生成静态页面网站源码,乐清北白象网络怎么装,外贸网站建设 公司价格,西安农产品网站建设文章目录 前言一、板载资源二、具体步骤1.配置icm20608传感器2.打开CubeMX进行USB配置3. 配置USB3.1 打开USB驱动3.2 声明USB3.3 剪切stm32xxxx_hal_msp.c中的void HAL_PCD_MspInit(PCD_HandleTypeDef* hpcd)和void HAL_PCD_MspDeInit(PCD_HandleTypeDef* hpcd)函数至board.c3.… 文章目录 前言一、板载资源二、具体步骤1.配置icm20608传感器2.打开CubeMX进行USB配置3. 配置USB3.1 打开USB驱动3.2 声明USB3.3 剪切stm32xxxx_hal_msp.c中的void HAL_PCD_MspInit(PCD_HandleTypeDef* hpcd)和void HAL_PCD_MspDeInit(PCD_HandleTypeDef* hpcd)函数至board.c3.4 使能USB 4. 编译烧录 前言
本文采用开发板为STM32L475VET6(潘多拉开发板),使用RT_Thread Studio基于芯片开发模式系统版本为4.0.3完成模拟鼠标实验实现鼠标功能左键为KEY0右键为KEY2 一、板载资源 icm20608传感器采用I2C协议本文采用软件模拟I2C 查阅数据手册开发板使用的是 PC0 模拟时钟线SCL、PC1 模拟数据线 SDA 二、具体步骤
1.配置icm20608传感器
RT-ThreadSTM32L475VET6——icm20608传感器
2.打开CubeMX进行USB配置 生成工程
3. 配置USB
按照官方步骤配置
3.1 打开USB驱动 3.2 声明USB 3.3 剪切stm32xxxx_hal_msp.c中的void HAL_PCD_MspInit(PCD_HandleTypeDef* hpcd)和void HAL_PCD_MspDeInit(PCD_HandleTypeDef* hpcd)函数至board.c 3.4 使能USB
一般默认开启
4. 编译烧录
示例代码
#include rtthread.h
#include rtdevice.h
#include board.h#include icm20608.h
#include math.h#define DBG_SECTION_NAME 3D_mouse
#define DBG_LEVEL DBG_LOG
#include rtdbg.h#define PIN_KEY0 GET_PIN(D,10)
#define PIN_KEY2 GET_PIN(D,8)static rt_sem_t mouse_sem RT_NULL;static struct rt_thread usb_thread;
ALIGN(RT_ALIGN_SIZE)
static char usb_thread_stack[0x1000];static struct rt_thread icm_thread;
ALIGN(RT_ALIGN_SIZE)
static char icm_thread_stack[0x1000];static struct rt_thread key_thread;
ALIGN(RT_ALIGN_SIZE)
static char key_thread_stack[0x1000];/* 变动识别值 */
const static float mouse_rang_scope 6.0f;
/* 读取角度有效角度 */
const static float mouse_angle_range 80.0f;
/* 移动值的最大值 */
const static float mouse_move_range 127.0f;
/* 角度移动比 */
#define mouse_ratio (mouse_move_range / mouse_angle_range)
/* 移动步长 */
const static rt_uint8_t mouse_pixel_len 5;
/* 鼠标响应时间 */
const static rt_uint32_t mouse_sample_times 0;static float mouse_cmp_last_x, mouse_cmp_last_y;#define Gyro_Gr 0.0010653f
#define pi 3.141593f
#define Kp 10.0f
#define Ki 0.008f
#define halfT 0.01fstatic float q0 1, q1 0, q2 0, q3 0;
static float exInt 0, eyInt 0, ezInt 0;struct icm_position
{icm20608_device_t icm20608_device;rt_mutex_t lock;float x; // 传感器 x 位置float y; // 传感器 y 位置float z; // 传感器 z 位置rt_int8_t buff[4]; // 发送鼠标的值
};
typedef struct icm_position *icm_position_t;icm_position_t icm_device RT_NULL;static void mouse_meas_check(float *temp)
{if (*temp mouse_angle_range){*temp mouse_angle_range;}else if (*temp -mouse_angle_range){*temp -mouse_angle_range;}
}#ifdef __GNUC__const float __atan2f_lut[4] {-0.0443265554792128, //p7-0.3258083974640975, //p30.1555786518463281, //p50.9997878412794807 //p1
};
const float __atan2f_pi_2 1.5707963;/* 求平方根 */
static float _sqrt(float x)
{float xhalf 0.5f * x;int i *(int *)x;i 0x5f375a86 - (i 1);x *(float *)i;x x * (1.5f - xhalf * x * x);return 1.0 / x;
}/* 求绝对值 */
static float _fabs(float x)
{return (x 0 ? x : (-x));
}/* 求x / y的反正切值 */
static float _atan2f(float y, float x)
