/********************************************************************************************************************* * COPYRIGHT NOTICE * Copyright (c) 2020,逐飞科技 * All rights reserved. * 技术讨论QQ群：三群：824575535 * * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 * * @file ICM20602 * @company 成都逐飞科技有限公司 * @author 逐飞科技(QQ3184284598) * @version 查看doc内version文件 版本说明 * @Software ADS v1.2.2 * @Target core TC264D * @Taobao https://seekfree.taobao.com/ * @date 2020-3-23 * @note 接线定义： ------------------------------------ SCL 查看SEEKFREE_IIC文件内的SEEKFREE_SCL宏定义 SDA 查看SEEKFREE_IIC文件内的SEEKFREE_SDA宏定义 ------------------------------------ ********************************************************************************************************************/ #include "zf_stm_systick.h" #include "zf_gpio.h" #include "zf_spi.h" #include "SEEKFREE_IIC.h" #include "SEEKFREE_ICM20602.h" int16 icm_gyro_x,icm_gyro_y,icm_gyro_z; int16 icm_acc_x,icm_acc_y,icm_acc_z; //------------------------------------------------------------------------------------------------------------------- // @brief ICM20602自检函数 // @param NULL // @return void // @since v1.0 // Sample usage: 调用该函数前，请先调用模拟IIC的初始化 //------------------------------------------------------------------------------------------------------------------- void icm20602_self1_check(void) { uint8 dat=0; while(0x12 != dat) //读取ICM20602 ID { dat = simiic_read_reg(ICM20602_DEV_ADDR,ICM20602_WHO_AM_I,SIMIIC); systick_delay_ms(STM0, 10); //卡在这里原因有以下几点 //1 ICM20602坏了，如果是新的这样的概率极低 //2 接线错误或者没有接好 //3 可能你需要外接上拉电阻，上拉到3.3V //4 可能没有调用模拟IIC的初始化函数 } } //------------------------------------------------------------------------------------------------------------------- // @brief 初始化ICM20602 // @param NULL // @return void // @since v1.0 // Sample usage: 调用该函数前，请先调用模拟IIC的初始化 //------------------------------------------------------------------------------------------------------------------- void icm20602_init(void) { simiic_init(); systick_delay_ms(STM0, 10); //上电延时 //检测 icm20602_self1_check(); //复位 simiic_write_reg(ICM20602_DEV_ADDR,ICM20602_PWR_MGMT_1,0x80); //复位设备 systick_delay_ms(STM0, 2); //延时 while(0x80 & simiic_read_reg(ICM20602_DEV_ADDR,ICM20602_PWR_MGMT_1,SIMIIC));//等待复位完成 //配置参数 simiic_write_reg(ICM20602_DEV_ADDR,ICM20602_PWR_MGMT_1,0x01); //时钟设置 simiic_write_reg(ICM20602_DEV_ADDR,ICM20602_PWR_MGMT_2,0x00); //开启陀螺仪和加速度计 simiic_write_reg(ICM20602_DEV_ADDR,ICM20602_CONFIG,0x01); //176HZ 1KHZ simiic_write_reg(ICM20602_DEV_ADDR,ICM20602_SMPLRT_DIV,0x07); //采样速率 SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV) simiic_write_reg(ICM20602_DEV_ADDR,ICM20602_GYRO_CONFIG,0x18); //±2000 dps simiic_write_reg(ICM20602_DEV_ADDR,ICM20602_ACCEL_CONFIG,0x10); //±8g simiic_write_reg(ICM20602_DEV_ADDR,ICM20602_ACCEL_CONFIG_2,0x03); //Average 4 samples 44.8HZ //0x23 Average 16 samples } //------------------------------------------------------------------------------------------------------------------- // @brief 获取ICM20602加速度计数据 // @param NULL // @return void // @since v1.0 // Sample usage: 执行该函数后，直接查看对应的变量即可 //------------------------------------------------------------------------------------------------------------------- void get_icm20602_accdata(void) { uint8 dat[6]; simiic_read_regs(ICM20602_DEV_ADDR, ICM20602_ACCEL_XOUT_H, dat, 6, SIMIIC); icm_acc_x = (int16)(((uint16)dat[0]<<8 | dat[1])); icm_acc_y = (int16)(((uint16)dat[2]<<8 | dat[3])); icm_acc_z = (int16)(((uint16)dat[4]<<8 | dat[5])); } //------------------------------------------------------------------------------------------------------------------- // @brief 获取ICM20602陀螺仪数据 // @param NULL // @return void // @since v1.0 // Sample usage: 执行该函数后，直接查看对应的变量即可 //------------------------------------------------------------------------------------------------------------------- void get_icm20602_gyro(void) { uint8 dat[6]; simiic_read_regs(ICM20602_DEV_ADDR, ICM20602_GYRO_XOUT_H, dat, 6, SIMIIC); icm_gyro_x = (int16)(((uint16)dat[0]<<8 | dat[1])); icm_gyro_y = (int16)(((uint16)dat[2]<<8 | dat[3])); icm_gyro_z = (int16)(((uint16)dat[4]<<8 | dat[5])); } //------------------------------------------------------------------------------------------------------------------- // 以上函数是使用软件IIC通信，相比较硬件IIC，软件IIC引脚更加灵活，可以使用任意普通IO //------------------------------------------------------------------------------------------------------------------- ////------------------------------------------------------------------------------------------------------------------- //// 以下函数是使用硬件IIC通信，相比较软件IIC，硬件IIC速度可以做到更快。 ////------------------------------------------------------------------------------------------------------------------- // //#define IIC_NUM IIC_1 //#define IIC_SDA_PIN IIC1_SDA_B17 //#define IIC_SCL_PIN IIC1_SCL_B16 ////------------------------------------------------------------------------------------------------------------------- //// @brief ICM20602自检函数 //// @param NULL //// @return void //// @since v1.0 //// Sample usage: ////------------------------------------------------------------------------------------------------------------------- //void icm20602_self2_check(void) //{ // uint8 dat=0; // while(0x12 != dat) //读取ICM20602 ID // { // iic_read_reg(IIC_NUM, ICM20602_DEV_ADDR, ICM20602_WHO_AM_I, &dat); // systick_delay_ms(STM0, 10); // //卡在这里原因有以下几点 // //1 ICM20602坏了，如果是新的这样的概率极低 // //2 接线错误或者没有接好 // //3 可能你需要外接上拉电阻，上拉到3.3V // } //} // ////------------------------------------------------------------------------------------------------------------------- //// @brief 初始化ICM20602 //// @param NULL //// @return void //// @since v1.0 //// Sample usage: ////------------------------------------------------------------------------------------------------------------------- //void icm20602_init_hardware(void) //{ // uint8 dat = 0; // systick_delay_ms(STM0, 10); //上电延时 // iic_init(IIC_NUM, IIC_SDA_PIN, IIC_SCL_PIN,400*1000); //硬件IIC初始化 波特率400K // // //检测 // icm20602_self2_check(); // // //复位 // iic_write_reg(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_PWR_MGMT_1, 0x80); //解除休眠状态 // systick_delay_ms(STM0, 2); //延时 // // // while(0x80 & dat) //等待复位完成 // { // iic_read_reg(IIC_NUM, ICM20602_DEV_ADDR, ICM20602_PWR_MGMT_1, &dat); // systick_delay_ms(STM0, 10); // } // // //配置参数 // iic_write_reg(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_PWR_MGMT_1, 0x01); //时钟设置 // iic_write_reg(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_PWR_MGMT_2, 0x00); //开启陀螺仪和加速度计 // iic_write_reg(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_CONFIG, 0x01); //176HZ 1KHZ // iic_write_reg(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_SMPLRT_DIV, 0x07); //采样速率 SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV) // iic_write_reg(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_GYRO_CONFIG, 