[运动传感器] GD32E231模拟IIC驱动LSM6DSO

最后一个传感器LSM6DUO

6轴加速度计和陀螺仪传感器。

 

原理图，IIC地址是0xD6：

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寄存器：

这个传感器的寄存器很多，打那是其中使用的比较少。

 

 

下面例举一些常用的。

WHO-AM_I寄存器：

控制寄存器1：

设置频率，这个需要设置，我设置的是0x10.

 

 

控制寄存器2，也需要设置，我设置的是0x12.

 

 

 

温度输出寄存器，没有具体的说明，不知道采集的温度怎样换算

 

 

加速度传感器输出寄存器：

 

陀螺仪输出传感器：

 

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代码:

初始化：

	//初始化传感器LSM6DSO
	if(0 == Set_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_CTRL1_XL, 0x10))
	{
		send_str((unsigned char *)"IF_CTRL set successful\r\n");
	}
	else
	{
		send_str((unsigned char *)"IF_CTRL set fail\r\n");
	}
	if(0 == Set_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_CTRL2_G, 0x12))
	{
		send_str((unsigned char *)"IF_CTRL set successful\r\n");
	}
	else
	{
		send_str((unsigned char *)"IF_CTRL set fail\r\n");
	}

 

寄存器操作和串口发送数据：

//LSM6DSO写
static int IIC_WrDat_LSM6DSO(uint8_t IIC_Add, uint8_t IIC_Reg, uint8_t IIC_Data)
{
	uint8_t ret_suc = 1;
	
	IIC_Start();
	IIC_Send_Byte(IIC_Add & 0xfe);
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}
	
	IIC_Send_Byte(IIC_Reg);			//write data
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}
	
	IIC_Send_Byte(IIC_Data);
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}	
	
	IIC_Stop();
	
	return 0;
}


//LSM6DSO读
static int IIC_Read_LSM6DSO(uint8_t IIC_Add, uint8_t IIC_Reg)
{
	int ret;
	uint8_t ret_suc = 1;
	
	IIC_Start();
	IIC_Send_Byte(IIC_Add & 0xfe);
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}
		
	IIC_Send_Byte(IIC_Reg);
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}
		
	IIC_Start();
	IIC_Send_Byte(IIC_Add | 0x01);
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}
	
    ret=IIC_Read_Byte(0);
	IIC_Stop();

	return ret;
}

//LSM6DSO读2个寄存器
static int IIC_Read2_LSM6DSO(uint8_t IIC_Add, uint8_t IIC_Reg)
{
	int ret;
	uint8_t ret_suc = 1;
	
	IIC_Start();
	IIC_Send_Byte(IIC_Add & 0xfe);
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}
		
	IIC_Send_Byte(IIC_Reg);
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}
		
	IIC_Start();
	IIC_Send_Byte(IIC_Add | 0x01);
	ret_suc = IIC_Wait_Ack();
	if(ret_suc == 1)	{IIC_Stop();return -1;}
	
    ret=IIC_Read_Byte(1);
	ret=(IIC_Read_Byte(0)<<8)|ret;
	
	IIC_Stop();

	return ret;
}

//设置寄存器
int Set_Reg_LSM6DSO(uint8_t add, uint8_t reg, uint8_t dat)
{
	int ret_succ = -1;
	uint8_t i = 20u;		//失败之后尝试的次数
	
	do{
		if(0 == IIC_WrDat_LSM6DSO(add, reg, dat))
		{
			ret_succ = 0;		//设置成功
			break;
		}
		else
		{
			i--;				//获取失败，再次尝试
		}
	}while(i>0u);
	
	return ret_succ;
}

//读取寄存器
int Get_Reg_LSM6DSO(uint8_t add, uint8_t reg)
{
	uint8_t i = 20u;
	int ret_get = -1;
	
	do{
		ret_get = IIC_Read_LSM6DSO(add, reg);
		if(-1 != ret_get)
		{
			break;				//获取数据成功
		}
		else
		{
			i--;				//获取失败，再次尝试
		}
	}while(i>0u);
	
	return ret_get;
}

//读取我是谁
int Get_WHO_AM_I_LSM6DSO(void)
{
	return Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_WHO_AM_I);	
}


