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標題：測試基於STM32的ADIS16405評估板，並在匿名四軸上實時顯示3軸陀螺儀+3軸加速度計＋3軸磁力計 波形。本文最好還公開一個基於C# 的串口波形顯示客戶端源碼。
這裏附上該評估板的原理圖和PCB圖。圖片可以放大看，看不清不要緊我把PDF格式附上去的：
該評估板內部已經刷了固件。這裏也分享下HEX固件可以自己在STM32CubeProgrammer用 STLINK刷進去。
STM32CubeProgrammer在 https://download.csdn.net/download/cornrn/12145402下載。
https://download.csdn.net/download/cornrn/12145199 《固件HEX直接用STM32CubeProgrammer燒錄》
https://download.csdn.net/download/cornrn/12145384《固件源碼》
/*----------------------------------------------------------------
Copyright by 寒林電科 2018.11.24
------------------------------------------------------------------*/
#ifndef _ADIS16405_H_
#define _ADIS16405_H_
#define ADIS16405_XGYRO_OUT ((unsigned char)0x04)
#define ADIS16405_YGYRO_OUT ((unsigned char)0x06)
#define ADIS16405_ZGYRO_OUT ((unsigned char)0x08)
#define ADIS16405_XACCL_OUT ((unsigned char)0x0A)
#define ADIS16405_YACCL_OUT ((unsigned char)0x0C)
#define ADIS16405_ZACCL_OUT ((unsigned char)0x0E)
#define ADIS16405_XMAGN_OUT ((unsigned char)0x10)
#define ADIS16405_YMAGN_OUT ((unsigned char)0x12)
#define ADIS16405_ZMAGN_OUT ((unsigned char)0x14)
#define ADIS16405_SMPL_PRD ((unsigned char)0x36)
#define ADIS16405_SENS_AVG ((unsigned char)0x38)
#define ADIS16405_SLP_CNT ((unsigned char)0x3A)
#define ADIS16405_GLOB_CMD ((unsigned char)0x3E)
#define ADIS16405_PRODUCT_ID ((unsigned char)0x56)
enum {
ADIS16405_REG_FLASH_CNT = 0x00,
ADIS16405_REG_SUPPLY_OUT = 0x02,
ADIS16405_REG_XGYRO_OUT = 0x04,
ADIS16405_REG_YGYRO_OUT = 0x06,
ADIS16405_REG_ZGYRO_OUT = 0x08,
ADIS16405_REG_XACCL_OUT = 0x0A,
ADIS16405_REG_YACCL_OUT = 0x0C,
ADIS16405_REG_ZACCL_OUT = 0x0E,
ADIS16405_REG_XMAGN_OUT = 0x10,
ADIS16405_REG_YMAGN_OUT = 0x12,
ADIS16405_REG_ZMAGN_OUT = 0x14,
ADIS16405_REG_TEMP_OUT = 0x16,
ADIS16405_REG_AUX_ADC = 0x18,
ADIS16405_REG_XGYRO_OFF = 0x1A,
ADIS16405_REG_YGYRO_OFF = 0x1C,
ADIS16405_REG_ZGYRO_OFF = 0x1E,
ADIS16405_REG_XACCL_OFF = 0x20,
ADIS16405_REG_YACCL_OFF = 0x22,
ADIS16405_REG_ZACCL_OFF = 0x24,
ADIS16405_REG_XMAGN_HIF = 0x26,
ADIS16405_REG_YMAGN_HIF = 0x28,
ADIS16405_REG_ZMAGN_HIF = 0x2A,
ADIS16405_REG_XMAGN_SIF = 0x2C,
ADIS16405_REG_YMAGN_SIF = 0x2E,
ADIS16405_REG_ZMAGN_SIF = 0x30,
ADIS16405_REG_GPIO_CTRL = 0x32,
ADIS16405_REG_MSC_CTRL = 0x34,
ADIS16405_REG_SMPL_PRD = 0x36,
ADIS16405_REG_SENS_AVG = 0x38,
ADIS16405_REG_SLP_CNT = 0x3A,
ADIS16405_REG_DIAG_STAT = 0x3C,
ADIS16405_REG_GLOB_CMD = 0x3E,
ADIS16405_REG_ALM_MAG1 = 0x40,
ADIS16405_REG_ALM_MAG2 = 0x42,
ADIS16405_REG_ALM_SMPL1 = 0x44,
ADIS16405_REG_ALM_SMPL2 = 0x46,
ADIS16405_REG_ALM_CTRL = 0x48,
ADIS16405_REG_AUX_DAC = 0x4A,
ADIS16405_REG_PRODUCT_ID = 0x55,
// ADIS16405_PRODUCT_ID = 0x4105
};
typedef struct{
short gyr[3];
short acc[3];
short mag[3];
}ADIS16405_DataTypeDef;
#define ADI_SPI_CS_LOW() HAL_GPIO_WritePin(GPIOA, SPI_CS_Pin, GPIO_PIN_RESET)