{float a, b, c, r, xx;int m;union {float f;int i;} xinv;xx _fabs(x);xinv.f xx;m 0x3F800000 - (xinv.i 0x7F800000);xinv.i xinv.i m;xinv.f 1.41176471f - 0.47058824f * xinv.f;xinv.i xinv.i m;b 2.0 - xinv.f * xx;xinv.f xinv.f * b;b 2.0 - xinv.f * xx;xinv.f xinv.f * b;c _fabs(y * xinv.f);xinv.f c;m 0x3F800000 - (xinv.i 0x7F800000);xinv.i xinv.i m;xinv.f 1.41176471f - 0.47058824f * xinv.f;xinv.i xinv.i m;b 2.0 - xinv.f * c;xinv.f xinv.f * b;b 2.0 - xinv.f * c;xinv.f xinv.f * b;xinv.f xinv.f c;a (c 1.0f);c c - a * xinv.f;r a * __atan2f_pi_2;xx c * c;a (__atan2f_lut[0] * c) * xx (__atan2f_lut[2] * c);b (__atan2f_lut[1] * c) * xx (__atan2f_lut[3] * c);xx xx * xx;r r a * xx;r r b;b M_PI;b b - 2.0f * r;r r (x 0.0f) * b;b (_fabs(x) 0.000001f);c !b;r c * r;r r __atan2f_pi_2 * b;b r r;r r - (y 0.0f) * b;return r;
}static double _asin(double x)
{return _atan2f(x, _sqrt(1.0 - x * x));
}
#endif /* __GNUC__ *//* 获取俯仰角、偏航角、翻滚角 */
static void get_angle(icm_position_t dev, float ax, float ay, float az, float gx, float gy, float gz)
{float pitch 0, roll 0, yaw 0;float norm;float vx, vy, vz;float ex, ey, ez;float q0q0 q0 * q0;float q0q1 q0 * q1;float q0q2 q0 * q2;float q1q1 q1 * q1;float q1q3 q1 * q3;float q2q2 q2 * q2;float q2q3 q2 * q3;float q3q3 q3 * q3;gx * Gyro_Gr;gy * Gyro_Gr;gz * Gyro_Gr;if (az 0)return;#ifdef __GNUC__norm _sqrt(ax * ax ay * ay az * az);
#elsenorm sqrt(ax * ax ay * ay az * az);
#endif /* __GNUC__ */ax ax / norm;ay ay / norm;az az / norm;vx 2 * (q1q3 - q0q2);vy 2 * (q0q1 q2q3);vz q0q0 - q1q1 - q2q2 q3q3;ex (ay * vz - az * vy);ey (az * vx - ax * vz);ez (ax * vy - ay * vx);exInt exInt ex * Ki;eyInt eyInt ey * Ki;ezInt ezInt ez * Ki;gx gx Kp * ex exInt;gy gy Kp * ey eyInt;gz gz Kp * ez ezInt;q0 q0 (-q1 * gx - q2 * gy - q3 * gz) * halfT;q1 q1 (q0 * gx q2 * gz - q3 * gy) * halfT;q2 q2 (q0 * gy - q1 * gz q3 * gx) * halfT;q3 q3 (q0 * gz q1 * gy - q2 * gx) * halfT;#ifdef __GNUC__norm _sqrt(q0 * q0 q1 * q1 q2 * q2 q3 * q3);
#elsenorm sqrt(q0 * q0 q1 * q1 q2 * q2 q3 * q3);
#endif /* __GNUC__ */q0 q0 / norm;q1 q1 / norm;q2 q2 / norm;q3 q3 / norm;#ifdef __GNUC__pitch -_asin(2 * (q0 * q2 - q1 * q3)) * 57.2957795f;roll _asin(2 * (q0 * q1 q2 * q3)) * 57.2957795f;yaw -_atan2f(2 * (q1 * q2 q0 * q3), (q0q0 q1q1 - q2q2 - q3q3)) * 57.29578f;
#elsepitch -asin(2 * (q0 * q2 - q1 * q3)) * 57.2957795f;roll asin(2 * (q0 * q1 q2 * q3)) * 57.2957795f;yaw -atan2f(2 * (q1 * q2 q0 * q3), (q0q0 q1q1 - q2q2 - q3q3)) * 57.29578f;
#endif /* __GNUC__ */mouse_meas_check(pitch);dev-x pitch * mouse_ratio;mouse_meas_check(roll);dev-y roll * mouse_ratio;mouse_meas_check(yaw);dev-z yaw * mouse_ratio;
}static void mouse_get_pos(icm_position_t dev)
{rt_err_t result;rt_int16_t accel_x, accel_y, accel_z;rt_int16_t gyros_x, gyros_y, gyros_z;RT_ASSERT(dev);result rt_mutex_take(dev-lock, RT_WAITING_FOREVER);if (result ! RT_EOK){goto __exit;}result icm20608_get_accel(dev-icm20608_device, accel_x, accel_y, accel_z);if (result ! RT_EOK){rt_mutex_release(dev-lock);goto __exit;}result icm20608_get_gyro(dev-icm20608_device, gyros_x, gyros_y, gyros_z);if (result ! RT_EOK){rt_mutex_release(dev-lock);goto __exit;}get_angle(dev, (float)accel_x, (float)accel_y, (float)accel_z, (float)gyros_x, (float)gyros_y, (float)gyros_z);rt_mutex_release(dev-lock);__exit:if (result ! RT_EOK){LOG_E(The sensor does not work);return;}
