hisi3516上调试mpu6500

一、平台:hisi3516

imu模块:mpu6500 采集方式：spi 传输到pc：socket

开发板上源码：

#include <stdint.h>

#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <getopt.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <string.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <string.h>
#include <linux/types.h>
#include <linux/spi/spidev.h>
#include <sys/wait.h>

//#define SINGLE_READ

#define SERVER_PORT 8888
#define LENGTH_OF_LISTEN_QUEUE 20
#define BUFFER_SIZE 1024

static const char *device = "/dev/spidev0.0";
static unsigned char mode = SPI_MODE_3 ;
static unsigned char bits = 16;
static uint32_t speed = 12*1000*1000;/* 设置spi传输速度 */

static int g_fd = -1;

struct mpu6500_data {
int16_t accel_raw[3];
int16_t gyro_raw[3];
int16_t temprature;
double timeStampe;

unsigned int index;
};

double gettimestamp()
{
struct timeval tv;
gettimeofday(&tv, NULL);
return tv.tv_usec + tv.tv_sec*1e6;
}

int SPI_Fast_Transfer(unsigned char *tx , unsigned char *rx, unsigned int len)
{

int ret = 0;
struct spi_ioc_transfer mesg[1];

memset(mesg, 0, sizeof(mesg));
mesg[0].tx_buf = (__u64)tx;
mesg[0].len = (__u32)len;
mesg[0].rx_buf = (__u64)rx;
mesg[0].cs_change = 1;

ret = ioctl(g_fd, SPI_IOC_MESSAGE(1), mesg);
if (ret < 0) {
printf("SPI_IOC_MESSAGE error \n");
return -1;
}
}

int sensor_write_register(unsigned char addr, unsigned char data)
{
int ret;
struct spi_ioc_transfer mesg[1];
unsigned char tx_buf[8] = {0};
unsigned char rx_buf[8] = {0};

tx_buf[0] = data;
tx_buf[1] = addr & (~0x80);

memset(mesg, 0, sizeof(mesg));
mesg[0].tx_buf = (__u64)tx_buf;
mesg[0].len = 2;
mesg[0].rx_buf = (__u64)rx_buf;
mesg[0].cs_change = 1;

ret = ioctl(g_fd, SPI_IOC_MESSAGE(1), mesg);
if (ret < 0) {
printf("SPI_IOC_MESSAGE error \n");
return -1;
}

return 0;
}

int sensor_read_register(unsigned char addr)
{
int ret = 0;
struct spi_ioc_transfer mesg[1];
unsigned char tx_buf[8] = {0};
unsigned char rx_buf[8] = {0};

tx_buf[0] = 0;
tx_buf[1] = addr | 0x80;

memset(mesg, 0, sizeof(mesg));
mesg[0].tx_buf = (__u64)tx_buf;
mesg[0].len = 2;
mesg[0].rx_buf = (__u64)rx_buf;
mesg[0].cs_change = 1;

ret = ioctl(g_fd, SPI_IOC_MESSAGE(1), mesg);
if (ret < 0) {
printf("SPI_IOC_MESSAGE error \n");
return -1;
}

return rx_buf[0];
}

/**
*设置imu寄存器
**/

int set_imu_register(void)
{
sensor_write_register(0x56, 0x00);
usleep(1000);
sensor_write_register(0x1A,0x07); //low pass filter [2:0]
usleep(1000);
sensor_write_register(0x1B,0x1B); //GYRO_CONFIG XG_ST YG_ST ZG_ST FS_SEL Resv FCHOICE_B //00为启用
usleep(1000);
sensor_write_register(0x1C,0x18); //ACCEL_CONFIG XA_ST YA_ST ZA_ST FS_SEL Resv
usleep(1000);
sensor_write_register(0x1D,0x08); //ACCEL_CONFIG2 Resv FCHOICE_B A_DLPF_CFG
usleep(1000);
sensor_write_register(0x6B, 0x00);
usleep(1000);
sensor_write_register(0x19,0x00);
usleep(1000);

return 0;
}

/**
* 功能：打开设备并初始化设备
* 入口参数：
* 出口参数：
* 返回值：0 表示已打开
*/
int spi_sensor_open(void)
{
int fd;
int ret = 0;

fd = open(device, O_RDWR);
if (fd < 0)
printf("can't open device\n");
else
printf("SPI - Open Succeed. Start Init SPI...\n");

g_fd = fd;
/*
* spi mode
*/
ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
if (ret == -1)
printf("can't set spi mode\n");

ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
if (ret == -1)
printf("can't get spi mode\n");

/*
* bits per word
*/
ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
if (ret == -1)
printf("can't set bits per word\n");

ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
if (ret == -1)
printf("can't get bits per word\n");

/*
* max speed hz
*/
ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if (ret == -1)
printf("can't set max speed hz\n");

ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
if (ret == -1)
printf("can't get max speed hz\n");

printf("spi mode: %d\n", mode);
printf("bits per word: %d\n", bits);
printf("max speed: %d KHz (%d MHz)\n", speed / 1000, speed / 1000 / 1000);

return ret;
}

/**
* 功能：关闭SPI模块
*/
int spi_senor_close(void)
{
int fd = g_fd;

if (fd == 0) /* SPI是否已经打开*/
return 0;
close(fd);
g_fd = 0;

return 0;
}

static unsigned int imu_index ;
int mpu6500_get_data(struct mpu6500_data *data)
{

#ifdef SINGLE_READ
data->accel_raw[0] = sensor_read_register(0x3b) << 0x08;
data->accel_raw[0] |= sensor_read_register(0x3c);

data->accel_raw[1] = sensor_read_register(0x3d) << 0x08;
data->accel_raw[1] |= sensor_read_register(0x3e);

data->accel_raw[2] = sensor_read_register(0x3f) << 0x08;
data->accel_raw[2] |= sensor_read_register(0x40);

data->temprature = sensor_read_register(0x41) << 0x08;
data->temprature |= sensor_read_register(0x42);

data->gyro_raw[0] = sensor_read_register(0x43) << 0x08;
data->gyro_raw[0] |= sensor_read_register(0x44);

data->gyro_raw[1] = sensor_read_register(0x45) << 0x08;
data->gyro_raw[1] |= sensor_read_register(0x46);

data->gyro_raw[2] = sensor_read_register(0x47) << 0x08;
data->gyro_raw[2] |= sensor_read_register(0x48);

#else

unsigned char tx_buf[14] = {0};
unsigned char rx_buf[14] = {0};
tx_buf[1] = 0x3b | 0x80;
SPI_Fast_Transfer(tx_buf , rx_buf, 14);

data->accel_raw[0] = rx_buf[0] << 0x08;
data->accel_raw[0] |= rx_buf[1];

data->accel_raw[1] = rx_buf[2] << 0x08;
data->accel_raw[1] |= rx_buf[3];

data->accel_raw[2] = rx_buf[4] << 0x08;
data->accel_raw[2] |= rx_buf[5];

data->temprature = rx_buf[6] << 0x08;
data->temprature |= rx_buf[7];

data->gyro_raw[0] = rx_buf[8] << 0x08;
data->gyro_raw[0] |= rx_buf[9];

data->gyro_raw[1] = rx_buf[10] << 0x08;
data->gyro_raw[1] |= rx_buf[11];

data->gyro_raw[2] = rx_buf[12] << 0x08;
data->gyro_raw[2] |= rx_buf[13];
#endif

data->timeStampe = gettimestamp();

imu_index ++;

data->index = imu_index;

return 0;
}

static unsigned int i ;
static double time_last , time_cur ;
static float error_rate;
static unsigned int lost_num;
void show_imu(struct mpu6500_data temp)
{
time_last = time_cur;
time_cur = temp.timeStampe;
if(abs(time_cur - time_last) > 200)
{
i++;
}
lost_num = i;
error_rate = (float)i/(float)imu_index;

printf("accel_x = %d, accel_y = %d, accel_z = %d\n", temp.accel_raw[0], temp.accel_raw[1], temp.accel_raw[2]);
printf("gyro_x = %d, gyro_y = %d, gyro_z = %d\n", temp.gyro_raw[0], temp.gyro_raw[1], temp.gyro_raw[2]);
printf("temprature = %d, timeStampe = %f , lost_data = %d, lost_data_rate = %f, index = %d\n", temp.temprature, temp.timeStampe, i, error_rate, imu_index );
}

int main(int argc, char **argv)
{

struct sockaddr_in server_addr;
bzero(&server_addr,sizeof(server_addr));
server_addr.sin_family = AF_INET;
server_addr.sin_addr.s_addr = htons(INADDR_ANY);
server_addr.sin_port = htons(SERVER_PORT);