#define ADI_SPI_CS_HIGH() HAL_GPIO_WritePin(GPIOA, SPI_CS_Pin, GPIO_PIN_SET)
//void ADIS16405_SPI_Init(void);
//unsigned char ADIS16405_SPI_SendByte(unsigned char byte);
//unsigned char ADIS16405_SPI_ReadByte(void);
unsigned char ADIS16405_Burst_Read(ADIS16405_DataTypeDef* adt);
void ADIS16405_Restore_Cali(void);
void ADIS16405_Preci_Cali(void);
void ADIS16405_Reset(void);
extern void adis16405_init(void);
void ADIS16405_Delayms(unsigned short n);
void ADIS16405_Delayus(unsigned short n);
extern unsigned short ADIS16XXX_Readreg(unsigned char ADIS16XX_REG_NUM);
extern unsigned char ADIS16405_Burst_Read(ADIS16405_DataTypeDef* adt);
#endif
#include "stm32f1xx_hal.h"
#include "adis16405.h"
#include "spi.h"
/*----------------------------------------------------------------
Copyright by 寒林電科 2018.11.24
------------------------------------------------------------------*/
/********************************************************************************
注意到ADIS16XXX的SPI時序圖有個tSTALL，其叫做Stall Time。這個Stall Time很重要。
當用方式一single register read模式讀取數據時，
Stall Time就是MCU向IMU發送讀取控制指令的最小間隔時間。
舉個例子，我想獲取IMU的加速度計x軸和y軸的數據，
若用single register read模式讀取數據，
MCU需要向IMU發送兩個讀取指令，這個Stall Time就是兩條讀取指令的最小間隔時間。
若不加Stall Time，讀出來的數據會有問題。而用Burst Read模式讀取數據的話，
因爲其傳感器數據爲連續發送，所以不存在Stall Time，手冊上也給了相關說明：
*******************************************************************************/
void adis16405_init(void)
{
unsigned short err = 0,ProductID=0;
unsigned char txbuf[3] = {0},rxbuf[2] = {0};
// Reset calibration to factory defaults
// txbuf[0] = ADIS16405_REG_GLOB_CMD;
txbuf[0] = 0XBE;
txbuf[1] = 0x01;
HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
HAL_Delay(100);
// Setting the data rate to the default of 819.2 samples per second 0x0001
txbuf[0] = ADIS16405_REG_SMPL_PRD;
txbuf[1] = 0x01;
HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
HAL_Delay(50);
// Setting sleep mode 0x0000 turn sleep mode off
txbuf[0] = ADIS16405_REG_SLP_CNT;
txbuf[1] = 0x00;
HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
HAL_Delay(50);
// Setting the data rate to 300 degrees per sec
// And the number of filter taps to 4 resulting in a
// filter bandwidth of ~205Hz
// txbuf[0] = ADIS16405_REG_SLP_CNT;
// txbuf[1] = 0x04;
// txbuf[2] = 0x02;
// HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 3,0xFFFF);
// adis16405_write_u16(ADIS16405_REG_SENS_AVG, 0x0402);
HAL_Delay(50);
// Reset GPIO controls
txbuf[0] = ADIS16405_REG_GPIO_CTRL;
txbuf[1] = 0x00;
HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
HAL_Delay(50);
// Enable data ready interrupt
txbuf[0] = ADIS16405_REG_MSC_CTRL;
txbuf[1] = 0x86;
HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
HAL_Delay(50);
// Disable Alarms
txbuf[0] = ADIS16405_REG_ALM_CTRL;
txbuf[1] = 0x00;
HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
HAL_Delay(50);
