RM3100 stm32 hal库 spi 磁力计数据

SPI 配置

作为参数参考，其详细配置请自行在CUBEMX 中配置生成代码

void MX_SPI2_Init(void)
{hspi2.Instance = SPI2;hspi2.Init.Mode = SPI_MODE_MASTER;hspi2.Init.Direction = SPI_DIRECTION_2LINES;hspi2.Init.DataSize = SPI_DATASIZE_8BIT;hspi2.Init.CLKPolarity = SPI_POLARITY_HIGH;hspi2.Init.CLKPhase = SPI_PHASE_2EDGE;hspi2.Init.NSS = SPI_NSS_SOFT;hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;hspi2.Init.TIMode = SPI_TIMODE_DISABLE;hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;hspi2.Init.CRCPolynomial = 7;hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;hspi2.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;if (HAL_SPI_Init(&hspi2) != HAL_OK){Error_Handler();}GPIO_InitStruct.Pin = CS1_ACCEL_Pin|CS1_GYRO_Pin|SPI2_NSS_Pin;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(GPIOB, CS1_ACCEL_Pin|CS1_GYRO_Pin|SPI2_NSS_Pin, GPIO_PIN_SET);
}

RM3100.C

#include "stdio.h"
#include "RM3100.h"
#include "spi.h"
#define RM3100_CS HAL_GPIO_WritePin(SPI2_NSS_GPIO_Port,SPI2_NSS_Pin,GPIO_PIN_RESET);
#define RM3100_DEL HAL_GPIO_WritePin(SPI2_NSS_GPIO_Port,SPI2_NSS_Pin,GPIO_PIN_SET);//1000000uT=10000G
//100uT=1G
//100uT=1000mG
//1uT=10mGuint8_t ccx0;uint8_t ccx1;uint8_t ccy0;uint8_t ccy1;uint8_t ccz0;uint8_t ccz1;
void RM3100_init(void)
{//SPI 首先调用一下开启通讯spi_read_onebyte(RM3100_CCX0_REG,&ccx0);//正式读写spi_read_onebyte(RM3100_CCX0_REG,&ccx0);spi_read_onebyte(RM3100_CCX1_REG,&ccx1);spi_read_onebyte(RM3100_CCY0_REG,&ccy0);spi_read_onebyte(RM3100_CCY1_REG,&ccy1);spi_read_onebyte(RM3100_CCZ0_REG,&ccz0);spi_read_onebyte(RM3100_CCZ1_REG,&ccz1);if((ccx0!=CCP0_DEFAULT)||(ccx1!=CCP1_DEFAULT)|| (ccy0!=CCP0_DEFAULT)||(ccy1!=CCP1_DEFAULT)||(ccz0!=CCP0_DEFAULT)||(ccz1!=CCP1_DEFAULT)){}else{spi_write_onebyte(RM3100_TMRC_REG,TMRC);spi_write_onebyte(RM3100_CMM_REG,CMM);spi_write_onebyte(RM3100_CCX1_REG,CCP1);spi_write_onebyte(RM3100_CCX0_REG,CCP0);spi_write_onebyte(RM3100_CCY1_REG,CCP1);spi_write_onebyte(RM3100_CCY0_REG,CCP0);spi_write_onebyte(RM3100_CCZ1_REG,CCP1);spi_write_onebyte(RM3100_CCZ0_REG,CCP0);}
}//  _scaler = (1 / GAIN_CC200) * UTESLA_TO_MGAUSS; /   (1/75)*10=1/75
void spi_read_bytes(uint8_t reg,uint8_t len,uint8_t read_data[])
{uint8_t temp;RM3100_CS;SPI1_ReadWriteByte(reg | 0x80);for(temp=0;temp<len;temp++){read_data[temp] = SPI1_ReadWriteByte(0xff);}RM3100_DEL;
}void spi_read_onebyte(uint8_t reg,uint8_t *data)
{RM3100_CS;SPI1_ReadWriteByte(reg | 0x80);*data = SPI1_ReadWriteByte(0xff);RM3100_DEL;
}void spi_write_onebyte(uint8_t reg,uint8_t data)
{RM3100_CS;SPI1_ReadWriteByte(reg);SPI1_ReadWriteByte(data);RM3100_DEL;
}void spi_write_bytes(uint8_t reg,uint8_t len,uint8_t write_data[])
{uint8_t temp;RM3100_CS;SPI1_ReadWriteByte(reg);for(temp=0;temp<len;temp++){SPI1_ReadWriteByte(write_data[temp]);}RM3100_DEL;
}bool RM3100_data_ok(void)
{uint8_t temp;spi_read_onebyte(RM3100_STATUS_REG,&temp);if(temp&0x80) return true;else return false;
}uint8_t SPI1_ReadWriteByte(uint8_t TxData)
{       uint8_t retry=0;                         HAL_SPI_TransmitReceive(&hspi2,&TxData,&retry,1,0xffff);return retry; //返回通过SPIx最近接收的数据
}bool get_RM3100_data(int32_t* mx,int32_t* my,int32_t* mz)
{uint8_t temp_data[9];uint8_t status=0;int32_t mag_data[3];    while(!(status&0x80))spi_read_onebyte(RM3100_STATUS_REG,&status);if(!(status&0x80)) return false;//状态spi_read_bytes(RM3100_MX2_REG,9,temp_data);    mag_data[0]= (uint32_t)temp_data[0]<<24 | (uint32_t)temp_data[1]<<16 |  (uint32_t)temp_data[2]<<8;mag_data[1]= (uint32_t)temp_data[3]<<24 | (uint32_t)temp_data[4]<<16 |  (uint32_t)temp_data[5]<<8;mag_data[2]= (uint32_t)temp_data[6]<<24 | (uint32_t)temp_data[7]<<16 |  (uint32_t)temp_data[8]<<8;*mx=mag_data[0]>>8;*my=mag_data[1]>>8;*mz=mag_data[2]>>8;return true;
}uint8_t get_RM3100_devid(void)
{uint8_t dev_id;spi_read_onebyte(RM3100_REVID_REG,&dev_id); return dev_id;
}

