[求助] 关于LSM6DSM传感器驱动，求助

xieyj 2017-10-9 20:03 楼主

我司项目现在用的传感器是LSM6DSM，在MTK2523平台上使用，I2C已经调通可以读写寄存器，可以读到chip ID。现在的问题是读不到ACC+GYO三轴的数据，串口打印的都是0.使用的代码是论坛上下载的LSM6DSL_ver1.8中的ReadData.C。按照LSM6DSL_ver1.8中的ReadData.C去配置xl Output Data Rate和gyro Output Data Rate，Enable Acc Block Data Update都没配置成功，读寄存器的数据都是0.现我做了个试验，直接对CTRL1_XL赋值27 二进制：00011011。直接对CTRL2_G 赋值34二进制： 00100010，按照规格书所讲的是使能了这两个寄存器，应该可以输出数据，但是串口打印出来的数据却都是0。现在对于怎么调通这个驱动没有头绪了，没有方向修改，请求帮助，指点，感谢！附上我修改的代码

icm30630.c (2017-10-9 20:02 上传)

8.17 KB, 下载次数: 41

lsm6dsl_reg.c (2017-10-9 20:02 上传)

150.4 KB, 下载次数: 30

lsm6dsl_reg.h (2017-10-9 20:02 上传)

46.8 KB, 下载次数: 27

回复评论（32）

沙发 le062

最近写的一份驱动，核心逻辑60行，其中大部分还是废话。

#ifndef __LSM6DS3_H_INCLUDED__
#define __LSM6DS3_H_INCLUDED__
#include "i2c_bus.h"
struct lsm6ds3_info_t
{
struct i2c_bus_t *i2c_bus;
uint8_t i2c_addr;
// private
uint8_t error;
struct vsfsm_t xfer_sm;
struct vsfsm_pt_t xfer_pt;
};
void lsm6ds3_init(struct lsm6ds3_info_t *info);
#endif // __LSM6DS3_H_INCLUDED__

