//获取传感器数据
void get_data(void)
{
iicsend=1;
R_IICA0_Master_Send(adr, （uint8_t *）&flow_tx, 1, 40);
while(iicsend){NOP();}
#ifndef OPTIMIZE
delay_ms(2);
iicreceive=1;
R_IICA0_Master_Receive(adr, (uint8_t *)&px4flow_data, 22, 40);
while(iicreceive){NOP();}
#endif
}
//高度数据解析和滤波（单位：厘米）
void hight_filter(void)
{
float hightbuf;
#ifdef OPTIMIZE
iicreceive=1;
R_IICA0_Master_Receive(adr, (uint8_t *)&px4flow_data, 22, 40);
while(iicreceive){NOP();}
#endif
hightbuf=（(float)px4flow_data.ground_distance）/10;
hight=(hightbuf-init_hight)*0.8;//(hight_before*0.2)+((hightbuf-init_hight)*0.8);/*减去初始高度*/
hight_before=hight;
}
MD_STATUS read_light(lightData * dat){
MD_STATUS ret = MD_OK;
int len = 0;
int i;
while (iica0_busy || IICBSY0){ ; } //Wait until the xfer is complete
dat->light = 0;
iica0_busy = 1;
ret = R_IICA0_Master_Receive(LIGHT_ADDR, i2cbuf, 2, 0);
while (iica0_busy || IICBSY0){ ; } //Wait until the xfer is complete
if (ret != MD_OK){
md_err(ret, "light read");
return ret;
} else {
dat->time = millis;
dat->light = (uint16_t)i2cbuf[0] | ((uint16_t)i2cbuf[1] << 8);
}
return ret;
}
MD_STATUS read_accel(accelData * dat){
MD_STATUS ret;
int i;
dat->xraw = 0;
dat->yraw = 0;
dat->zraw = 0;
dat->x = 0.0;
dat->y = 0.0;
dat->z = 0.0;
while (iica0_busy || IICBSY0){ ; } //Make sure bus is ready for xfer
i2cbuf[0] = ACCEL_REG_DATA;
iica0_busy = 1;
ret = R_IICA0_Master_Send(ACCEL_ADDR, i2cbuf, 1, 0);
if (ret != MD_OK){
md_err(ret, "accel set reg");
return ret;
}
while (iica0_busy || IICBSY0){ ; } //Wait until the xfer is complete
i2cbuf[0] = 0;
iica0_busy = 1;
ret = R_IICA0_Master_Receive(ACCEL_ADDR, i2cbuf, 6, 0);
while (iica0_busy || IICBSY0){ ; } //Wait until the xfer is complete
if (ret != MD_OK){
md_err(ret, "accel read");
return ret;
} else {
dat->time = millis;
dat->xraw = (signed int)((uint16_t)i2cbuf[0] | ((uint16_t)i2cbuf[1] << 8));
dat->yraw = (signed int)((uint16_t)i2cbuf[2] | ((uint16_t)i2cbuf[3] << 8));
dat->zraw = (signed int)((uint16_t)i2cbuf[4] | ((uint16_t)i2cbuf[5] << 8));
dat->x = (float)dat->xraw/ACCEL_SCALE;
dat->y = (float)dat->yraw/ACCEL_SCALE;
dat->z = (float)dat->zraw/ACCEL_SCALE;
}
return ret;
}
MD_STATUS read_temp(tempData * dat){
MD_STATUS ret = MD_OK;
dat->raw = 0;
dat->tempC = 0.0;
dat->tempF = 0.0;
while (iica0_busy || IICBSY0){ ; } //Make sure bus is ready for xfer
i2cbuf[0] = TEMP_REG_DATA;
iica0_busy = 1;
ret = R_IICA0_Master_Send(TEMP_ADDR, i2cbuf, 1, 0);
if (ret != MD_OK){
md_err(ret, "temp set reg");
return ret;
}
while (iica0_busy || IICBSY0){ ; } //Wait until the xfer is complete
i2cbuf[0] = 0;
iica0_busy = 1;
ret = R_IICA0_Master_Receive(TEMP_ADDR, i2cbuf, 2, 0);
while (iica0_busy || IICBSY0){ ; } //Wait until the xfer is complete
if (ret != MD_OK){
md_err(ret, "temp read");
return ret;
} else {
dat->time = millis;
dat->raw = (uint16_t)i2cbuf[1] | ((uint16_t)i2cbuf[0] << 8);
if (dat->raw & 0x8000){
//Negative temperature
dat->tempC = ((float)(dat->raw-65536))/128.0;
} else {
//Positive temperature
dat->tempC = ((float)dat->raw)/128.0;
}
dat->tempF = ((9.0/5.0)*dat->tempC)+32;
}
return ret;
}
