最近再调陀螺仪L3G4200模块,但是使用spi初始化陀螺仪的时候,有几个问题,不知道是spi底层的原因还是我时序的问题,用的是k60芯片,野火开发的库
问题1:使用spi初始化的时候必须要对寄存器重复写入多次才能将数据写入,已经加了上电延时,还是不行
问题2:部分寄存器(CTRL3,CTRL4)写入的数据和读出来的数据不一致,比如说我对CTRL3写入的是0x80,读出来的是0x0f,如图
问题3:根据官方手册上说的,读寄存器WHO_AM_I的时候数据应该是0xD3,实际我读出来的是0xDF,
不懂为什么,求大神帮忙看看
/*模块初始化*/
void L3D4200Init(void)
{
int i = 0;
lptmr_delay_ms(1000);
spi_init(GYRO_SPI, GYRO_PCS, MASTER, 5000*1000); //初始化spi
while(i++ < 1000){
//spi_mosi(GYRO_SPI, GYRO_PCS, buff, NULL, 2);
Gyro_Write(CTRL_REG2, 0x00);
Gyro_Write(CTRL_REG3, 0x08);
Gyro_Write(CTRL_REG4, 0x30);
Gyro_Write(CTRL_REG5, 0x00);
Gyro_Write(CTRL_REG1, 0x0f);
}
}
/*读取*/
uint8 Gyro_Read(uint8 reg, uint8 *dat)
{
reg |= 0x80;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, ®, NULL, NULL, &GyroRec[0], 1, 1);
reg++;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, ®, NULL, NULL, &GyroRec[1], 1, 1);
reg++;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, ®, NULL, NULL, &GyroRec[2], 1, 1);
reg++;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, ®, NULL, NULL, &GyroRec[3], 1, 1);
reg++;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, ®, NULL, NULL, &GyroRec[4], 1, 1);
reg++;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, ®, NULL, NULL, &GyroRec[5], 1, 1);
// t =
// spi_mosi_cmd(GYRO_SPI, GYRO_PCS, ®, GyroRec, NULL, &GyroRec[1], 1, 1);
uint8 cmd = 0;
uint8 *ptet = tet;
cmd = CTRL_REG1 | 0x80;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, &cmd, NULL, NULL, ptet++, 1, 1);
cmd += 1;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, &cmd, NULL, NULL, ptet++, 1, 1);
cmd += 1;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, &cmd, NULL, NULL, ptet++, 1, 1);
cmd += 1;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, &cmd, NULL, NULL, ptet++, 1, 1);
cmd += 1;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, &cmd, NULL, NULL, ptet++, 1, 1);
cmd += 1;
spi_mosi_cmd(GYRO_SPI, GYRO_PCS, &cmd, NULL, NULL, ptet, 1, 1);
// *dat = buff[1];
return 1;
}
然后是主函数
void main(void)
{
L3D4200Init();
// spi_mosi_cmd(GYRO_SPI, GYRO_PCS, &t, NULL, &s, NULL, 1, 1);
while(1){
Gyro_Read(X_OUT_L, &s);
DisposeGyro();
lptmr_delay_ms(10);
}
} |