#include "vsf.h"
#include "usrapp.h"
#define LSM6DS3_ACC_GYRO_FUNC_CFG_ACCESS 0X01
#define LSM6DS3_ACC_GYRO_SENSOR_SYNC_TIME 0X04
#define LSM6DS3_ACC_GYRO_FIFO_CTRL1 0X06
#define LSM6DS3_ACC_GYRO_FIFO_CTRL2 0X07
#define LSM6DS3_ACC_GYRO_FIFO_CTRL3 0X08
#define LSM6DS3_ACC_GYRO_FIFO_CTRL4 0X09
#define LSM6DS3_ACC_GYRO_FIFO_CTRL5 0X0A
#define LSM6DS3_ACC_GYRO_ORIENT_CFG_G 0X0B
#define LSM6DS3_ACC_GYRO_INT1_CTRL 0X0D
#define LSM6DS3_ACC_GYRO_INT2_CTRL 0X0E
#define LSM6DS3_ACC_GYRO_WHO_AM_I_REG 0X0F
#define LSM6DS3_ACC_GYRO_CTRL1_XL 0X10
#define LSM6DS3_ACC_GYRO_CTRL2_G 0X11
#define LSM6DS3_ACC_GYRO_CTRL3_C 0X12
#define LSM6DS3_ACC_GYRO_CTRL4_C 0X13
#define LSM6DS3_ACC_GYRO_CTRL5_C 0X14
#define LSM6DS3_ACC_GYRO_CTRL6_G 0X15
#define LSM6DS3_ACC_GYRO_CTRL7_G 0X16
#define LSM6DS3_ACC_GYRO_CTRL8_XL 0X17
#define LSM6DS3_ACC_GYRO_CTRL9_XL 0X18
#define LSM6DS3_ACC_GYRO_CTRL10_C 0X19
#define LSM6DS3_ACC_GYRO_MASTER_CONFIG 0X1A
#define LSM6DS3_ACC_GYRO_WAKE_UP_SRC 0X1B
#define LSM6DS3_ACC_GYRO_TAP_SRC 0X1C
#define LSM6DS3_ACC_GYRO_D6D_SRC 0X1D
#define LSM6DS3_ACC_GYRO_STATUS_REG 0X1E
#define LSM6DS3_ACC_GYRO_OUT_TEMP_L 0X20
#define LSM6DS3_ACC_GYRO_OUT_TEMP_H 0X21
#define LSM6DS3_ACC_GYRO_OUTX_L_G 0X22
#define LSM6DS3_ACC_GYRO_OUTX_H_G 0X23
#define LSM6DS3_ACC_GYRO_OUTY_L_G 0X24
#define LSM6DS3_ACC_GYRO_OUTY_H_G 0X25
#define LSM6DS3_ACC_GYRO_OUTZ_L_G 0X26
#define LSM6DS3_ACC_GYRO_OUTZ_H_G 0X27
#define LSM6DS3_ACC_GYRO_OUTX_L_XL 0X28
#define LSM6DS3_ACC_GYRO_OUTX_H_XL 0X29
#define LSM6DS3_ACC_GYRO_OUTY_L_XL 0X2A
#define LSM6DS3_ACC_GYRO_OUTY_H_XL 0X2B
#define LSM6DS3_ACC_GYRO_OUTZ_L_XL 0X2C
#define LSM6DS3_ACC_GYRO_OUTZ_H_XL 0X2D
#define LSM6DS3_ACC_GYRO_SENSORHUB1_REG 0X2E
#define LSM6DS3_ACC_GYRO_SENSORHUB2_REG 0X2F
#define LSM6DS3_ACC_GYRO_SENSORHUB3_REG 0X30
#define LSM6DS3_ACC_GYRO_SENSORHUB4_REG 0X31
#define LSM6DS3_ACC_GYRO_SENSORHUB5_REG 0X32
#define LSM6DS3_ACC_GYRO_SENSORHUB6_REG 0X33
#define LSM6DS3_ACC_GYRO_SENSORHUB7_REG 0X34
#define LSM6DS3_ACC_GYRO_SENSORHUB8_REG 0X35
#define LSM6DS3_ACC_GYRO_SENSORHUB9_REG 0X36
#define LSM6DS3_ACC_GYRO_SENSORHUB10_REG 0X37
#define LSM6DS3_ACC_GYRO_SENSORHUB11_REG 0X38
#define LSM6DS3_ACC_GYRO_SENSORHUB12_REG 0X39
#define LSM6DS3_ACC_GYRO_FIFO_STATUS1 0X3A
#define LSM6DS3_ACC_GYRO_FIFO_STATUS2 0X3B
#define LSM6DS3_ACC_GYRO_FIFO_STATUS3 0X3C
#define LSM6DS3_ACC_GYRO_FIFO_STATUS4 0X3D
#define LSM6DS3_ACC_GYRO_FIFO_DATA_OUT_L 0X3E
#define LSM6DS3_ACC_GYRO_FIFO_DATA_OUT_H 0X3F
#define LSM6DS3_ACC_GYRO_TIMESTAMP0_REG 0X40
#define LSM6DS3_ACC_GYRO_TIMESTAMP1_REG 0X41
#define LSM6DS3_ACC_GYRO_TIMESTAMP2_REG 0X42
#define LSM6DS3_ACC_GYRO_TIMESTAMP_L 0X49
#define LSM6DS3_ACC_GYRO_TIMESTAMP_H 0X4A
#define LSM6DS3_ACC_GYRO_STEP_COUNTER_L 0X4B
#define LSM6DS3_ACC_GYRO_STEP_COUNTER_H 0X4C
#define LSM6DS3_ACC_GYRO_SENSORHUB13_REG 0X4D
#define LSM6DS3_ACC_GYRO_SENSORHUB14_REG 0X4E
#define LSM6DS3_ACC_GYRO_SENSORHUB15_REG 0X4F
#define LSM6DS3_ACC_GYRO_SENSORHUB16_REG 0X50
#define LSM6DS3_ACC_GYRO_SENSORHUB17_REG 0X51
