请教一下大家，关于库函数代码向HAL库函数移植的问题

支持者2400 · 发表于 2022-9-6 11:16:40

请教一下大家，关于库函数代码向HAL库函数移植的问题，我现在用32单片机采集LSM6DS3的数据，使用库函数已经采集成功了，但是用HAL库函数实现，输出不正常，传感器寄存器配置方面都一样，大家帮我看一下
这是库函数的

void Lsm_Init_iic(void) //IICD-òé
{
//???12.5hz,2000dps
//?????X,Y,Z?
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_CTRL2_G,0X1C);
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_CTRL10_C,0x38);
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_CTRL1_XL,0x40);
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_TAP_CFG,0x90);
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_WAKE_UP_DUR,0x00);
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_WAKE_UP_THS,0x02);
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_MD1_CFG,0x20);
//6D Orientation Configuration ¸ù¾YDèÇó×ÔDDìí¼ó ￡¨Õy·′ÃæÖμóD2îòì￡©
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_TAP_THS_6D,0x40);
LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_CTRL8_XL,0x01);
// LSM_WriteOneByte(ACC_GYRO_ADDRESS,LSM6DSL_INT1_CTRL,0x03); //¼óËù¶è¼ÆíóÂYòÇ￡¬INT1ê1Äü
}
//»ñè¡¼óËù¶èÖμ
void Lsm_Get_Rawacc(void) //IICD-òé
{
short ax,ay,az;
uint8_t buf[6];
if((LSM_ReadOneByte(ACC_GYRO_ADDRESS,LSM6DSL_STATUS_REG)&0x01)!=0) //óDêy¾Yéú3é
{
buf[0]= LSM_ReadOneByte(ACC_GYRO_ADDRESSR,LSM6DSL_OUTX_H_XL);
buf[1]= LSM_ReadOneByte(ACC_GYRO_ADDRESSR,LSM6DSL_OUTX_L_XL);
buf[2]= LSM_ReadOneByte(ACC_GYRO_ADDRESSR,LSM6DSL_OUTY_H_XL);
buf[3]= LSM_ReadOneByte(ACC_GYRO_ADDRESSR,LSM6DSL_OUTY_L_XL);
buf[4]= LSM_ReadOneByte(ACC_GYRO_ADDRESSR,LSM6DSL_OUTZ_H_XL);
buf[5]= LSM_ReadOneByte(ACC_GYRO_ADDRESSR,LSM6DSL_OUTZ_L_XL);
ax=(buf[0]<<8)|buf[1];
ay=(buf[2]<<8)|buf[3];
az=(buf[4]<<8)|buf[5];
printf(" acceleration￡o%d, %d, %d\n",ax,ay,az);
printf("\r\n");
//delay_ms(10);
}
}

复制代码

这是HAL库的，输出不对，没有反应

void LSM6DS3_init(void)
{
uint8_t pBuffer=0;
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_SET);
//High-performance model default(Controlled by CTRL6_C register)
pBuffer=0x1C;//Accelerometer ODR=104Hz,+/-16g,Anti-aliasing filter bandwidth:400Hz
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_CTRL2_G_REG,1,&pBuffer, 1, 0x2000);
pBuffer=0x38;//enable Accelerometer X,Y,Z
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_CTRL10_C_REG,1,&pBuffer, 1, 0x2000);
pBuffer=0x40;//enable accelerometer int1
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_CTRL1_XL_REG,1,&pBuffer, 1, 0x2000);
pBuffer=0x90;//Angular:104hz(Lowpass filter) 500dps(full-scale,degree/s)
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_TAP_CFG_REG,1,&pBuffer, 1, 0x2000);
pBuffer=0x00;//Gyroscope pitch axis (X.Y.Z) output enable.
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_WAKE_UP_DUR,1,&pBuffer, 1, 0x2000);
pBuffer=0x02;//enable Gyroscope int2
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_WAKE_UP_THS,1,&pBuffer, 1, 0x2000);
//WAKE_UP INTERRUPT Configuration
pBuffer=0x20;//Latched Interrupt.
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_MD1_CFG,1,&pBuffer, 1, 0x2000);
pBuffer=0x40;//Block Data Update,Register address automatically incremented
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_TAP_THS_6D,1,&pBuffer, 1, 0x2000);
pBuffer=0x01;//Block Data Update,Register address automatically incremented
HAL_I2C_Mem_Write(&hi2c1,LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW,LSM6DS3_CTRL8_XL,1,&pBuffer, 1, 0x2000);
}
void Read_Accelerometer(uint16_t Accelerometer[3])
{short ax,ay,az;
uint8_t pBuffer1[1];
uint8_t pBuffer2[1];
uint8_t pBuffer3[1];
uint8_t pBuffer4[1];
uint8_t pBuffer5[1];
uint8_t pBuffer6[1];
uint8_t pBuffer7[1];
if((HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DS3_STATUS_REG, 1, pBuffer7, 6, 0x2000)&0x01)!=0) //óDêy¾Yéú3é
{
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DS3_OUTX_H_XL, 1, pBuffer1, 6, 0x2000);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DS3_OUTX_L_XL, 1, pBuffer2, 6, 0x2000);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DS3_OUTY_H_XL, 1, pBuffer3, 6, 0x2000);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DS3_OUTY_L_XL, 1, pBuffer4, 6, 0x2000);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DS3_OUTZ_H_XL, 1, pBuffer5, 6, 0x2000);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DS3_OUTZ_L_XL, 1, pBuffer6, 6, 0x2000);
ax=(pBuffer1[0]<<8)|pBuffer2[0];
ay=(pBuffer3[0]<<8)|pBuffer4[0];
az=(pBuffer5[0]<<8)|pBuffer6[0];
printf(" acceleration￡o%d, %d, %d\n",ax,ay,az);
printf("\r\n");
}
}

复制代码

日渐秃兀 · 发表于 2022-9-6 11:28:21

IIC 你可以用逻辑分析仪夹一下看看

支持者2400 · 发表于 2022-9-6 11:44:12

日渐秃兀发表于 2022-9-6 11:28
IIC 你可以用逻辑分析仪夹一下看看

应该问题在这个地方，HAL库不知道怎么实现了

void LSM_WriteOneByte(u8 Add,u8 WriteAddr,u8 DataToWrite) //IIC′óÖ¸¶¨μØÖ·D′èëò»¸ö×Ö½ú
{
IIC_Start();
IIC_Send_Byte(Add); //·￠ËíIICμØÖ·
IIC_Wait_Ack();
IIC_Send_Byte(WriteAddr); //·￠ËíμØÖ·
IIC_Wait_Ack();
IIC_Send_Byte(DataToWrite); //·￠Ëí×Ö½ú
IIC_Wait_Ack();
IIC_Stop(); //2úéúò»¸öí￡Ö1ìõ¼t
}
u8 LSM_ReadOneByte(u8 Add,u8 ReadAddr) //IIC′óÖ¸¶¨μØÖ·¶áè¡ò»¸ö×Ö½ú
{
u8 temp=0;
IIC_Start();
IIC_Send_Byte(Add); //·￠ËíIICμØÖ·
IIC_Wait_Ack();
IIC_Send_Byte(ReadAddr); //·￠ËíμØÖ·
IIC_Wait_Ack();
IIC_Start();
IIC_Send_Byte(Add+1); //½øèë½óêÕÄ￡ê½
IIC_Wait_Ack();
temp=IIC_Read_Byte(0);
IIC_Stop(); //2úéúò»¸öí￡Ö1ìõ¼t
return temp;
}