RM3100.H

#ifndef __RM3100_H
#define __RM3100_H
#include <stdbool.h>
#include "main.h"
#define RM3100_POLL_REG        0x00#define RM3100_CMM_REG         0x01#define RM3100_CCX1_REG        0x04
#define RM3100_CCX0_REG        0x05
#define RM3100_CCY1_REG        0x06
#define RM3100_CCY0_REG        0x07
#define RM3100_CCZ1_REG        0x08
#define RM3100_CCZ0_REG        0x09#define RM3100_TMRC_REG        0x0B#define RM3100_MX2_REG      0x24
#define RM3100_MX1_REG      0x25
#define RM3100_MX0_REG      0x26
#define RM3100_MY2_REG      0x27
#define RM3100_MY1_REG      0x28
#define RM3100_MY0_REG      0x29
#define RM3100_MZ2_REG      0x2A
#define RM3100_MZ1_REG      0x2B
#define RM3100_MZ0_REG      0x2C#define RM3100_BIST_REG       0x33
#define RM3100_STATUS_REG     0x34
#define RM3100_HSHAKE_REG     0x34
#define RM3100_REVID_REG      0x36#define CCP0    0xC8      // Cycle Count values
#define CCP1    0x00
#define CCP0_DEFAULT 0xC8 // Default Cycle Count values (used as a whoami check)
#define CCP1_DEFAULT 0x00
#define GAIN_CC50 20.0f   // LSB/uT
#define GAIN_CC100 38.0f
#define GAIN_CC200 75.0f
#define UTESLA_TO_MGAUSS   10.0f // uT to mGauss conversion#define TMRC    0x93    // Update rate 600Hz
#define CMM     0x71    // read 3 axes and set data ready if 3 axes are readytypedef struct
{//原始数据uint16_t raw_mag_x;uint16_t raw_mag_y;uint16_t raw_mag_z;//转换为地磁大小的值float mag_ut_x;float mag_ut_y;float mag_ut_z;
}RM3100_DATA;void spi_read_bytes(uint8_t reg,uint8_t len,uint8_t read_data[]);
void spi_read_onebyte(uint8_t reg,uint8_t *data);
void spi_write_onebyte(uint8_t reg,uint8_t data);
void spi_write_bytes(uint8_t reg,uint8_t len,uint8_t write_data[]);
void RM3100_init(void);
bool get_RM3100_data(int32_t *mx,int32_t *my,int32_t *mz);
uint8_t get_RM3100_devid(void);
bool RM3100_data_ok(void);
uint8_t SPI1_ReadWriteByte(uint8_t TxData);
#endif

MAIN.C

 int32_t mx,my,mz;get_RM3100_data(&mx,&my,&mz);

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RM3100 stm32 hal库 spi 磁力计数据

SPI 配置

RM3100.C

RM3100.H

MAIN.C

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