}static icm_position_t mouse_init_icm(void)
{rt_err_t result;rt_thread_mdelay(1000);icm_device rt_calloc(1, sizeof(struct icm_position));if (icm_device RT_NULL){LOG_E(Cant allocate memory for three-dimensional mouse );return RT_NULL;}/* 初始化传感器 icm20608 */icm_device-icm20608_device icm20608_init(i2c3);if (icm_device-icm20608_device RT_NULL){LOG_E(The sensor initializes failure);rt_free(icm_device);return RT_NULL;}else{LOG_D(The 3D mouse initializes success);}icm_device-lock rt_mutex_create(mutex_mouse, RT_IPC_FLAG_FIFO);if (icm_device-lock RT_NULL){LOG_E(Cant create mutex for three-dimensional mouse);rt_free(icm_device);return RT_NULL;}mouse_sem rt_sem_create(mouse_sem, 0, RT_IPC_FLAG_FIFO);if (mouse_sem RT_NULL){LOG_E(Cant create sem for mouse device);rt_mutex_delete(icm_device-lock);rt_free(icm_device);return 0;}/* 传感器零值校准 */result icm20608_calib_level(icm_device-icm20608_device, 10);if (result ! RT_EOK){LOG_E(The sensor calibrates failure);rt_mutex_delete(icm_device-lock);rt_sem_delete(mouse_sem);rt_free(icm_device);return RT_NULL;}return icm_device;
}static void mouse_go_release_status(void)
{/* 初始状态值 */rt_int8_t buff[4] {0x08, 0, 0, 0};icm_device-buff[0] buff[0];icm_device-buff[1] buff[1];icm_device-buff[2] buff[2];icm_device-buff[3] buff[3];
}static void mouse_send_data(rt_device_t device)
{RT_ASSERT(device ! RT_NULL);rt_device_write(device, HID_REPORT_ID_MOUSE, icm_device-buff, 4);mouse_go_release_status();
}/* 负值表示向左移动正值表示向右移动 */
static void mouse_move_x(rt_device_t device, float ratio_x)
{RT_ASSERT(device ! RT_NULL);if (icm_device-x 0){icm_device-buff[1] (rt_int8_t)(-mouse_pixel_len * ratio_x);}else{icm_device-buff[1] (rt_int8_t)(mouse_pixel_len * ratio_x);}mouse_send_data(device);
}/* 正值表示向下移动负值表示向上移动 */
static void mouse_move_y(rt_device_t device, float ratio_y)
{RT_ASSERT(device ! RT_NULL);if (icm_device-y 0){icm_device-buff[2] (rt_int8_t)(-mouse_pixel_len * ratio_y);}else{icm_device-buff[2] (rt_int8_t)(mouse_pixel_len * ratio_y);}mouse_send_data(device);
}static void mouse_move_xy(rt_device_t device, float ratio_x, float ratio_y)
{RT_ASSERT(device ! RT_NULL);if (icm_device-x 0){icm_device-buff[1] (rt_int8_t)(-mouse_pixel_len * ratio_x);}else{icm_device-buff[1] (rt_int8_t)(mouse_pixel_len * ratio_x);}if (icm_device-y 0){icm_device-buff[2] (rt_int8_t)(-mouse_pixel_len * ratio_y);}else{icm_device-buff[2] (rt_int8_t)(mouse_pixel_len * ratio_y);}mouse_send_data(device);
}static void usb_thread_entry(void *parameter)
{rt_device_t device (rt_device_t)parameter;rt_uint8_t i 0;while (1){if (rt_sem_take(mouse_sem, RT_WAITING_FOREVER) RT_EOK){rt_uint8_t temp_x 0, temp_y 0, move_max 0;float move_distance 0.0f;rt_mutex_take(icm_device-lock, RT_WAITING_FOREVER);#ifdef __GNUC__temp_x (rt_uint8_t)_fabs(icm_device-x);temp_y (rt_uint8_t)_fabs(icm_device-y);move_distance _sqrt(temp_x * temp_x temp_y * temp_y);
