motion_sensor.c

8032底层驱动部分。因为可以移植 所以单独来拿出来

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/*****************************************************************************
 *
 * Filename:
 * ---------
 *    motion_sensor.c
 *
 * Project:
 * --------
 *   Maui_Software
 *
 * Description:
 * ------------
 *   This Module is for motion sensor driver.
 *
 * Author:
 * -------
 * -------
 *
 *============================================================================
 *             HISTORY
 * Below this line, this part is controlled by PVCS VM. DO NOT MODIFY!!
 *------------------------------------------------------------------------------
 *------------------------------------------------------------------------------
 * Upper this line, this part is controlled by PVCS VM. DO NOT MODIFY!!
 *============================================================================
 ****************************************************************************/
#if defined(MOTION_SENSOR_SUPPORT)
#include "kal_release.h"
#include "custom_config.h"
#include "gpio_sw.h"
#include "drv_comm.h"
#include "motion_sensor.h"
#include "motion_sensor_custom.h"
#include "motion_sensor_buff.h"
#include "gpt_sw.h"
#include "intrCtrl.h"
#include "eint.h"

/*Variable Declaration*/
MotionSensorStruct motion_sensor_data;
MotionSensorBufferStruct motion_sensor_buff;
MotionSensor_customize_function_struct *motion_sensor_custom_fp;
MotionSensor_custom_data_struct *motion_sensor_custom_dp;
kal_int16 acc_x_plus_g_adc=2000, acc_x_minus_g_adc=2000;
kal_int16 acc_y_plus_g_adc=2000, acc_y_minus_g_adc=2000;
kal_int16 acc_z_plus_g_adc=2000, acc_z_minus_g_adc=2000;
kal_bool acc_execute_cali=KAL_FALSE;
/*Motion main function*/
/*
* FUNCTION                                                            
*	motion_sensor_start_cali
*
* DESCRIPTION                                                           
*   	This function is to start calibration
*
* CALLS  
*
* PARAMETERS
*	None
*	
* RETURNS
*	None
*/
void motion_sensor_start_cali(void)
{
   acc_execute_cali=KAL_TRUE;   
}
/*
* FUNCTION                                                            
*	motion_sensor_cancel_cali
*
* DESCRIPTION                                                           
*   	This function is to cancel calibration
*
* CALLS  
*
* PARAMETERS
*	None
*	
* RETURNS
*	None
*/   
void motion_sensor_cancel_cali(void)
{
   /*user cancel calibration, don't calculate it*/
   acc_execute_cali=KAL_FALSE;
   /*use zerog as reference*/
   acc_x_plus_g_adc=motion_sensor_data.cali.x_offset;
   acc_x_minus_g_adc=motion_sensor_data.cali.x_offset;
   acc_y_plus_g_adc=motion_sensor_data.cali.y_offset;
   acc_y_minus_g_adc=motion_sensor_data.cali.y_offset;
   acc_z_plus_g_adc=motion_sensor_data.cali.z_offset;
   acc_z_minus_g_adc=motion_sensor_data.cali.z_offset;
} 
/*
* FUNCTION                                                            
*	motion_sensor_read_cali
*
* DESCRIPTION                                                           
*   	This function is to read calibration data
*
* CALLS  
*
* PARAMETERS
*	cali: calibration data 
*	
* RETURNS
*	None
*/  
void motion_sensor_read_cali(MotionSensorCaliStruct *cali)
{
   *cali=motion_sensor_data.cali;
}
/*
* FUNCTION                                                            
*	motion_sensor_set_cali
*
* DESCRIPTION                                                           
*   	This function is to configure calibration data
*
* CALLS  
*
* PARAMETERS
*	cali: calibration data
*	
* RETURNS
*	None
*/   
void motion_sensor_set_cali(MotionSensorCaliStruct cali)
{
   motion_sensor_data.cali=cali;
} 
/*
* FUNCTION                                                            
*	motion_sensor_complete_cali
*
* DESCRIPTION                                                           
*   	This function is to calculate calibration data
*
* CALLS  
*
* PARAMETERS
*	None
*	
* RETURNS
*	None
*/  
//MotionSensorCaliStruct test_cali;
void motion_sensor_complete_cali(void)
{
   acc_execute_cali=KAL_FALSE;
   /*offset*/
   motion_sensor_data.cali.x_offset=(acc_x_plus_g_adc+ acc_x_minus_g_adc)>>1;
   motion_sensor_data.cali.y_offset=(acc_y_plus_g_adc+acc_y_minus_g_adc)>>1;
   motion_sensor_data.cali.z_offset=(acc_z_plus_g_adc+ acc_z_minus_g_adc)>>1;
   /*gain*/
   motion_sensor_data.cali.x_gain=(acc_x_plus_g_adc-acc_x_minus_g_adc)>>1;
   motion_sensor_data.cali.y_gain=(acc_y_plus_g_adc-acc_y_minus_g_adc)>>1;
   motion_sensor_data.cali.z_gain=(acc_z_plus_g_adc-acc_z_minus_g_adc)>>1;
   