err = ADIS16XXX_Readreg(ADIS16405_REG_DIAG_STAT);
printf("\n\r ADIS16405_REG_DIAG_STAT =%X!!!\n\r",err);
ProductID = ADIS16XXX_Readreg(0x56);
printf("\n\r ProductID=%X!!!\n\r",ProductID);
}
/*
作用： SPI發送字節（同時返回接收到的一個字節）
參數： 要發送的字節
返回值：接收到的字節
*/
//(&hspi1, (uint8_t*)&spi1_txbuf[0], 2,0xFFFF);
unsigned short ADIS16XXX_Readreg(unsigned char ADIS16XX_REG_NUM)
{
unsigned char txbuf[2] = {ADIS16XX_REG_NUM,0},rxbuf[2] = {0};
unsigned short reg_value = 0;
ADI_SPI_CS_LOW();
//方式1
// HAL_SPI_TransmitReceive(&hspi1, (uint8_t*)&txbuf[0], (uint8_t*)&rxbuf[0], 2,0xFFFF);
//方式2，兩種都可以
HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
HAL_SPI_Receive(&hspi1, (uint8_t*)&rxbuf[0], 2,0xFFFF);
ADI_SPI_CS_HIGH();
reg_value = rxbuf[1]|(rxbuf[0]<<8);
return reg_value;
}
//unsigned char ADIS16405_SPI_SendByte(unsigned char byte)
//{
// while(SPI_I2S_GetFlagStatus(ADIS16405_SPI,SPI_I2S_FLAG_TXE) = = RESET);
// SPI_I2S_SendData(ADIS16405_SPI,byte);
// while(SPI_I2S_GetFlagStatus(ADIS16405_SPI,SPI_I2S_FLAG_RXNE) = = RESET);
// return SPI_I2S_ReceiveData(ADIS16405_SPI);
//}
/*
作用：從從設備讀取一個字節
參數：無
返回值：讀取的字節
*/
//unsigned char ADIS16405_Burst_Read(ADIS16405_DataTypeDef* adt)
//{
//
// short wordBuffer[9] = {0};
// unsigned char i;
// unsigned char CMD[18] = {0},rxbuf[18]= {0};
// ADI_SPI_CS_LOW();
// ADIS16405_Delayus(1);
//
// CMD[0] = ADIS16405_XGYRO_OUT;
// CMD[1] = 0x00;
// CMD[2] = ADIS16405_YGYRO_OUT;
// CMD[3] = 0x00;
// CMD[4] = ADIS16405_ZGYRO_OUT;
// CMD[5] = 0x00;
// CMD[6] = ADIS16405_XACCL_OUT;
// CMD[7] = 0x00;
// CMD[8] = ADIS16405_YACCL_OUT;
// CMD[9] = 0x00;
// CMD[10] = ADIS16405_ZACCL_OUT;
// CMD[11] = 0x00;
// CMD[12] = ADIS16405_XMAGN_OUT;
// CMD[13] = 0x00;
// CMD[14] = ADIS16405_YMAGN_OUT;
// CMD[15] = 0x00;
// CMD[16] = ADIS16405_ZMAGN_OUT;
// CMD[17] = 0x00;
//
// ADI_SPI_CS_LOW();
//
// for(i=0;i<9;i++)
// {
// HAL_SPI_TransmitReceive(&hspi1, (uint8_t*)&CMD[2*i], (uint8_t*)&rxbuf[2*i], 2,0xFFFF);
// HAL_Delay(2);
// }
// ADI_SPI_CS_HIGH();
//
//
//
//
// for(i = 0;i<9;i++)
// {
//// wordBuffer[i] = (rxbuf[i*2]&0x003f)<<8 | (rxbuf[i*2+1]);
// wordBuffer[i] = (rxbuf[i*2]&0x3f)<<8 | (rxbuf[i*2+1]);
// }
// adt->gyr[0] = wordBuffer[0];
// adt->gyr[1] = wordBuffer[1];
// adt->gyr[2] = wordBuffer[2];
//
// adt->acc[0] = wordBuffer[3];
// adt->acc[1] = wordBuffer[4];
// adt->acc[2] = wordBuffer[5];
//
// adt->mag[0] = wordBuffer[6];
// adt->mag[1] = wordBuffer[7];
// adt->mag[2] = wordBuffer[8];
// return 1;
//}
unsigned char ADIS16405_Burst_Read(ADIS16405_DataTypeDef* adt)
{
unsigned char byteBuffer[24] = {0},upperlow=0x00;
unsigned short wordBuffer[9] = {0};
unsigned char i,j;
unsigned char CMD[2] = {0};
ADI_SPI_CS_LOW();
ADIS16405_Delayus(1);
CMD[0] = 0x3E;
CMD[1] = 0x00;
// HAL_SPI_Transmit(&hspi1, (uint8_t*)&CMD[0], 2,0xFFFF);
ADIS16405_Delayus(1);
