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标题：测试基于STM32的ADIS16405评估板，并在匿名四轴上实时显示3轴陀螺仪+3轴加速度计＋3轴磁力计 波形。本文最好还公开一个基于C# 的串口波形显示客户端源码。
这里附上该评估板的原理图和PCB图。图片可以放大看，看不清不要紧我把PDF格式附上去的：
该评估板内部已经刷了固件。这里也分享下HEX固件可以自己在STM32CubeProgrammer用 STLINK刷进去。
STM32CubeProgrammer在ST官网有下载。
/*----------------------------------------------------------------
Copyright by 寒林电科 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 寒林电科 2018.11.24
------------------------------------------------------------------*/
/********************************************************************************
注意到ADIS16XXX的SPI时序图有个tSTALL，其叫做Stall Time。这个Stall Time很重要。
当用方式一single register read模式读取数据时，
Stall Time就是MCU向IMU发送读取控制指令的最小间隔时间。
举个例子，我想获取IMU的加速度计x轴和y轴的数据，
若用single register read模式读取数据，
MCU需要向IMU发送两个读取指令，这个Stall Time就是两条读取指令的最小间隔时间。
若不加Stall Time，读出来的数据会有问题。而用Burst Read模式读取数据的话，
因为其传感器数据为连续发送，所以不存在Stall Time，手册上也给了相关说明：
*******************************************************************************/
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发送字节（同时返回接收到的一个字节）
参数： 要发送的字节
返回值：接收到的字节
*/
//(&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2，两种都可以
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：从从设备读取一个字节
参数：无
返回值：读取的字节
*/
//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)//说明是负数则16bit的9轴信号需要补齐补码的高位，加上二进制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--);
}
}
/*----------------------------------------------------------------
读取ADIS16405 9轴数据信号
Copyright by 寒林电科 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);//发送PC端:匿名科创地面站 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 陀螺仪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]);
}
}