0x18); //±2000 dps // iic_write_reg(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_ACCEL_CONFIG, 0x10); //±8g // iic_write_reg(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_ACCEL_CONFIG_2, 0x03); //Average 4 samples 44.8HZ //0x23 Average 16 samples // //} // // ////------------------------------------------------------------------------------------------------------------------- //// @brief 获取ICM20602加速度计数据 //// @param NULL //// @return void //// @since v1.0 //// Sample usage: 执行该函数后，直接查看对应的变量即可 ////------------------------------------------------------------------------------------------------------------------- //void get_icm20602_accdata_hardware(void) //{ // uint8 dat[6]; // // iic_read_reg_bytes(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_ACCEL_XOUT_H, dat, 6); // icm_acc_x = (int16)(((uint16)dat[0]<<8 | dat[1])); // icm_acc_y = (int16)(((uint16)dat[2]<<8 | dat[3])); // icm_acc_z = (int16)(((uint16)dat[4]<<8 | dat[5])); //} // ////------------------------------------------------------------------------------------------------------------------- //// @brief 获取ICM20602陀螺仪数据 //// @param NULL //// @return void //// @since v1.0 //// Sample usage: 执行该函数后，直接查看对应的变量即可 ////------------------------------------------------------------------------------------------------------------------- //void get_icm20602_gyro_hardware(void) //{ // uint8 dat[6]; // // iic_read_reg_bytes(IIC_NUM,ICM20602_DEV_ADDR, ICM20602_GYRO_XOUT_H, dat, 6); // icm_gyro_x = (int16)(((uint16)dat[0]<<8 | dat[1])); // icm_gyro_y = (int16)(((uint16)dat[2]<<8 | dat[3])); // icm_gyro_z = (int16)(((uint16)dat[4]<<8 | dat[5])); //} //------------------------------------------------------------------------------------------------------------------- // 以下函数是使用硬件SPI通信，相比较IIC，速度比IIC快非常多。 //------------------------------------------------------------------------------------------------------------------- #define SPI_NUM SPI_0 #define SPI_SCK_PIN SPI0_SCLK_P20_11 //接模块SPC #define SPI_MOSI_PIN SPI0_MOSI_P20_14 //接模块SDI #define SPI_MISO_PIN SPI0_MISO_P20_12 //接模块SDO #define SPI_CS_PIN SPI0_CS2_P20_13 //接模块CS //------------------------------------------------------------------------------------------------------------------- // @brief ICM20602 SPI写寄存器 // @param cmd 寄存器地址 // @param val 需要写入的数据 // @return void // @since v1.0 // Sample usage: //------------------------------------------------------------------------------------------------------------------- void icm_spi_w_reg_byte(uint8 cmd, uint8 val) { uint8 dat[2]; dat[0] = cmd | ICM20602_SPI_W; dat[1] = val; spi_mosi(SPI_NUM,SPI_CS_PIN,dat,dat,2,1); } //------------------------------------------------------------------------------------------------------------------- // @brief ICM20602 SPI读寄存器 // @param cmd 寄存器地址 // @param *val 接收数据的地址 // @return void // @since v1.0 // Sample usage: //------------------------------------------------------------------------------------------------------------------- void icm_spi_r_reg_byte(uint8 cmd, uint8 *val) { uint8 dat[2]; dat[0] = cmd | ICM20602_SPI_R; dat[1] = *val; spi_mosi(SPI_NUM,SPI_CS_PIN,dat,dat,2,1); *val = dat[1]; } //------------------------------------------------------------------------------------------------------------------- // @brief ICM20602 SPI多字节读寄存器 // @param cmd 寄存器地址 // @param *val 接收数据的地址 // @param num 读取数量 // @return