// HAL_SPI_Receive(&hspi1, (uint8_t*)&byteBuffer[0], 24,0xFFFF);
for(i=0;i<12;i++)
{
HAL_SPI_TransmitReceive(&hspi1, (uint8_t*)&CMD[0]+2*i,(uint8_t*)&byteBuffer[0+2*i], 2,0xFFFF);
}
ADIS16405_Delayus(1);
ADI_SPI_CS_HIGH();
for(j = 0;j<9;j++)
{
wordBuffer[j] = (byteBuffer[2*j+4]&0x3f)<<8 | (byteBuffer[2*j+5]);
if (wordBuffer[j]>0x2000)//說明是負數則16bit的9軸信號需要補齊補碼的高位，加上二進制1100 0000 0000 0000
{
wordBuffer[j]+=0xC000;
}
}
adt->gyr[0] = wordBuffer[0];
adt->gyr[1] = wordBuffer[1];
adt->gyr[2] = wordBuffer[2];
adt->acc[0] = wordBuffer[3];
adt->acc[1] = wordBuffer[4];
adt->acc[2] = wordBuffer[5];
adt->mag[0] = wordBuffer[6];
adt->mag[1] = wordBuffer[7];
adt->mag[2] = wordBuffer[8];
return 1;
}
//void ADIS16405_Preci_Cali(void)
//{
// ADIS16405_SPI_CS_LOW();
// ADIS16405_Delayus(1);
// ADIS16405_SPI_SendByte(0xBE);
// ADIS16405_SPI_SendByte(0x10);
// ADIS16405_Delayus(1);
// ADIS16405_SPI_CS_LOW();
// //need 30sec
//}
//void ADIS16405_Reset(void)
//{
// ADIS16405_SPI_CS_LOW();
// ADIS16405_Delayus(1);
// ADIS16405_SPI_SendByte(0xBE);
// ADIS16405_SPI_SendByte(0x80);
// ADIS16405_Delayus(1);
// ADIS16405_SPI_CS_LOW();
// //need 50ms
//}
//void ADIS16405_READ_ID(void)
//{
// ADIS16405_SPI_CS_LOW();
// ADIS16405_Delayus(1);
// ADIS16405_SPI_SendByte(0xBE);
// ADIS16405_SPI_SendByte(0x02);
// ADIS16405_Delayus(1);
// ADIS16405_SPI_CS_LOW();
// //need 50ms
//}
//void ADIS16405_Restore_Cali(void)
//{
// ADIS16405_SPI_CS_LOW();
// ADIS16405_Delayus(1);
// ADIS16405_SPI_SendByte(0xBE);
// ADIS16405_SPI_SendByte(0x02);
// ADIS16405_Delayus(1);
// ADIS16405_SPI_CS_LOW();
// //need 50ms
//}
//void ADIS16405_Delayms(unsigned short n)
//{
// unsigned short i;
// while(n--)
// {
// i = 28000;
// while(i--);
// }
//}
void ADIS16405_Delayus(unsigned short n)
{
unsigned short i;
while(n--)
{
i = 28;
while(i--);
}
}
/*----------------------------------------------------------------
讀取ADIS16405 9軸數據信號
Copyright by 寒林電科 2018.11.24
------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"
#include "spi.h"
#include "usart.h"
#include "gpio.h"
#include "adis16405.h"
#include "anonymous.h"
void SystemClock_Config(void);
ADIS16405_DataTypeDef imu_data;
int main(void)
{
uint32_t i=0;
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_SPI1_Init();
HAL_Delay(2000);
adis16405_init();
LED_R_ON();LED_B_OFF();LED_G_OFF();
while (1)
{
ADIS16405_Burst_Read(&imu_data);
data_to_computer(&imu_data);//發送PC端:匿名科創地面站 V4.34
HAL_Delay(1);
if(++i%300==0)
{
HAL_GPIO_TogglePin(GPIOC, LED_R_Pin|LED_G_Pin|LED_B_Pin);
}
// printf("\n\r 加速度XYZ:---%x---%x---%x", \
// imu_data.acc[0] ,imu_data.acc[1],imu_data.acc[2]);
//
// printf("\n\r 陀螺儀XYZ:---%x---%x---%x", \
// imu_data.gyr[0] ,imu_data.gyr[1],imu_data.gyr[2]);
//
// printf("\n\r 地磁XYZ:---%x---%x---%x", \
// imu_data.mag[0] ,imu_data.mag[1],imu_data.mag[2]);
}
}