[传感器MCU驱动例程] LSM6DSL读取数据STM32L4R5中断方式

littleshrimp 2018-6-28 22:30 楼主

使用STMems_Standard_C_drivers库
先通过lsm6dsl_pin_int1_route_set(&dev_ctx,lsm6dsl_int1_route);函数设置传感器DRDY中断输出引脚为INT1
再循环检测INT1引脚电平，产生中断后先读取状态寄存器再读取加速度、陀螺仪和温度传感器数据

/* datalog_int1 Example --------------------------------------------------------------*/
void datalog_int1(void)
{
/*
* Initialize mems driver interface
*/
dev_ctx.write_reg = platform_write;
dev_ctx.read_reg = platform_read;
dev_ctx.handle = &hi2c1;
/*
* Check device ID
*/
whoamI = 0;
lsm6dsl_device_id_get(&dev_ctx, &whoamI);
if ( whoamI != LSM6DSL_ID )
while(1); /*manage here device not found */
/*
* Restore default configuration
*/
lsm6dsl_reset_set(&dev_ctx, PROPERTY_ENABLE);
do {
lsm6dsl_reset_get(&dev_ctx, &rst);
} while (rst);
/*
* Enable Block Data Update
*/
lsm6dsl_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
/*
* Set Output Data Rate
*/
lsm6dsl_xl_data_rate_set(&dev_ctx, LSM6DSL_XL_ODR_12Hz5);
lsm6dsl_gy_data_rate_set(&dev_ctx, LSM6DSL_GY_ODR_12Hz5);
/*
* Set full scale
*/
lsm6dsl_xl_full_scale_set(&dev_ctx, LSM6DSL_2g);
lsm6dsl_gy_full_scale_set(&dev_ctx, LSM6DSL_2000dps);
/*
* Configure filtering chain(No aux interface)
*/
/* Accelerometer - analog filter */
lsm6dsl_xl_filter_analog_set(&dev_ctx, LSM6DSL_XL_ANA_BW_400Hz);
/* Accelerometer - LPF1 path ( LPF2 not used )*/
//lsm6dsl_xl_lp1_bandwidth_set(&dev_ctx, LSM6DSL_XL_LP1_ODR_DIV_4);
/* Accelerometer - LPF1 + LPF2 path */
lsm6dsl_xl_lp2_bandwidth_set(&dev_ctx, LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_100);
/* Accelerometer - High Pass / Slope path */
//lsm6dsl_xl_reference_mode_set(&dev_ctx, PROPERTY_DISABLE);
//lsm6dsl_xl_hp_bandwidth_set(&dev_ctx, LSM6DSL_XL_HP_ODR_DIV_100);
/* Gyroscope - filtering chain */
lsm6dsl_gy_band_pass_set(&dev_ctx, LSM6DSL_HP_260mHz_LP1_STRONG);
//使能加速度和陀螺仪DRDY中断
lsm6dsl_int1_route_t lsm6dsl_int1_route;
lsm6dsl_int1_route.int1_drdy_xl = 1;
lsm6dsl_int1_route.int1_drdy_g = 1;
lsm6dsl_pin_int1_route_set(&dev_ctx,lsm6dsl_int1_route);
/*
* Read samples in polling mode (no int)
*/
while(1)
{
if(int1_flag == 1)
{
int1_flag = 0;
/*
* Read output only if new value is available
*/
lsm6dsl_reg_t reg;
lsm6dsl_status_reg_get(&dev_ctx, ®.status_reg);
if (reg.status_reg.xlda)
{
/* Read magnetic field data */
memset(data_raw_acceleration.u8bit, 0x00, 3*sizeof(int16_t));
lsm6dsl_acceleration_raw_get(&dev_ctx, data_raw_acceleration.u8bit);
acceleration_mg[0] = LSM6DSL_FROM_FS_2g_TO_mg( data_raw_acceleration.i16bit[0]);
acceleration_mg[1] = LSM6DSL_FROM_FS_2g_TO_mg( data_raw_acceleration.i16bit[1]);
acceleration_mg[2] = LSM6DSL_FROM_FS_2g_TO_mg( data_raw_acceleration.i16bit[2]);
sprintf((char*)tx_buffer, "Acceleration [mg]:%4.2f\t%4.2f\t%4.2f\r\n",
acceleration_mg[0], acceleration_mg[1], acceleration_mg[2]);
tx_com( tx_buffer, strlen( (char const*)tx_buffer ) );
}
if (reg.status_reg.gda)
{
/* Read magnetic field data */
memset(data_raw_angular_rate.u8bit, 0x00, 3*sizeof(int16_t));
lsm6dsl_angular_rate_raw_get(&dev_ctx, data_raw_angular_rate.u8bit);
angular_rate_mdps[0] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[0]);
angular_rate_mdps[1] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[1]);
angular_rate_mdps[2] = LSM6DSL_FROM_FS_2000dps_TO_mdps(data_raw_angular_rate.i16bit[2]);
sprintf((char*)tx_buffer, "Angular rate [mdps]:%4.2f\t%4.2f\t%4.2f\r\n",
angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]);
tx_com( tx_buffer, strlen( (char const*)tx_buffer ) );
}
if (reg.status_reg.tda)
{
/* Read temperature data */
memset(data_raw_temperature.u8bit, 0x00, sizeof(int16_t));
lsm6dsl_temperature_raw_get(&dev_ctx, data_raw_temperature.u8bit);
temperature_degC = LSM6DSL_FROM_LSB_TO_degC( data_raw_temperature.i16bit );
sprintf((char*)tx_buffer, "Temperature [degC]:%6.2f\r\n", temperature_degC );
tx_com( tx_buffer, strlen( (char const*)tx_buffer ) );
}
}
}
}

工程文件：

stm32l4r5 datalog int1.rar (9.52 MB)
(下载次数: 302, 2018-6-28 22:30 上传)

虾扯蛋，蛋扯虾，虾扯蛋扯虾

回复评论（6）

沙发曹伟1993

能给我一个联系方式吗？扣扣或者微信都行，有几个地方没有搞懂或者你家我的扣扣921288716，谢谢

点赞 2018-7-3 16:08

板凳 littleshrimp

引用: 曹伟1993 发表于 2018-7-3 16:08
能给我一个联系方式吗？扣扣或者微信都行，有几个地方没有搞懂或者你家我的扣扣921288716，谢谢

144050柒22酒
消息不能插图片，低通，低噪声，带宽为ODR/100

虾扯蛋，蛋扯虾，虾扯蛋扯虾

点赞 2018-7-3 17:48

4楼 duguyining

请问为什么我用同样的方式利用中断读取数据，中断只能进入一次，下面是我的配置代码：

lsm9ds1_pin_int1_route_t lsm9ds1_pin_int1_route;
lsm9ds1_pin_int1_route.int1_ig_xl = 1;
lsm9ds1_pin_int1_route.int1_drdy_xl = 1;
lsm9ds1_pin_int1_route_set(&dev_ctx_imu, lsm9ds1_pin_int1_route);

点赞 2019-8-1 11:14