//创建用于internet的流协议(TCP)socket,用server_socket代表服务器socket
int server_socket = socket(PF_INET,SOCK_STREAM,0);
if( server_socket < 0)
{
printf("Create Socket Failed!");
exit(1);
}
else
{
int opt =1;
setsockopt(server_socket,SOL_SOCKET,SO_REUSEADDR,&opt,sizeof(opt));
}

if( bind(server_socket,(struct sockaddr*)&server_addr,sizeof(server_addr)))
{
printf("Server Bind Port : %d Failed!", SERVER_PORT);
exit(1);
}

if ( listen(server_socket, LENGTH_OF_LISTEN_QUEUE) )
{
printf("Server Listen Failed!");
exit(1);
}

/*设置imu*/
spi_sensor_open();
set_imu_register();

struct mpu6500_data data;
while (1)
{
//定义客户端的socket地址结构client_addr
struct sockaddr_in client_addr;
socklen_t length = sizeof(client_addr);

int new_fd = accept(server_socket,(struct sockaddr*)&client_addr,&length);
if ( new_fd < 0)
{
printf("Server Accept Failed!\n");
break;
}
else{
printf("server: got connection from %s\n",inet_ntoa(client_addr.sin_addr));
}

while(1)
{

mpu6500_get_data(&data);
show_imu(data);

length = send(new_fd, &data, sizeof(struct mpu6500_data), 0);
if (length < 0)
{
printf("Server send Data Failed!\n");
break;
}

}

}

close(server_socket);

while(waitpid(-1,NULL,WNOHANG) > 0);
return 0;
}

window上源码：

#include "StdAfx.h"
#include <winsock2.h>
#include <stdio.h>
#include <windows.h>
#include <fcntl.h>
#pragma comment(lib,"ws2_32.lib")
#include <iostream>
#define FILE_PATH "imu_data.txt"

#define PORT 8888

using namespace std;

struct mpu6500_data
{
__int16 accel_raw[3];
__int16 gyro_raw[3];
__int16 temprature;
double timeStampe;
unsigned int index;
};

int main(int argc, char **args )
{

char SendBuffer[1024];
FILE *f ;
fopen_s(&f, FILE_PATH , "wb");
if(f < 0){
printf("FILE OPEN FAILED\n");
}

WSADATA wsa;
//初始化套接字DLL
if(WSAStartup(MAKEWORD(2,2),&wsa)!=0)
{
printf("套接字初始化失败!");
exit(-1);
}
//创建套接字
int sock;
if((sock=socket(AF_INET,SOCK_STREAM,IPPROTO_TCP))==INVALID_SOCKET)
{
printf("创建套接字失败！");
exit(-1);
}

struct sockaddr_in serverAddress;
memset(&serverAddress,0,sizeof(sockaddr_in));
serverAddress.sin_family=AF_INET;
serverAddress.sin_addr.S_un.S_addr = inet_addr("192.168.7.101");
serverAddress.sin_port = htons(PORT);
//建立和服务器的连接
if(connect(sock,(sockaddr*)&serverAddress,sizeof(serverAddress))==SOCKET_ERROR)
{
printf("connet failed ！");
exit(-1);
}
else
{
printf("connect ok !\n");

}

char RecvBuffer[4096] = {0} ;
char WriteBuffer[4096] = {0};
struct mpu6500_data *data = (struct mpu6500_data * )malloc(sizeof(struct mpu6500_data));

static unsigned int lost_num;
static unsigned int last_index, cur_index;
while (1)
{

//recv data from server
int Ret = recv(sock, RecvBuffer, sizeof(struct mpu6500_data), 0);
if ( Ret == SOCKET_ERROR )
{
printf("recv Info Error::%d\n", GetLastError());
break;
}
else
{
data = (struct mpu6500_data *)RecvBuffer;
last_index = cur_index;
cur_index = data->index;
if(cur_index - last_index > 1)
{
lost_num ++;
}

fprintf(f, "%d %d %d\n", data->accel_raw[0], data->accel_raw[1], data->accel_raw[2]);
fprintf(f, "%d %d %d\n", data->gyro_raw[0], data->gyro_raw[1], data->gyro_raw[2]);
fprintf(f, "%d %f %d %d\n", data->temprature, data->timeStampe , data->index, lost_num);

fflush(f);
}

}

fclose(f);

WSACleanup();

return 0;
}

*************************************************************************************

主要调试时间消耗在spi通信上，由于之前对spi通信不太熟悉，mpu6500 spi通信是采用16bit通信，采用突发模式读取数据可以实现快速读取数据。 mpu6500最快输出频率为8000hz。

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hisi3516上调试mpu6500

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