   if(motion_sensor_data.cali.x_gain==0)
   {
      motion_sensor_data.cali.x_gain=0;      
   }   
   else
      motion_sensor_data.cali.x_gain=(1000<<10)/(motion_sensor_data.cali.x_gain);
   if(motion_sensor_data.cali.y_gain==0)
   {
      motion_sensor_data.cali.y_gain=0;
   }   
   else
      motion_sensor_data.cali.y_gain=(1000<<10)/(motion_sensor_data.cali.y_gain);
   if(motion_sensor_data.cali.z_gain==0)
   {
      motion_sensor_data.cali.z_gain=0;   
   }   
   else
      motion_sensor_data.cali.z_gain=(1000<<10)/(motion_sensor_data.cali.z_gain);  
   /*use zerog as reference*/
   acc_x_plus_g_adc=motion_sensor_data.cali.x_offset;
   acc_x_minus_g_adc=motion_sensor_data.cali.x_offset;
   acc_y_plus_g_adc=motion_sensor_data.cali.y_offset;
   acc_y_minus_g_adc=motion_sensor_data.cali.y_offset;
   acc_z_plus_g_adc=motion_sensor_data.cali.z_offset;
   acc_z_minus_g_adc=motion_sensor_data.cali.z_offset;
   //motion_sensor_read_cali(&test_cali);
}   
/*
* FUNCTION                                                            
*	motion_sensor_check_cali
*
* DESCRIPTION                                                           
*   	This function is to check calibration data
*
* CALLS  
*
* PARAMETERS
*	x: ADC in X-axis
*	y: ADC in Y-axis
*	z: ADC in Z-axis
*	
* RETURNS
*	None
*/
void motion_sensor_check_cali(kal_int16 x, kal_int16 y, kal_int16 z)
{
   if(acc_execute_cali==KAL_TRUE)
   {
      if(x>acc_x_plus_g_adc)
         acc_x_plus_g_adc=x;
      else if(x<acc_x_minus_g_adc)   
         acc_x_minus_g_adc =x;
         
      if(y>acc_y_plus_g_adc)
         acc_y_plus_g_adc=y;
      else if(y<acc_y_minus_g_adc)   
         acc_y_minus_g_adc =y;   
      
      if(z>acc_z_plus_g_adc)
         acc_z_plus_g_adc=z;
      else if(z<acc_z_minus_g_adc)   
         acc_z_minus_g_adc =z;      
   }         
}   
/*
* FUNCTION                                                            
*	motion_sensor_power
*
* DESCRIPTION                                                           
*   	This function is to enable or disable motion sensor module
*
* CALLS  
*
* PARAMETERS
*	enable: enable or disable
*	
* RETURNS
*	None
*/
kal_bool motion_sensor_power(kal_bool enable)
{
   if(enable)
   {      
      motion_sensor_custom_fp->ms_power_up();
   }   
   else   
   {     
     motion_sensor_custom_fp->ms_power_down();
     motion_sensor_sample(KAL_FALSE);
     motion_sensor_reset();
   }  
   return KAL_TRUE;
}
/*
* FUNCTION                                                            
*	motion_sensor_conf_sample_period
*
* DESCRIPTION                                                           
*   	This function is to configure sample period
*
* CALLS  
*
* PARAMETERS
*	period: sample period
*	
* RETURNS
*	None
*/
void motion_sensor_conf_sample_period(kal_uint32 period) 
{
   motion_sensor_data.sample_period=(kal_uint8)period;
} 
/*
* FUNCTION                                                            
*	motion_sensor_eint_hisr
*
* DESCRIPTION                                                           
*   	This function is to handle low-g and high-g interrupt
*
* CALLS  
*
* PARAMETERS
*	None
*	
* RETURNS
*	None
*/
void motion_sensor_eint_hisr(void)
{
   kal_uint32 savedMask;
   kal_bool low_g, high_g;
   if(motion_sensor_custom_dp->int_support==KAL_TRUE)
   {
      savedMask = SaveAndSetIRQMask();
      motion_sensor_custom_fp->ms_read_int_status(&low_g, &high_g);
      motion_sensor_custom_fp->ms_clear_int_status();
      
