#ifndef __ICM_42688_H #define __ICM_42688_H #include "zf_common_headfile.h" //================================================================================================== // ICM-42688-P 6轴惯性传感器 硬件抽象层 // 本文件仅负责 SPI 通信、寄存器读写、原始数据获取，不涉及姿态解算 //================================================================================================== // SPI 引脚定义 #define ICM42688_SPI (SPI_1) #define ICM42688_SPI_SPEED (8 * 1000 * 1000) #define ICM42688_SPC_PIN (SPI1_SCK_B23) #define ICM42688_SDI_PIN (SPI1_MOSI_B22) #define ICM42688_SDO_PIN (SPI1_MISO_B21) #define ICM42688_CS_PIN (B19) #define ICM42688_DELAY_MS(time) (system_delay_ms(time)) #define ICM42688_CS_LEVEL(level) gpio_set_level(ICM42688_CS_PIN, level) // 传感器原始数据（物理单位：加速度 g，角速度 °/s，传感器坐标系） typedef struct { float accel_x, accel_y, accel_z; float gyro_x, gyro_y, gyro_z; } icm42688_data_t; // 加速度计量程 enum icm42688_afs { ICM42688_AFS_16G, ICM42688_AFS_8G, ICM42688_AFS_4G, ICM42688_AFS_2G, }; // 加速度计输出速率 (ODR) enum icm42688_aodr { ICM42688_AODR_32000HZ, ICM42688_AODR_16000HZ, ICM42688_AODR_8000HZ, ICM42688_AODR_4000HZ, ICM42688_AODR_2000HZ, ICM42688_AODR_1000HZ, ICM42688_AODR_200HZ, ICM42688_AODR_100HZ, ICM42688_AODR_50HZ, ICM42688_AODR_25HZ, ICM42688_AODR_12_5HZ, ICM42688_AODR_6_25HZ, ICM42688_AODR_3_125HZ, ICM42688_AODR_1_5625HZ, ICM42688_AODR_500HZ, }; // 陀螺仪量程 enum icm42688_gfs { ICM42688_GFS_2000DPS, ICM42688_GFS_1000DPS, ICM42688_GFS_500DPS, ICM42688_GFS_250DPS, ICM42688_GFS_125DPS, ICM42688_GFS_62_5DPS, ICM42688_GFS_31_25DPS, ICM42688_GFS_15_625DPS, }; // 陀螺仪输出速率 (ODR) enum icm42688_godr { ICM42688_GODR_32000HZ, ICM42688_GODR_16000HZ, ICM42688_GODR_8000HZ, ICM42688_GODR_4000HZ, ICM42688_GODR_2000HZ, ICM42688_GODR_1000HZ, ICM42688_GODR_200HZ, ICM42688_GODR_100HZ, ICM42688_GODR_50HZ, ICM42688_GODR_25HZ, ICM42688_GODR_12_5HZ, ICM42688_GODR_X0HZ, ICM42688_GODR_X1HZ, ICM42688_GODR_X2HZ, ICM42688_GODR_500HZ, }; //================================================================================================== // 公开接口（由 IMU 层调用，用户一般不直接使用） //================================================================================================== /** @brief 初始化 ICM-42688（SPI 配置 + 寄存器设置 + 自检） * 由 imu_init() 内部调用，用户无需单独调用 */ void icm42688_init(void); /** @brief 读取加速度和角速度（物理单位，传感器坐标系） * @param data 输出结构体指针 * 一次 12 字节 SPI 突发读取，节省通信时间 */ void icm42688_read_all(icm42688_data_t *data); /** @brief 读取陀螺仪原始 ADC 值（不含比例换算） * @param gx/gy/gz 输出 int16 原始值指针 * 供校准函数使用 */ void icm42688_read_gyro_raw(int16_t *gx, int16_t *gy, int16_t *gz); /** @brief 返回当前陀螺仪比例系数 (LSB → °/s) * 供校准函数计算零偏 */ float icm42688_gyro_scale(void); //================================================================================================== // 寄存器地址 //================================================================================================== // Bank 