NtripShare GNSS接收机配置系统SPI读取村田SCL3300倾角数据

随着GNSS接收机配置系统的逐渐完善，目前基本上所有功能基本齐备，包括前端静态解算、坐标转换、文件保存、屏幕、电台等常见功能。

有朋友提出能够加入村田SCL3300倾角传感器的读取，并设置阈值自动上传倾角数据，依旧采用T113硬件方案实现，倾角采用SPI协议。

着实费了一番功夫，实现代码如下，供大家参考

public class InclinometerService
{ILog log = LogManager.GetLogger("NtripShare", typeof(InclinometerService));private const uint CMD_READ_ANG_X = 0x240000C7;private const uint CMD_READ_ANG_Y = 0x280000CD;private const uint CMD_READ_ANG_Z = 0x2C0000CB;private const uint CMD_READ_TEMPERATURE = 0x140000EF;private const uint CMD_SW_RESET = 0xB4002098;private const uint CMD_CHANGE_TO_MODE4 = 0xB4000338; // 低噪声倾角模式private const uint CMD_READ_STATUS = 0x180000E5;private const uint CMD_ENABLE_ANGLE = 0xB0001F6F;private const uint CMD_READ_ID = 0x40000091;private SpiDevice _sensor;public float T { get; set; } = 0;public float X { get; set; } = 0;public float Y { get; set; } = 0;public float Z { get; set; } = 0;private static InclinometerService Instance = null;public static InclinometerService getInstance(){if (Instance == null){Instance = new InclinometerService();}return Instance;}private InclinometerService(){}/// <summary>/// 启动服务/// </summary>public void StartService(){if (_sensor == null){InclinometerConfig inclinometerConfig = SysConfig.getInstance().InclinometerConfig;if (inclinometerConfig == null){inclinometerConfig = new InclinometerConfig();}// 1. 初始化SPI连接var settings = new SpiConnectionSettings(inclinometerConfig.BusId, 0) // 根据实际连接选择总线号和片选号{Mode = SpiMode.Mode0, // 关键：设置为模式0ClockFrequency = 2_000_000, // 设置时钟频率为2MHzChipSelectLineActiveState = PinValue.Low,DataBitLength = 8 // 每次传输32位// MSB First是默认设置，SCL3300也是MSB First};_sensor = SpiDevice.Create(settings);}Task.Run(() =>{try{// 2. 传感器初始化序列 [1](@ref)Thread.Sleep(10); // 上电后等待10msWriteRegister(CMD_SW_RESET); // 软件复位Thread.Sleep(10); // 等待复位完成WriteRegister(CMD_CHANGE_TO_MODE4); // 切换到模式4（低噪声倾角模式）ReadResponse(); // 丢弃响应，遵循OFF-FRAME协议// 清除状态寄存器WriteRegister(CMD_READ_STATUS);ReadResponse();WriteRegister(CMD_READ_STATUS);ReadResponse();WriteRegister(CMD_ENABLE_ANGLE); // 使能角度输出ReadResponse();uint id = ReadSensorRegister(CMD_READ_ID);while (true){if (!SysConfig.getInstance().Inclinometer){return;}InclinometerConfig inclinometerConfig = SysConfig.getInstance().InclinometerConfig;if (!inclinometerConfig.Enable){return;}X = ReadAngleX();Y = ReadAngleY();Z = ReadAngleZ();T = ReadT(CMD_READ_TEMPERATURE);if (X != 0 && Y != 0 && Z != 0){if (inclinometerConfig.SendMode == 1){if (SysConfig.getInstance().MqttConfig.MqttEnable){MqttService.getInstance().SendData(inclinometerConfig.MqttTopic, Encoding.Default.GetBytes(JsonSerializer.Serialize(new { X = X, Y = Y, Z = Z, T = T })));}}else if (inclinometerConfig.SendMode == 2){if (Math.Abs(X - inclinometerConfig.InitX) > inclinometerConfig.Limit ||Math.Abs(Y - inclinometerConfig.InitY) > inclinometerConfig.Limit ||Math.Abs(Z - inclinometerConfig.InitZ) > inclinometerConfig.Limit){if (SysConfig.getInstance().MqttConfig.MqttEnable){MqttService.getInstance().SendData(inclinometerConfig.MqttTopic, Encoding.Default.GetBytes(JsonSerializer.Serialize(new { X = X, Y = Y, Z = Z, T = T })));}}}}Thread.Sleep(inclinometerConfig.ReadTime * 1000);}}catch (Exception e){log.Error(e);}});}public float ReadAngleX(){return ReadAngle(CMD_READ_ANG_X);}public float ReadAngleY(){return ReadAngle(CMD_READ_ANG_Y);}public float ReadAngleZ(){return ReadAngle(CMD_READ_ANG_Z);}private float ReadAngle(uint command){// 发送读取角度命令uint response = ReadSensorRegister(command);// 提取数据位（第2和第3字节）[1](@ref)// 响应帧格式: [RS | Data High Byte | Data Low Byte | CRC]ushort rawData = (ushort)((response >> 8) & 0xFFFF);// 将原始数据转换为角度（度） [1,3](@ref)// Angle[°] = (raw_data / 2^14) * 90// 注意：rawData是16位有符号整数，但实际有效数据是14位int signedData = (short)rawData; // 注意符号扩展，先转为有符号数float angle = (signedData / 16384.0f) * 90.0f; // 2^14 = 16384return angle;}private float ReadT(uint command){// 发送读取角度命令uint response = ReadSensorRegister(command);// 提取数据位（第2和第3字节）[1](@ref)// 响应帧格式: [RS | Data High Byte | Data Low Byte | CRC]ushort rawData = (ushort)((response >> 8) & 0xFFFF);int signedData = (short)rawData;float t = (signedData / 18.9f) - 273;return t;}private uint ReadSensorRegister(uint command){WriteRegister(command);// 根据OFF-FRAME协议，响应需要在下一次传输中读取return ReadResponse();}private void WriteRegister(uint command){// 将32位命令转换为字节数组byte[] data = BitConverter.GetBytes(command);// 确保大端序，或根据硬件调整if (BitConverter.IsLittleEndian){Array.Reverse(data);}_sensor.Write(data); // 实际发送可能需要一次发送完整的4个字节// 注意：SpiDevice.WriteByte可能不是最佳方式，建议使用Write(byte[])一次写入整个帧。// 此处为逻辑示例，具体发送方式请根据所选SPI库的API调整。}private uint ReadResponse(){byte[] receiveBuffer = new byte[4];// 发送空数据（如0x00000000）以触发从设备返回响应// 注意：SpiDevice.ReadByte()可能不是全双工操作。// 更准确的做法是使用全双工传输（TransferFullDuplex）。// 以下为概念性代码：byte[] sendBuffer = new byte[4] { 0x00, 0x00, 0x00, 0x00 }; // 哑传输_sensor.TransferFullDuplex(sendBuffer, receiveBuffer); // 同时发送和接收// 将接收到的4字节转换为uint，并调整端序uint response = BitConverter.ToUInt32(receiveBuffer, 0);if (BitConverter.IsLittleEndian){// 可能需要调整端序以匹配主机序response = (uint)((response << 24) | ((response << 8) & 0x00FF0000) | ((response >> 8) & 0x0000FF00) | (response >> 24));}return response;}public void Dispose() => _sensor?.Dispose();
}

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