void // @since v1.0 // Sample usage: //------------------------------------------------------------------------------------------------------------------- void icm_spi_r_reg_bytes(uint8 * val, uint8 num) { spi_mosi(SPI_NUM,SPI_CS_PIN,val,val,num,1); } //------------------------------------------------------------------------------------------------------------------- // @brief ICM20602自检函数 // @param NULL // @return void // @since v1.0 // Sample usage: //------------------------------------------------------------------------------------------------------------------- void icm20602_self3_check(void) { uint8 dat=0; while(0x12 != dat) //读取ICM20602 ID { icm_spi_r_reg_byte(ICM20602_WHO_AM_I,&dat); systick_delay_ms(STM0, 10); //卡在这里原因有以下几点 //1 ICM20602坏了，如果是新的这样的概率极低 //2 接线错误或者没有接好 //3 可能你需要外接上拉电阻，上拉到3.3V } } //------------------------------------------------------------------------------------------------------------------- // @brief 初始化ICM20602 // @param NULL // @return void // @since v1.0 // Sample usage: //------------------------------------------------------------------------------------------------------------------- void icm20602_init_spi(void) { uint8 val = 0x0; systick_delay_ms(STM0, 10); //上电延时 (void)spi_init(SPI_NUM, SPI_SCK_PIN, SPI_MOSI_PIN, SPI_MISO_PIN, SPI_CS_PIN, 3, 10*1000*1000);//硬件SPI初始化 icm20602_self3_check();//检测 icm_spi_w_reg_byte(ICM20602_PWR_MGMT_1,0x80);//复位设备 systick_delay_ms(STM0, 2); do {//等待复位成功 icm_spi_r_reg_byte(ICM20602_PWR_MGMT_1,&val); }while(0x41 != val); icm_spi_w_reg_byte(ICM20602_PWR_MGMT_1, 0x01); //时钟设置 icm_spi_w_reg_byte(ICM20602_PWR_MGMT_2, 0x00); //开启陀螺仪和加速度计 icm_spi_w_reg_byte(ICM20602_CONFIG, 0x01); //176HZ 1KHZ icm_spi_w_reg_byte(ICM20602_SMPLRT_DIV, 0x07); //采样速率 SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV) icm_spi_w_reg_byte(ICM20602_GYRO_CONFIG, 0x18); //±2000 dps icm_spi_w_reg_byte(ICM20602_ACCEL_CONFIG, 0x10); //±8g icm_spi_w_reg_byte(ICM20602_ACCEL_CONFIG_2, 0x03); //Average 4 samples 44.8HZ //0x23 Average 16 samples } //------------------------------------------------------------------------------------------------------------------- // @brief 获取ICM20602加速度计数据 // @param NULL // @return void // @since v1.0 // Sample usage: 执行该函数后，直接查看对应的变量即可 //------------------------------------------------------------------------------------------------------------------- void get_icm20602_accdata_spi(void) { struct { uint8 reg; uint8 dat[6]; }buf; buf.reg = ICM20602_ACCEL_XOUT_H | ICM20602_SPI_R; icm_spi_r_reg_bytes(&buf.reg, 7); icm_acc_x = (int16)(((uint16)buf.dat[0]<<8 | buf.dat[1])); icm_acc_y = (int16)(((uint16)buf.dat[2]<<8 | buf.dat[3])); icm_acc_z = (int16)(((uint16)buf.dat[4]<<8 | buf.dat[5])); } //------------------------------------------------------------------------------------------------------------------- // @brief 获取ICM20602陀螺仪数据 // @param NULL // @return void // @since v1.0 // Sample usage: 执行该函数后，直接查看对应的变量即可 //------------------------------------------------------------------------------------------------------------------- void get_icm20602_gyro_spi(void) { struct { uint8 reg; uint8 dat[6]; }buf; buf.reg = ICM20602_GYRO_XOUT_H | ICM20602_SPI_R; icm_spi_r_reg_bytes(&buf.reg, 7); icm_gyro_x = (int16)(((uint16)buf.dat[0]<<8 | buf.dat[1])); icm_gyro_y = (int16)(((uint16)buf.dat[2]<<8 | buf.dat[3])); icm_gyro_z = (int16)(((uint16)buf.dat[4]<<8 | buf.dat[5])); }