0 #define ICM42688_DEVICE_CONFIG 0x11 #define ICM42688_DRIVE_CONFIG 0x13 #define ICM42688_INT_CONFIG 0x14 #define ICM42688_FIFO_CONFIG 0x16 #define ICM42688_TEMP_DATA1 0x1D #define ICM42688_TEMP_DATA0 0x1E #define ICM42688_ACCEL_DATA_X1 0x1F #define ICM42688_ACCEL_DATA_X0 0x20 #define ICM42688_ACCEL_DATA_Y1 0x21 #define ICM42688_ACCEL_DATA_Y0 0x22 #define ICM42688_ACCEL_DATA_Z1 0x23 #define ICM42688_ACCEL_DATA_Z0 0x24 #define ICM42688_GYRO_DATA_X1 0x25 #define ICM42688_GYRO_DATA_X0 0x26 #define ICM42688_GYRO_DATA_Y1 0x27 #define ICM42688_GYRO_DATA_Y0 0x28 #define ICM42688_GYRO_DATA_Z1 0x29 #define ICM42688_GYRO_DATA_Z0 0x2A #define ICM42688_TMST_FSYNCH 0x2B #define ICM42688_TMST_FSYNCL 0x2C #define ICM42688_INT_STATUS 0x2D #define ICM42688_FIFO_COUNTH 0x2E #define ICM42688_FIFO_COUNTL 0x2F #define ICM42688_FIFO_DATA 0x30 #define ICM42688_APEX_DATA0 0x31 #define ICM42688_APEX_DATA1 0x32 #define ICM42688_APEX_DATA2 0x33 #define ICM42688_APEX_DATA3 0x34 #define ICM42688_APEX_DATA4 0x35 #define ICM42688_APEX_DATA5 0x36 #define ICM42688_INT_STATUS2 0x37 #define ICM42688_INT_STATUS3 0x38 #define ICM42688_SIGNAL_PATH_RESET 0x4B #define ICM42688_INTF_CONFIG0 0x4C #define ICM42688_INTF_CONFIG1 0x4D #define ICM42688_PWR_MGMT0 0x4E #define ICM42688_GYRO_CONFIG0 0x4F #define ICM42688_ACCEL_CONFIG0 0x50 #define ICM42688_GYRO_CONFIG1 0x51 #define ICM42688_GYRO_ACCEL_CONFIG0 0x52 #define ICM42688_ACCEL_CONFIG1 0x53 #define ICM42688_TMST_CONFIG 0x54 #define ICM42688_APEX_CONFIG0 0x56 #define ICM42688_SMD_CONFIG 0x57 #define ICM42688_FIFO_CONFIG1 0x5F #define ICM42688_FIFO_CONFIG2 0x60 #define ICM42688_FIFO_CONFIG3 0x61 #define ICM42688_FSYNC_CONFIG 0x62 #define ICM42688_INT_CONFIG0 0x63 #define ICM42688_INT_CONFIG1 0x64 #define ICM42688_INT_SOURCE0 0x65 #define ICM42688_INT_SOURCE1 0x66 #define ICM42688_INT_SOURCE3 0x68 #define ICM42688_INT_SOURCE4 0x69 #define ICM42688_FIFO_LOST_PKT0 0x6C #define ICM42688_FIFO_LOST_PKT1 0x6D #define ICM42688_SELF_TEST_CONFIG 0x70 #define ICM42688_WHO_AM_I 0x75 #define ICM42688_REG_BANK_SEL 0x76 // Bank 1 #define ICM42688_SENSOR_CONFIG0 0x03 #define ICM42688_GYRO_CONFIG_STATIC2 0x0B #define ICM42688_GYRO_CONFIG_STATIC3 0x0C #define ICM42688_GYRO_CONFIG_STATIC4 0x0D #define ICM42688_GYRO_CONFIG_STATIC5 0x0E #define ICM42688_GYRO_CONFIG_STATIC6 0x0F #define ICM42688_GYRO_CONFIG_STATIC7 0x10 #define ICM42688_GYRO_CONFIG_STATIC8 0x11 #define ICM42688_GYRO_CONFIG_STATIC9 0x12 #define ICM42688_GYRO_CONFIG_STATIC10 0x13 #define ICM42688_XG_ST_DATA 0x5F #define ICM42688_YG_ST_DATA 0x60 #define ICM42688_ZG_ST_DATA 0x61 #define ICM42688_TMSTVAL0 0x62 #define ICM42688_TMSTVAL1 0x63 #define ICM42688_TMSTVAL2 0x64 #define ICM42688_INTF_CONFIG4 0x7A #define ICM42688_INTF_CONFIG5 0x7B #define ICM42688_INTF_CONFIG6 0x7C #endif