STM32 SPI驱动读取LSM6DSRTR

提示：通过SPI驱动读取传感器数据
  
  

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媒介

制作一个倾角传感器，通过SPI读取LSM6DSRTR的加速度数据转换为角度，不用IIC的原因是考虑IIC通讯的协议过于繁琐，且会影响后续的发包速率。

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一、LSM6DSRTR

六轴传感器，最好用ST的芯片来读取，紧张是ST在这块已经提供好驱动了，其它也行，都一样简单。其次就是，你必要配置好SPI，这个很紧张，不然很容易读不出来。
二、配置步调

1.配置SPI

注意：通过STM32CUBEMX 来构建代码

1. static void MX_SPI1_Init(void)
2. {
3.   hspi1.Instance = SPI1;
4.   hspi1.Init.Mode = SPI_MODE_MASTER;
5.   hspi1.Init.Direction = SPI_DIRECTION_2LINES;
6.   hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
7.   hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
8.   hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
9.   hspi1.Init.NSS = SPI_NSS_SOFT;
10.   hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
11.   hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
12.   hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
13.   hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
14.   hspi1.Init.CRCPolynomial = 7;
15.   if (HAL_SPI_Init(&hspi1) != HAL_OK)
16.   {
17.     Error_Handler();
18.   }
19.   /* USER CODE BEGIN SPI1_Init 2 */
21.   /* USER CODE END SPI1_Init 2 */
22. }