#define LSM6DS3_ACC_GYRO_SENSORHUB18_REG 0X52
#define LSM6DS3_ACC_GYRO_FUNC_SRC 0X53
#define LSM6DS3_ACC_GYRO_TAP_CFG1 0X58
#define LSM6DS3_ACC_GYRO_TAP_THS_6D 0X59
#define LSM6DS3_ACC_GYRO_INT_DUR2 0X5A
#define LSM6DS3_ACC_GYRO_WAKE_UP_THS 0X5B
#define LSM6DS3_ACC_GYRO_WAKE_UP_DUR 0X5C
#define LSM6DS3_ACC_GYRO_FREE_FALL 0X5D
#define LSM6DS3_ACC_GYRO_MD1_CFG 0X5E
#define LSM6DS3_ACC_GYRO_MD2_CFG 0X5F
#define VSFSM_EVT_LSM6DS3_XFER_DONE (VSFSM_EVT_USER_LOCAL + 1)
#define VSFSM_EVT_LSM6DS3_POLL (VSFSM_EVT_USER_LOCAL + 2)
static void lsm6ds3_callback(void *param, int32_t err)
{
struct lsm6ds3_info_t *info = param;
if (err == 0)
info->error = 0;
else
info->error++;
vsfsm_post_evt_pending(&info->xfer_sm, VSFSM_EVT_LSM6DS3_XFER_DONE);
}
static vsf_err_t lsm6ds3_thread(struct vsfsm_pt_t *pt, vsfsm_evt_t evt)
{
struct lsm6ds3_info_t *info = pt->user_data;
struct i2c_bus_t *i2c_bus = info->i2c_bus;
vsfsm_pt_begin(pt);
vsfsm_pt_delay(pt, 100);
// IC probe
vsfhal_i2c_config_cb(i2c_bus->index, info, lsm6ds3_callback);
i2c_bus->msg[0].flag = VSFHAL_I2C_WRITE;
i2c_bus->msg[0].buf = i2c_bus->temp;
i2c_bus->msg[0].len = 2;
i2c_bus->temp[0] = LSM6DS3_ACC_GYRO_FUNC_CFG_ACCESS;
i2c_bus->temp[1] = 0x0;
do
{
vsfhal_i2c_xfer(i2c_bus->index, info->i2c_addr, i2c_bus->msg, 1);
vsfsm_pt_wfe(pt, VSFSM_EVT_LSM6DS3_XFER_DONE);
} while (info->error && (info->error < 3));
if (info->error)
return VSFERR_FAIL;
// Enable BDU and IF_INC
i2c_bus->temp[0] = LSM6DS3_ACC_GYRO_CTRL3_C;
i2c_bus->temp[1] = 0x44;
vsfhal_i2c_xfer(i2c_bus->index, info->i2c_addr, i2c_bus->msg, 1);
vsfsm_pt_wfe(pt, VSFSM_EVT_LSM6DS3_XFER_DONE);
// Disable FIFO
i2c_bus->temp[0] = LSM6DS3_ACC_GYRO_FIFO_CTRL5;
i2c_bus->temp[1] = 0x0;
vsfhal_i2c_xfer(i2c_bus->index, info->i2c_addr, i2c_bus->msg, 1);
vsfsm_pt_wfe(pt, VSFSM_EVT_LSM6DS3_XFER_DONE);
// Set rate: 416Hz; FS_XL: +- 8G;
i2c_bus->temp[0] = LSM6DS3_ACC_GYRO_CTRL1_XL;
i2c_bus->temp[1] = (0x3 << 2) | (0x6 << 4);
vsfhal_i2c_xfer(i2c_bus->index, info->i2c_addr, i2c_bus->msg, 1);
vsfsm_pt_wfe(pt, VSFSM_EVT_LSM6DS3_XFER_DONE);
// Set rate: 416Hz; FS_G: 2000;
i2c_bus->temp[0] = LSM6DS3_ACC_GYRO_CTRL2_G;
i2c_bus->temp[1] = (0x3 << 2) | (0x6 << 4);
vsfhal_i2c_xfer(i2c_bus->index, info->i2c_addr, i2c_bus->msg, 1);
vsfsm_pt_wfe(pt, VSFSM_EVT_LSM6DS3_XFER_DONE);
// Read data
i2c_bus->msg[0].len = 1;
i2c_bus->temp[0] = LSM6DS3_ACC_GYRO_OUTX_L_G;
i2c_bus->msg[1].flag = VSFHAL_I2C_READ;
i2c_bus->msg[1].buf = i2c_bus->temp + 4;
i2c_bus->msg[1].len = 12;
vsftimer_create(pt->sm, 4, -1, VSFSM_EVT_LSM6DS3_POLL);
do
{
vsfsm_pt_wfe(pt, VSFSM_EVT_LSM6DS3_POLL);
vsfhal_i2c_xfer(i2c_bus->index, info->i2c_addr, i2c_bus->msg, 2);
vsfsm_pt_wfe(pt, VSFSM_EVT_LSM6DS3_XFER_DONE);
gyro_acc_data_input(i2c_bus->msg[1].buf, 12);
} while (1);
vsfsm_pt_end(pt);
return VSFERR_NONE;
}
void lsm6ds3_init(struct lsm6ds3_info_t *info)
{
info->xfer_pt.thread = lsm6ds3_thread;
info->xfer_pt.user_data = info;
vsfsm_pt_init(&info->xfer_sm, &info->xfer_pt);
}