      if(low_g!=KAL_FALSE&&motion_sensor_data.low_g_cb!=NULL)
         motion_sensor_data.low_g_cb();
      if(high_g!=KAL_FALSE&&motion_sensor_data.high_g_cb!=NULL)
         motion_sensor_data.high_g_cb();
      RestoreIRQMask(savedMask);
   }
   else /*interrupt should not be triggered*/
      ASSERT(0);         
}  
/*
* FUNCTION                                                            
*	motion_sensor_init
*
* DESCRIPTION                                                           
*   	This function is to initialize motion sensor driver
*
* CALLS  
*
* PARAMETERS
*	None
*	
* RETURNS
*	None
*/
void motion_sensor_init(void)
{
   /*get customization functin data and function pointr*/  
   motion_sensor_custom_fp=ms_GetFunc();
   motion_sensor_custom_fp->ms_custom_init();
   motion_sensor_custom_dp=motion_sensor_custom_fp->ms_get_data();
   //motion_sensor_cb_registration(acc_test_cb, NULL);
      
   GPTI_GetHandle(&motion_sensor_data.gpt_handle); 
   motion_sensor_conf_sample_period(2); 
   motion_sensor_conf_filter(10); 
   /*interrupt*/
   if(motion_sensor_custom_dp->int_support==KAL_TRUE)
   {
      extern kal_int32 EINT_SW_Debounce_Modify(kal_uint8 eintno, kal_uint8 debounce_time);      
      motion_sensor_custom_fp->ms_configure_low_g(1,100);
      motion_sensor_custom_fp->ms_configure_high_g(1,1000);
      EINT_SW_Debounce_Modify(motion_sensor_custom_dp->int_chan, 10);
      EINT_Mask(motion_sensor_custom_dp->int_chan);
      EINT_Registration(motion_sensor_custom_dp->int_chan, KAL_TRUE, 
                       motion_sensor_custom_dp->int_level,motion_sensor_eint_hisr, KAL_TRUE);         
      
   }  
   /*calibration*/
   motion_sensor_data.cali.x_offset=motion_sensor_custom_dp->x_0g_adc;
   motion_sensor_data.cali.y_offset=motion_sensor_custom_dp->y_0g_adc;   
   motion_sensor_data.cali.z_offset=motion_sensor_custom_dp->z_0g_adc;
   motion_sensor_data.cali.x_gain=
   (motion_sensor_custom_dp->x_1g_adc-motion_sensor_custom_dp->x_minus1g_adc)>>1;
   motion_sensor_data.cali.y_gain=
   (motion_sensor_custom_dp->y_1g_adc-motion_sensor_custom_dp->y_minus1g_adc)>>1;   
   motion_sensor_data.cali.z_gain=
   (motion_sensor_custom_dp->z_1g_adc-motion_sensor_custom_dp->z_minus1g_adc)>>1;   
   
   if(motion_sensor_data.cali.x_gain==0)
   {
      motion_sensor_data.cali.x_gain=0;      
   }   
   else
      motion_sensor_data.cali.x_gain=(1000<<10)/(motion_sensor_data.cali.x_gain);
   if(motion_sensor_data.cali.y_gain==0)
   {
      motion_sensor_data.cali.y_gain=0;
   }   
   else
      motion_sensor_data.cali.y_gain=(1000<<10)/(motion_sensor_data.cali.y_gain);
   if(motion_sensor_data.cali.z_gain==0)
   {
      motion_sensor_data.cali.z_gain=0;   
   }   
   else
      motion_sensor_data.cali.z_gain=(1000<<10)/(motion_sensor_data.cali.z_gain);
      
  /*use zerog as reference*/
   acc_x_plus_g_adc=motion_sensor_data.cali.x_offset;
   acc_x_minus_g_adc=motion_sensor_data.cali.x_offset;
   acc_y_plus_g_adc=motion_sensor_data.cali.y_offset;
   acc_y_minus_g_adc=motion_sensor_data.cali.y_offset;
   acc_z_plus_g_adc=motion_sensor_data.cali.z_offset;
   acc_z_minus_g_adc=motion_sensor_data.cali.z_offset;   
}     
/*
* FUNCTION                                                            
*	motion_sensor_flush_buff
*
* DESCRIPTION                                                           
*   	This function is to flush data buffer
*
* CALLS  
*
* PARAMETERS
*	None
*	
* RETURNS
*	None
*/
void motion_sensor_flush_buff(void)
{
   motion_flush_data_buffer();   
}   
/*
* FUNCTION                                                            
*	motion_sensor_conf_filter
*
* DESCRIPTION                                                           
*   	This function is to configure filter offset 
*
* CALLS