ESP32gl9306光流计使用

esp-idf 本身已经集成好了uart,我们只需要按照gl9306的数据格式处理即可

gl9306_driver.h

#include "stdint.h"/*** @brief Device descriptor*/
typedef struct{int uart_num;int gpio_num;int refresh_freq;int buf_size;int height;//int16_t delta_x;//int16_t delta_y;int16_t speed_x;int16_t speed_y;int16_t current_x;int16_t current_y;int squal;
}gl9306_uart_t;/*** @brief Initialize device* * @param uart */
void init_uart(gl9306_uart_t *uart);/*** @brief Data process* * @param uart * @return void* */
void* sub_thread_rx(gl9306_uart_t *uart);/*** @brief Get current accumulated x* * @param uart * @return int16_t */
int16_t get_current_x(gl9306_uart_t *uart);/*** @brief Get current accumulated y* * @param uart * @return int16_t */
int16_t get_current_y(gl9306_uart_t *uart);/*** @brief Get speed of x axis* * @param uart * @return int16_t */
int16_t get_speed_x(gl9306_uart_t *uart);/*** @brief Get speed of y axis* * @param uart * @return int16_t */
int16_t get_speed_y(gl9306_uart_t *uart);

gl9306_driver.c

#include "gl9306_driver.h"
#include "driver/uart.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include "pthread.h"#define DEFAULT_BUF_SIZE 512
#define DEFAULT_REFRESH_FREQ 50static char* TAG = "GL9306_DRIVER";static int sub_thread_status=0;void init_uart(gl9306_uart_t *uart){uart->current_x = 0;uart->current_y = 0;if(!uart->buf_size){uart->buf_size = DEFAULT_BUF_SIZE;ESP_LOGW(TAG, "Buffer size undefined,using default:%d", DEFAULT_BUF_SIZE);}if(!uart->refresh_freq){uart->refresh_freq = DEFAULT_REFRESH_FREQ;ESP_LOGW(TAG, "Refresh freq undefined,using default:%d", DEFAULT_REFRESH_FREQ);}uart_config_t uart_cOnfig= {.baud_rate = 19200,.data_bits = UART_DATA_8_BITS,.parity = UART_PARITY_DISABLE,.stop_bits = UART_STOP_BITS_1,.flow_ctrl = UART_HW_FLOWCTRL_DISABLE};uart_param_config(uart->uart_num, &uart_config);uart_set_pin(uart->uart_num, UART_PIN_NO_CHANGE, uart->gpio_num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);uart_driver_install(uart->uart_num, uart->buf_size * 2, 0, 0, NULL, 0);pthread_t sub_thread;pthread_create(&sub_thread, NULL, sub_thread_rx, uart);
}void* sub_thread_rx(gl9306_uart_t *uart){int time_sleep = 1000/uart->refresh_freq;uint8_t* data = (uint8_t*) malloc(uart->buf_size + 1);while(1){const int rxBytes = uart_read_bytes(uart->uart_num, data, uart->buf_size, 10 / portTICK_RATE_MS);if(rxBytes > 0){data[rxBytes] = 0;//printf("%s\n", data);if(data[0]==0xfe){uint8_t check_sum = data[2] + data[3] + data[4] + data[5];if(check_sum == data[6]){uart->speed_x = data[2] + (data[3]<<8);uart->speed_y = data[4] + (data[5]<<8);uart->current_x = uart->current_x - uart->speed_x;uart->current_y = uart->current_y + uart->speed_y;uart->squal = data[7];}}}//if(data){// free(data);//}vTaskDelay(time_sleep / portTICK_PERIOD_MS);}return &sub_thread_status;
}int16_t get_current_x(gl9306_uart_t *uart){return uart->current_x;
}int16_t get_current_y(gl9306_uart_t *uart){return uart->current_y;
}int16_t get_speed_x(gl9306_uart_t *uart){return - uart->speed_x;
}int16_t get_speed_y(gl9306_uart_t *uart){return uart->speed_y;
}


注意get_speed_x()中return 有负号,这个根据实际模块安装的朝向调整即可.

严格来说get_speed_x()和get_speed_y(),两个函数返回的并非速度，具体参考官方文档

如何使用这个库:

app_main.c

#include "pthread.h"
#include "gl9306_driver.h"//GL9306 定义
#define UART_NUM UART_NUM_1
#define UART_RXD_PIN 15
#define BUF_SIZE 512#define REFRESH_FREQ 50static const char* TAG = "app_imu";static gl9306_uart_t uart;static int sub_thread_status = 0;/*** @brief gl9306 uart initialization*/
void init_gl9306(){uart.uart_num = UART_NUM;uart.gpio_num = UART_RXD_PIN;uart.refresh_freq = REFRESH_FREQ;uart.buf_size = BUF_SIZE;init_uart(&uart);
}void* sub_thread(){int sleep_time = 1000/REFRESH_FREQ;while(1){speed_x = get_speed_x(&uart);speed_y = get_speed_y(&uart);coord_x = get_current_x(&uart);coord_y = get_current_y(&yart);printf("x:%d\ty:%d\tsx:%d\tsy:%d\n",coord_x,coord_y,speed_x,speed_y);vTaskDelay(time_sleep /portTICK_PERIOD_MS);}
}void app_main(){init_gl9306();pthread_t threads;pthread_create(&threads, NULL, sub_thread, NULL);}

可以通过hmc5883l或者mpu6050进行数据融合处理获取任意姿态下的坐标。相关融合根据简单的三角函数和卡尔曼滤波就能实现。

代码没有进过验证,是从在做的项目里抠出来的，可能会报错,按道理应该好修