要666

点赞 2017-10-9 20:12

板凳 xieyj

大概看了下这份代码结构和我的代码差异较大啊

点赞 2017-10-10 09:36

4楼 dcexpert

ID可以读取，说明通信是好的，那问题多半还在参数设置上了。如果有条件，可以抓取I2C的数据和波形看看，看有没有异常。

另外也可以试试micropython，用mpy调试传感器是最方便的。

点赞 2017-10-10 10:17

5楼 xieyj

引用: dcexpert 发表于 2017-10-10 10:17
ID可以读取，说明通信是好的，那问题多半还在参数设置上了。如果有条件，可以抓取I2C的数据和波形看看，看 ...

直接对CTRL1_XL和CTRL2_G赋值，I2C抓取的波形都是和我设置的数值是对应上的，没有异常。可能ST驱动代码需要改，但不知道怎么改才能通。

点赞 2017-10-10 11:33

6楼 littleshrimp

读取WHO_AM_I（0x0F)得到的值是0x6A对吗？

在写好配置寄存器后把数据再读出来对比过没？

下边是SensorTile中配置LSM6DSM的函数你参考一下

/**
* [url=home.php?mod=space&uid=159083]@brief[/url] Initialize the LSM6DSM gyroscope sensor
* @param handle the device handle
* @retval COMPONENT_OK in case of success
* @retval COMPONENT_ERROR in case of failure
*/
static DrvStatusTypeDef LSM6DSM_G_Init( DrvContextTypeDef *handle )
{
GYRO_Data_t *pData = ( GYRO_Data_t * )handle->pData;
LSM6DSM_G_Data_t *pComponentData = ( LSM6DSM_G_Data_t * )pData->pComponentData;
LSM6DSM_Combo_Data_t *comboData = pComponentData->comboData;
if ( LSM6DSM_Check_WhoAmI( handle ) == COMPONENT_ERROR )
{
return COMPONENT_ERROR;
}
/* Enable register address automatically incremented during a multiple byte
access with a serial interface. */
if ( LSM6DSM_ACC_GYRO_W_IF_Addr_Incr( (void *)handle, LSM6DSM_ACC_GYRO_IF_INC_ENABLED ) == MEMS_ERROR )
{
return COMPONENT_ERROR;
}
/* Enable BDU */
if ( LSM6DSM_ACC_GYRO_W_BDU( (void *)handle, LSM6DSM_ACC_GYRO_BDU_BLOCK_UPDATE ) == MEMS_ERROR )
{
return COMPONENT_ERROR;
}
/* FIFO mode selection */
if ( LSM6DSM_ACC_GYRO_W_FIFO_MODE( (void *)handle, LSM6DSM_ACC_GYRO_FIFO_MODE_BYPASS ) == MEMS_ERROR )
{
return COMPONENT_ERROR;
}
/* Select default output data rate. */
pComponentData->Previous_ODR = 104.0f;
/* Output data rate selection - power down */
if ( LSM6DSM_ACC_GYRO_W_ODR_G( (void *)handle, LSM6DSM_ACC_GYRO_ODR_G_POWER_DOWN ) == MEMS_ERROR )
{
return COMPONENT_ERROR;
}
/* Full scale selection. */
if ( LSM6DSM_G_Set_FS( handle, FS_HIGH ) == COMPONENT_ERROR )
{
return COMPONENT_ERROR;
}
comboData->isGyroInitialized = 1;
handle->isInitialized = 1;
return COMPONENT_OK;
}

