800000 // kHz 800000
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#define I2C_MASTER_FREQ_TEMP_HZ 100000 // kHz 800000
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#define GRAVITY_EARTH (9.80665f)
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#define ALPHA 0.90f // 高通系数
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#define BUM_THRESHOLD 4.0e8f // 颠簸能量阈值（暂定）
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#define turn_gyro_threshold 30.0f //急转弯角速度阈值
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#define turn_accel_threshold 2.0f //急转弯向心加速度阈值
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#define rapid_accel_threshold 3.0f //急加速阈值
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#define rapid_decel_threshold -3.0f //急刹车阈值
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#define DATA_BUFFER_SIZE 200
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#define is_stop_magnitude 0.35f //启动
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#define stop_proportion_threshold 0.5f //停止时间比例阈值
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#define start_stop_threshold 15 //启停次数阈值
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// 驾驶事件冷却屏蔽（10秒内不再触发表情）
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#define EVENT_COOLDOWN_MS 10000 // 冷却时间 10 秒
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extern float ax,ay,az,gx,gy,gz;
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typedef struct
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{
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int16_t Ax;
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int16_t Ay;
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int16_t Az;
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int16_t Gx;
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int16_t Gy;
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int16_t Gz;
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}SC7U22_DataType;
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struct acc_offset
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{
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float acc_x_offset;
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float acc_y_offset;
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float acc_z_offset;
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float gyr_x_offset;
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float gyr_y_offset;
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float gyr_z_offset;
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};
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typedef struct{
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float accx_noise;
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float accy_noise;
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float accz_noise;
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float gyrx_noise;
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float gyry_noise;
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float gyrz_noise;
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}noise_datatype;
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typedef struct {
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float accel_x;
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float accel_y;
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float accel_z;
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float gyro_x;
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float gyro_y;
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float gyro_z;
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int64_t timestamp;
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} sensor_data_t;
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typedef enum {
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EVENT_NONE = 0,
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EVENT_SUDDEN_ACCEL, // 急加速
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EVENT_SUDDEN_BRAKE, // 急刹车
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EVENT_SHARP_LTURN, //急左转弯
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EVENT_SHARP_RTURN, //急右转弯
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} driving_event_t;
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void SC7U22_init(i2c_master_bus_handle_t i2c_bus);
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esp_err_t SC7U22_Reg_W(uint8_t reg_addr, uint8_t data);
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esp_err_t SC7U22_Reg_R(uint8_t reg_addr, uint8_t *data);
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// void SC7U22_DataGet(SC7U22_DataType* SC7U22_DataStucture);
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void mySC7_getdata(void); //获得处理后的数据
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void SC7U22_Sensor_enable(void);
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void noise_threshold_get(void);
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void accel_Getoffset(void);
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float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width);
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float lsb_to_dps(int16_t val, float dps, uint8_t bit_width);
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void bum_energy_get(void);
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bool is_bump(void);
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void sharp_turn_detect(void);
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driving_event_t is_sharp_turn(void);
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void start_stop_state(void);
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void detect_driving_events(void);
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driving_event_t is_rapid_acc_or_dec(void);
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bool is_jam(void);
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void imu_task(void *param);
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i2c_master_bus_handle_t get_i2c_master_bus_handle(void);
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esp_err_t BMI_init(void);
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esp_err_t NST112_init(void);
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esp_err_t MS523_init(void);
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#endif
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