stm32f103 spi 口读取 ICM42600 C 语言的代码

以下是基于STM32F103的SPI口读取ICM42600的C语言代码示例：

#include "stm32f10x.h"
#include "spi.h"

#define ICM42600_CS_HIGH()    GPIO_SetBits(GPIOA, GPIO_Pin_4)
#define ICM42600_CS_LOW()     GPIO_ResetBits(GPIOA, GPIO_Pin_4)

/* ICM42600 定义 */
#define ICM42600_REG_WHOAMI   0x00
#define ICM42600_REG_ACCEL_X  0x02
#define ICM42600_REG_GYRO_X   0x0C

/* SPI口定义 */
#define SPIx                    SPI1
#define SPIx_CLK                RCC_APB2Periph_SPI1
#define SPIx_GPIO               GPIOA
#define SPIx_GPIO_CLK           RCC_APB2Periph_GPIOA
#define SPIx_PIN_SCK            GPIO_Pin_5
#define SPIx_PIN_MISO           GPIO_Pin_6
#define SPIx_PIN_MOSI           GPIO_Pin_7
#define SPIx_CS_PIN             GPIO_Pin_4

void ICM42600_init(void)
{
    // 初始化SPI口
    SPI_InitTypeDef SPI_InitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;

    RCC_APB2PeriphClockCmd(SPIx_GPIO_CLK | SPIx_CLK, ENABLE);

    GPIO_InitStructure.GPIO_Pin = SPIx_PIN_SCK | SPIx_PIN_MOSI;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(SPIx_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = SPIx_PIN_MISO;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
    GPIO_Init(SPIx_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = SPIx_CS_PIN;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_Init(SPIx_GPIO, &GPIO_InitStructure);

    SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
    SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
    SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
    SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
    SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
    SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
    SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4;
    SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
    SPI_InitStructure.SPI_CRCPolynomial = 7;
    SPI_Init(SPIx, &SPI_InitStructure);

    SPI_Cmd(SPIx, ENABLE);

    ICM42600_CS_HIGH();
}

uint8_t ICM42600_read_reg(uint8_t reg_addr)
{
    uint8_t data = 0;

    ICM42600_CS_LOW();

    SPIx->DR = reg_addr | 0x80;
    while((SPIx->SR & SPI_I2S_FLAG_TXE) == RESET);
    while((SPIx->SR & SPI_I2S_FLAG_RXNE) == RESET);
    data = SPIx->DR;

    SPIx->DR = 0x00;
    while((SPIx->SR & SPI_I2S_FLAG_TXE) == RESET);
    while((SPIx->SR & SPI_I2S_FLAG_RXNE) == RESET);
    data = SPIx->DR;

    ICM42600_CS_HIGH();

    return data;
}

void ICM42600_read_accel(int16_t *accel)
{
    uint8_t data[6];

    ICM42600_CS_LOW();

    SPIx->DR = ICM42600_REG_ACCEL_X | 0x80;
    while((SPIx->SR & SPI_I2S_FLAG_TXE) == RESET);
    while((SPIx->SR & SPI_I2S_FLAG_RXNE) == RESET);
    SPIx->DR;

    for(int i=0; i<6; i++)
    {
        SPIx->DR = 0x00;
        while((SPIx->SR & SPI_I2S_FLAG_TXE) == RESET);
        while((SPIx->SR & SPI_I2S_FLAG_RXNE) == RESET);
        data[i] = SPIx->DR;
    }

    ICM42600_CS_HIGH();

    accel[0] = (int16_t)(data[1] | (data[0] << 8));
    accel[1] = (int16_t)(data[3] | (data[2] << 8));
    accel[2] = (int16_t)(data[5] | (data[4] << 8));
}

void ICM42600_read_gyro(int16_t *gyro)
{
    uint8_t data[6];

    ICM42600_CS_LOW();

    SPIx->DR = ICM42600_REG_GYRO_X | 0x80;
    while((SPIx->SR & SPI_I2S_FLAG_TXE) == RESET);
    while((SPIx->SR & SPI_I2S_FLAG_RXNE) == RESET);
    SPIx->DR;

    for(int i=0; i<6; i++)
    {
        SPIx->DR = 0x00;
        while((SPIx->SR & SPI_I2S_FLAG_TXE) == RESET);
        while((SPIx->SR & SPI_I2S_FLAG_RXNE) == RESET);
        data[i] = SPIx->DR;
    }

    ICM42600_CS_HIGH();

    gyro[0] = (int16_t)(data[1] | (data[0] << 8));
    gyro[1] = (int16_t)(data[3] | (data[2] << 8));
    gyro[2] = (int16_t)(data[5] | (data[4] << 8));
}

此代码初始化了SPI口和ICM42600设备，并提供了读取陀螺仪和加速度计数据的函数。在函数中，通过SPI口写入命令和地址来读取设备寄存器中的数据，并根据ICM42600的数据格式解析数据。