读取函数

/**
* @brief Get the LSM6DSM gyroscope sensor axes
* @param handle the device handle
* @param angular_velocity pointer where the values of the axes are written
* @retval COMPONENT_OK in case of success
* @retval COMPONENT_ERROR in case of failure
*/
static DrvStatusTypeDef LSM6DSM_G_Get_Axes( DrvContextTypeDef *handle, SensorAxes_t *angular_velocity )
{
int16_t dataRaw[3];
float sensitivity = 0;
/* Read raw data from LSM6DSM output register. */
if ( LSM6DSM_G_Get_Axes_Raw( handle, dataRaw ) == COMPONENT_ERROR )
{
return COMPONENT_ERROR;
}
/* Get LSM6DSM actual sensitivity. */
if ( LSM6DSM_G_Get_Sensitivity( handle, &sensitivity ) == COMPONENT_ERROR )
{
return COMPONENT_ERROR;
}
/* Calculate the data. */
angular_velocity->AXIS_X = ( int32_t )( dataRaw[0] * sensitivity );
angular_velocity->AXIS_Y = ( int32_t )( dataRaw[1] * sensitivity );
angular_velocity->AXIS_Z = ( int32_t )( dataRaw[2] * sensitivity );
return COMPONENT_OK;
}

在读取前执行LSM6DSM_G_Sensor_Enable函数

/**
* @brief Enable the LSM6DSM gyroscope sensor
* @param handle the device handle
* @retval COMPONENT_OK in case of success
* @retval COMPONENT_ERROR in case of failure
*/
static DrvStatusTypeDef LSM6DSM_G_Sensor_Enable( DrvContextTypeDef *handle )
{
GYRO_Data_t *pData = ( GYRO_Data_t * )handle->pData;
LSM6DSM_G_Data_t *pComponentData = ( LSM6DSM_G_Data_t * )pData->pComponentData;
/* Check if the component is already enabled */
if ( handle->isEnabled == 1 )
{
return COMPONENT_OK;
}
/* Output data rate selection. */
if ( LSM6DSM_G_Set_ODR_Value_When_Enabled( handle, pComponentData->Previous_ODR ) == COMPONENT_ERROR )
{
return COMPONENT_ERROR;
}
handle->isEnabled = 1;
return COMPONENT_OK;
}

LSM6DSM官方驱动

lsm6dsm.rar (33.65 KB)
(下载次数: 92, 2017-10-10 13:13 上传)

SensorTile中包含LSM6DSM的全部代码，工程对应于STSW-STLKT01_V1.3.1\Projects\SensorTile\Applications\DataLog

en.stsw-stlkt01 1.3.1.zip (8.01 MB)
(下载次数: 160, 2017-10-10 13:14 上传)

虾扯蛋，蛋扯虾，虾扯蛋扯虾

点赞 2017-10-10 13:15

7楼 yujie2510

能读到正确的 Who_AM_I 寄存器值，只能说明I2C总线是通的，I2C单字节读取是正确的，但还不能确保写操作是正确的。建议初始化后，将CTRL1_XL 和CTRL2_G寄存器都读出来看看，确定赋值成功，再看输出寄存器。如果赋值不成功，就应该检查I2C信号是否有按照芯片要求输出了。

点赞 2017-10-10 13:42

8楼 xieyj

引用: yujie2510 发表于 2017-10-10 13:42
能读到正确的 Who_AM_I 寄存器值，只能说明I2C总线是通的，I2C单字节读取是正确的，但还不能确保写操作是正 ...