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2.引入 LSM驱动库

案例代码

1. #include <string.h>
2. #include <stdio.h>
3. #include "lsm6dsr_reg.h"
4. #include "stm32l0xx_hal.h"
5. #include "main.h"
7. #define CS_Pin GPIO_PIN_4
8. #define CS_GPIO_Port GPIOA
9. #define LED_Pin GPIO_PIN_12
10. #define LED_GPIO_Port GPIOA
11. #define BOOT_TIME 10 // ms
12. #define PI 3.1415926
13. extern SPI_HandleTypeDef hspi1;
15. extern UART_HandleTypeDef huart1;
16. static stmdev_ctx_t dev_ctx;
18. /* Private variables ---------------------------------------------------------*/
19. static int16_t data_raw_acceleration[3];
20. static int16_t data_raw_angular_rate[3];
21. static int16_t data_raw_temperature;
22. static float acceleration_mg[3];
23. static float angular_rate_mdps[3];
24. static uint8_t whoamI, rst;
25. static uint8_t tx_buffer[1000];
27. static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
28.                               uint16_t len);
29. static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
30.                              uint16_t len);
31. static void tx_com(uint8_t *tx_buffer, uint16_t len);
32. static void platform_delay(uint32_t ms);
34. /* Main Example --------------------------------------------------------------*/
35. //在主函数里面调用这个接口就行
36. void lsm6dsr_read_angle_data_polling(void)
37. {
39.     uint8_t reg;
40.     /* Read output only if new xl value is available */
41.     lsm6dsr_xl_flag_data_ready_get(&dev_ctx, &reg);
43.     if (reg)
44.     {
45.         /* Read acceleration field data */
46.         memset(data_raw_acceleration, 0x00, 3 * sizeof(int16_t));
47.         lsm6dsr_acceleration_raw_get(&dev_ctx, data_raw_acceleration);
48.         acceleration_mg[0] =
49.             lsm6dsr_from_fs2g_to_mg(data_raw_acceleration[0]);
50.         acceleration_mg[1] =
51.             lsm6dsr_from_fs2g_to_mg(data_raw_acceleration[1]);
52.         acceleration_mg[2] =
53.             lsm6dsr_from_fs2g_to_mg(data_raw_acceleration[2]);
55.         /* 注意：atan算出来的是弧度值， 然后1弧度 = 180/Π */
56.         float angle_x = atan(acceleration_mg[0] / sqrt(acceleration_mg[2] * acceleration_mg[2] + acceleration_mg[1] * acceleration_mg[1])) * 180 / PI;
57.         float angle_y = atan(acceleration_mg[1] / sqrt(acceleration_mg[0] * acceleration_mg[0] + acceleration_mg[2] * acceleration_mg[2])) * 180 / PI;
58.         float angle_z = atan(acceleration_mg[2] / sqrt(acceleration_mg[0] * acceleration_mg[0] + acceleration_mg[1] * acceleration_mg[1])) * 180 / PI;
60.         sprintf((char *)tx_buffer,
61.                 "Acceleration [mg]:%4.2f\t%4.2f\t%4.2f\r\n",
62.                 acceleration_mg[0], acceleration_mg[1], acceleration_mg[2]);
63.         //这边是计算出来的角度值
64.         sprintf((char *)tx_buffer,
65.                 "Angle :x %4.2f\t y %4.2f\t z %4.2f\r\n",
66.                 angle_x, angle_y, angle_z);
67.         tx_com(tx_buffer, strlen((char const *)tx_buffer));
68.     }
70.     // lsm6dsr_gy_flag_data_ready_get(&dev_ctx, &reg);
72.     // if (reg)
73.     // {
74.     //     /* Read angular rate field data */
75.     //     memset(data_raw_angular_rate, 0x00, 3 * sizeof(int16_t));
76.     //     lsm6dsr_angular_rate_raw_get(&dev_ctx, data_raw_angular_rate);
77.     //     angular_rate_mdps[0] =
78.     //         lsm6dsr_from_fs2000dps_to_mdps(data_raw_angular_rate[0]);
79.     //     angular_rate_mdps[1] =
80.     //         lsm6dsr_from_fs2000dps_to_mdps(data_raw_angular_rate[1]);
81.     //     angular_rate_mdps[2] =
82.     //         lsm6dsr_from_fs2000dps_to_mdps(data_raw_angular_rate[2]);
83.     //     sprintf((char *)tx_buffer,
84.     //             "Angular rate [mdps]:%4.2f\t%4.2f\t%4.2f\r\n",
85.     //             angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]);
86.     //     tx_com(tx_buffer, strlen((char const *)tx_buffer));
87.     // }
88.     platform_delay(1000);
89. }
91. /*
92. * @brief  Write generic device register (platform dependent)
93. *
94. * @param  handle    customizable argument. In this examples is used in
95. *                   order to select the correct sensor bus handler.
96. * @param  reg       register to write
97. * @param  bufp      pointer to data to write in register reg
98. * @param  len       number of consecutive register to write
99. *
100. */
101. static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp,
102.                               uint16_t len)
103. {
104.     HAL_GPIO_WritePin(CS_GPIO_Port, CS_Pin, GPIO_PIN_RESET);
105.     HAL_SPI_Transmit(handle, &reg, 1, 1000);
106.     HAL_SPI_Transmit(handle, (uint8_t *)bufp, len, 1000);
107.     HAL_GPIO_WritePin(CS_GPIO_Port, CS_Pin, GPIO_PIN_SET);
109.     return 0;
110. }
112. /*
113. * @brief  Read generic device register (platform dependent)
114. *
115. * @param  handle    customizable argument. In this examples is used in
116. *                   order to select the correct sensor bus handler.
117. * @param  reg       register to read
118. * @param  bufp      pointer to buffer that store the data read
119. * @param  len       number of consecutive register to read
120. *
121. */
122. static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp,
123.                              uint16_t len)
124. {
125.     reg |= 0x80;
126.     HAL_GPIO_WritePin(CS_GPIO_Port, CS_Pin, GPIO_PIN_RESET);
127.     HAL_SPI_Transmit(handle, &reg, 1, 1000);
128.     HAL_SPI_Receive(handle, bufp, len, 1000);
129.     HAL_GPIO_WritePin(CS_GPIO_Port, CS_Pin, GPIO_PIN_SET);
130.     return 0;
131. }
133. /*
134. * @brief  Send buffer to console (platform dependent)
135. *
136. * @param  tx_buffer     buffer to transmit
137. * @param  len           number of byte to send
138. *
139. */
140. static void tx_com(uint8_t *tx_buffer, uint16_t len)
141. {
142.     HAL_UART_Transmit(&huart1, tx_buffer, len, 1000);
143. }
145. /*
146. * @brief  platform specific delay (platform dependent)
147. *
148. * @param  ms        delay in ms
149. *
150. */
151. static void platform_delay(uint32_t ms)
152. {
153.     HAL_Delay(ms);
154. }
156. /*
157. * @brief  platform specific initialization (platform dependent)
158. */
159. void platform_init(void)
160. {
161.     /* Initialize mems driver interface */
162.     dev_ctx.write_reg = platform_write;
163.     dev_ctx.read_reg = platform_read;
164.     dev_ctx.handle = &hspi1;
166.     /* Wait sensor boot time */
167.     platform_delay(BOOT_TIME);
168.     /* Check device ID */
169.     while (1)
170.     {
171.         // 考虑如何喂狗
172.         lsm6dsr_device_id_get(&dev_ctx, &whoamI);
173.         if (whoamI == LSM6DSR_ID)
174.         {
175.             sprintf((char *)tx_buffer,
176.                     "Read id :0x%2x\r\n",
177.                     whoamI);
178.             tx_com(tx_buffer, strlen((char const *)tx_buffer));
180.             break;
181.         }
182.         platform_delay(BOOT_TIME);
183.     }
184.     /* Restore default configuration */
185.     lsm6dsr_reset_set(&dev_ctx, PROPERTY_ENABLE);
186.     do
187.     {
188.         lsm6dsr_reset_get(&dev_ctx, &rst);
189.     } while (rst);
191.     /* Disable I3C interface */
192.     lsm6dsr_i3c_disable_set(&dev_ctx, LSM6DSR_I3C_DISABLE);
193.     /* Enable Block Data Update */
194.     lsm6dsr_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
195.     /* Set Output Data Rate */
196.     lsm6dsr_xl_data_rate_set(&dev_ctx, LSM6DSR_XL_ODR_12Hz5);
197.     lsm6dsr_gy_data_rate_set(&dev_ctx, LSM6DSR_GY_ODR_12Hz5);
198.     /* Set full scale */
199.     lsm6dsr_xl_full_scale_set(&dev_ctx, LSM6DSR_2g);
200.     lsm6dsr_gy_full_scale_set(&dev_ctx, LSM6DSR_2000dps);
201.     /* Configure filtering chain(No aux interface)
202.      * Accelerometer - LPF1 + LPF2 path
203.      */
204.     lsm6dsr_xl_hp_path_on_out_set(&dev_ctx, LSM6DSR_LP_ODR_DIV_100);
205.     lsm6dsr_xl_filter_lp2_set(&dev_ctx, PROPERTY_ENABLE);
206. }

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3.结果

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总结

有什么题目，可以评论区内里提一下，看到都会帮助办理，这个案例只是简单应用，没有涉及复杂的使用过程。

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