//获取状态寄存器
int Get_Status_LSM6DSO(void)
{
	return Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_CFG_STATUS);	
}

float Get_Temp_LSM6DSO(void)
{
	return (Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_TEMP_H)<<8)|Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_TEMP_L);
}

short Get_X_G_LSM6DSO(void)
{
	return ((Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_X_H_G)<<8)|Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_X_L_G));
}

short Get_Y_G_LSM6DSO(void)
{
	return ((Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_Y_H_G)<<8)|Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_Y_L_G));
}

short Get_Z_G_LSM6DSO(void)
{
	return ((Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_Z_H_G)<<8)|Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_Z_L_G));
}

short Get_X_A_LSM6DSO(void)
{
	return ((Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_X_H_A)<<8)|Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_X_L_A));
}

short Get_Y_A_LSM6DSO(void)
{
	return ((Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_Y_H_A)<<8)|Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_Y_L_A));
}

short Get_Z_A_LSM6DSO(void)
{
	return ((Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_Z_H_A)<<8)|Get_Reg_LSM6DSO(LSM6DSO_ADDR_W_1, LSM6DSO_OUT_Z_L_A));
}


//发送数据到串口
void Send_Uart_LSM6DSO(void)
{	
	char str[35] = {0};
	
	send_str((uint8_t *)"<-----------START--------->\r\n");		
	sprintf(str,"G_X:%d | G_Y:%d | G_Z:%d\r\n", Get_X_G_LSM6DSO(),Get_Y_G_LSM6DSO(),Get_Z_G_LSM6DSO());
	send_str((uint8_t *)str);	
	
	sprintf(str,"A_X:%d | A_Y:%d | A_Z:%d\r\n", Get_X_A_LSM6DSO(),Get_Y_A_LSM6DSO(),Get_Z_A_LSM6DSO());
	send_str((uint8_t *)str);	

	sprintf(str,"Temp:%.2f\r\n", Get_Temp_LSM6DSO());
	send_str((uint8_t *)str);

	sprintf(str,"Who_am_i:%X\r\n",Get_WHO_AM_I_LSM6DSO());			
	send_str((uint8_t *)str);			
	send_str((uint8_t *)"<------------END---------->\r\n\n");			
}

 

 

宏定义：

#define LSM6DSO_FUNC_CFG_ACCESS	  	(0x01U)
#define LSM6DSO_PIN_CTRLs		  	(0x02U)

#define LSM6DSO_COUNTER_BDR_REG1	(0x0BU)
#define LSM6DSO_COUNTER_BDR_REG2	(0x0CU)

#define LSM6DSO_WHO_AM_I			(0x0FU)

#define LSM6DSO_CTRL1_XL			(0x10U)
#define LSM6DSO_CTRL2_G				(0x11U)
#define LSM6DSO_CTRL3_C				(0x12U)
#define LSM6DSO_CTRL4_C				(0x13U)
#define LSM6DSO_CTRL5_C				(0x14U)
#define LSM6DSO_CTRL6_G				(0x15U)
#define LSM6DSO_CTRL7_G				(0x16U)
#define LSM6DSO_CTRL8_XL			(0x17U)
#define LSM6DSO_CTRL9_XL			(0x18U)
#define LSM6DSO_CTRL10_C			(0x19U)

#define LSM6DSO_CFG_STATUS			(0x1EU)

#define LSM6DSO_TEMP_L				(0x20U)
#define LSM6DSO_TEMP_H				(0x21U)

#define LSM6DSO_OUT_X_L_G			(0x22U)
#define LSM6DSO_OUT_X_H_G			(0x23U)
#define LSM6DSO_OUT_Y_L_G			(0x24U)
#define LSM6DSO_OUT_Y_H_G			(0x25U)
#define LSM6DSO_OUT_Z_L_G			(0x26U)
#define LSM6DSO_OUT_Z_H_G			(0x27U)

#define LSM6DSO_OUT_X_L_A			(0x28U)
#define LSM6DSO_OUT_X_H_A			(0x29U)
#define LSM6DSO_OUT_Y_L_A			(0x2AU)
#define LSM6DSO_OUT_Y_H_A			(0x2BU)
#define LSM6DSO_OUT_Z_L_A			(0x2CU)
#define LSM6DSO_OUT_Z_H_A			(0x2DU)

	
/*IIC slave address write and read*/
/*SD0 connect to power supply*/
#define LSM6DSO_ADDR_W_1			0xD6U
#define LSM6DSO_ADDR_R_1			0xD7U

 

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数据输出效果：