是初始化没成功，I2C赋值和我示波器抓出来的数据不对，串口打印的数据也不对。应该是没有赋值成功

点赞 2017-10-10 14:43

9楼 xieyj

引用: littleshrimp 发表于 2017-10-10 13:15
读取WHO_AM_I（0x0F)得到的值是0x6A对吗？

在写好配置寄存器后把数据再读出来对比过没？

下边是Sen ...

CHIP ID读出来的数据是正确的是6A。写进去的值和我读寄存器的值是不对的。应该是赋值没赋值对。

点赞 2017-10-10 14:45

10楼 xieyj

引用: littleshrimp 发表于 2017-10-10 13:15
读取WHO_AM_I（0x0F)得到的值是0x6A对吗？

在写好配置寄存器后把数据再读出来对比过没？

下边是Sen ...

CHIP ID读出来的数据是正确的是6A。写进去的值和我读寄存器的值是不对的。应该是赋值没赋值对。

点赞 2017-10-10 14:45

11楼 littleshrimp

1、"直接对CTRL1_XL和CTRL2_G赋值，I2C抓取的波形都是和我设置的数值是对应上的，没有异常。"
2、"是初始化没成功，I2C赋值和我示波器抓出来的数据不对，串口打印的数据也不对。应该是没有赋值成功"

如果是第二种就要重点检查你的通信，波形不对是哪里不对，除了读取WHO AM I也可以试试读取其它初始值非零的寄存器，比如CTRL3_C，CTRL9_XL，看与数据手册是否一至(要在器件复位后读取）

虾扯蛋，蛋扯虾，虾扯蛋扯虾

点赞 2017-10-10 15:11

12楼 xieyj

引用: littleshrimp 发表于 2017-10-10 15:11
1、"直接对CTRL1_XL和CTRL2_G赋值，I2C抓取的波形都是和我设置的数值是对应上的，没有异常。"
2、"是初始 ...

我现在按照此段代码进行循坏，打印LSM6DSL_CTRL3_C的寄存器的值发现读出来的值是4而不是我要的1.因为PROPERTY_ENABLE的值是1那么按照LSM6DSL_CTRL3_C寄存器理论上应该是00000001最后一位是rst.结果寄存器读出来的值是4，很费解。

点赞 2017-10-10 18:50

13楼 littleshrimp

LSM6DSM的IO电压是1.62到3.6V
看你的CH2信号电平怎么才300mV左右呢？

虾扯蛋，蛋扯虾，虾扯蛋扯虾

点赞 2017-10-10 22:21

14楼 littleshrimp

引用: xieyj 发表于 2017-10-10 18:50
我现在按照此段代码进行循坏，打印LSM6DSL_CTRL3_C的寄存器的值发现读出来的值是4而不是我要的1.因为PROP ...

"我现在按照此段代码进行循坏，打印LSM6DSL_CTRL3_C的寄存器的值发现读出来的值是4而不是我要的1.因为PROPERTY_ENABLE的值是1那么按照LSM6DSL_CTRL3_C寄存器理论上应该是00000001最后一位是rst.结果寄存器读出来的值是4，很费解。"
CTRL3_C复位后的数据应该是0b00000100(0x04)
因为如果你对CTRL3_C的SW_RESET位写入成功，器件会执行复位操作，复位后你之前所有对寄存器的写入都不存在
也就是说SW_RESET位你永远读取不到1(除非你在器件复位前把此位数据读回）

从这个数据看你的I2C读取肯定是成功的，不过还是不能保证你的写入已经成功了
你可以试试修改CTRL3_C的其它位(不要写SW_RESET位），比如BDU，然后再读取一下，看看是否写入成功