#elsetemp_x (rt_uint8_t)fabs(icm_device-x);temp_y (rt_uint8_t)fabs(icm_device-y);move_distance sqrt(temp_x * temp_x temp_y * temp_y);
#endifmove_max temp_x temp_y ? temp_x : temp_y;/* 根据倾斜程度获取移动值 */for (i 0; i move_max / mouse_pixel_len; i){LOG_D(move_max :%4d, x: %4d, y :%4d , move_max, temp_x, temp_y);if (i temp_x i temp_y){mouse_move_xy(device, temp_x / move_distance, temp_y / move_distance);}else if (i temp_x i temp_y){mouse_move_x(device, temp_x / move_distance);}else if (i temp_x i temp_y){mouse_move_y(device, temp_y / move_distance);}else{break;}}rt_mutex_release(icm_device-lock);}rt_thread_mdelay(mouse_sample_times);}
}static void icm_thread_entry(void *parameter)
{while (1){float temp_x 0.0, temp_y 0.0;rt_mutex_take(icm_device-lock, RT_WAITING_FOREVER);/* 获取鼠标移动范围 */mouse_get_pos(icm_device);/* 获取差值 */temp_x icm_device-x - mouse_cmp_last_x;temp_y icm_device-y - mouse_cmp_last_y;/* 避免抖动 */if (temp_x mouse_rang_scope || temp_x -mouse_rang_scope || temp_y mouse_rang_scope || temp_y -mouse_rang_scope){/* 存储这次鼠标位移值 */mouse_cmp_last_x icm_device-x;mouse_cmp_last_y icm_device-y;rt_sem_release(mouse_sem);}rt_mutex_release(icm_device-lock);rt_thread_mdelay(mouse_sample_times);}
}static void key_thread_entry(void *parameter)
{int mouse_key_2, mouse_key_0;rt_device_t device (rt_device_t)parameter;rt_err_t result -RT_ERROR;while (1){if (rt_pin_read(PIN_KEY0) PIN_LOW){mouse_key_0 1;}else if (rt_pin_read(PIN_KEY2) PIN_LOW){mouse_key_2 1;}else{mouse_key_2 0;mouse_key_0 0;}if (mouse_key_2 | mouse_key_0){result rt_mutex_take(icm_device-lock, RT_WAITING_FOREVER);if (result RT_EOK){/* 获取鼠标键值默认为 0 */icm_device-buff[0] 0x08 | mouse_key_2 | mouse_key_0 1;if (mouse_key_2 mouse_key_0){LOG_D(left right down);}else if (mouse_key_2){LOG_D(left down);}else if (mouse_key_0){LOG_D(right down);}mouse_send_data(device);rt_mutex_release(icm_device-lock);rt_thread_mdelay(50);}}rt_thread_mdelay(mouse_sample_times / 5);}
}static void mouse_init_key(void)
{/* 鼠标左键 */rt_pin_mode(PIN_KEY0, PIN_MODE_INPUT);/* 鼠标右键 */rt_pin_mode(PIN_KEY2, PIN_MODE_INPUT);
}int main(void)
{return 0;
}static int application_usb_init(void)
{/* 查找名称为 hidd 的设备 */rt_device_t device rt_device_find(hidd);/* 初始化六轴传感器设备 */icm_device mouse_init_icm();/* 初始化按键 */mouse_init_key();RT_ASSERT(device ! RT_NULL);RT_ASSERT(icm_device ! RT_NULL);/*打开查找到的 hid 设备 */rt_device_open(device, RT_DEVICE_FLAG_WRONLY);/* 初始化 USB 线程*/rt_thread_init(usb_thread,hidd,usb_thread_entry, device,usb_thread_stack, sizeof(usb_thread_stack),10, 20);rt_thread_startup(usb_thread);/* 初始化六轴传感器线程 */rt_thread_init(icm_thread,icm20608,icm_thread_entry, RT_NULL,icm_thread_stack, sizeof(icm_thread_stack),10, 20);rt_thread_startup(icm_thread);/* 初始化按键线程 */rt_thread_init(key_thread,key,key_thread_entry, device,key_thread_stack, sizeof(key_thread_stack),10, 20);rt_thread_startup(key_thread);return 0;
}
INIT_APP_EXPORT(application_usb_init);
烧录完成后将开发板上的USB OTG 连接PC端的USB接口即可实现鼠标功能。
