ICM-42688-P 库例程

以下是使用 STM32 HAL 库编写的 ICM-42688-P 库例程，包括初始化、读取传感器数据等功能。

库文件：icm42688p.h 和 icm42688p.c

icm42688p.h：

#ifndef __ICM42688P_H
#define __ICM42688P_H

#include "stm32f1xx_hal.h"
#include <stdint.h>

#define ICM42688_SPI_HANDLE hspi1
#define ICM42688_CS_GPIO GPIOA
#define ICM42688_CS_PIN GPIO_PIN_4

typedef struct
{
    float x;
    float y;
    float z;
} ICM42688_AccData_t;

typedef struct
{
    float x;
    float y;
    float z;
} ICM42688_GyroData_t;

void ICM42688_Init(void);
void ICM42688_ReadAccData(ICM42688_AccData_t *accData);
void ICM42688_ReadGyroData(ICM42688_GyroData_t *gyroData);

#endif /* __ICM42688P_H */

icm42688p.c：

#include "icm42688p.h"

#define ICM42688_STATUS 0x2A
#define ICM42688_ACCEL_DATA_X1 0x2D
#define ICM42688_GYRO_DATA_X1 0x33

#define ICM42688_WHO_AM_I 0x75
#define ICM42688_WHO_AM_I_RESULT 0x49

#define SPI_TIMEOUT 1000

SPI_HandleTypeDef ICM42688_SPI_HANDLE;

void ICM42688_SPI_CS_LOW(void)
{
    HAL_GPIO_WritePin(ICM42688_CS_GPIO, ICM42688_CS_PIN, GPIO_PIN_RESET);
}

void ICM42688_SPI_CS_HIGH(void)
{
    HAL_GPIO_WritePin(ICM42688_CS_GPIO, ICM42688_CS_PIN, GPIO_PIN_SET);
}

uint8_t ICM42688_SPI_Transfer(uint8_t data)
{
    uint8_t rx_data;
    HAL_SPI_TransmitReceive(&ICM42688_SPI_HANDLE, &data, &rx_data, 1, SPI_TIMEOUT);
    return rx_data;
}

void ICM42688_SPI_Read(uint8_t reg_addr, uint8_t *data, uint16_t len)
{
    ICM42688_SPI_CS_LOW();
    ICM42688_SPI_Transfer(reg_addr | 0x80);
    for (uint16_t i = 0; i < len; i++)
    {
        data[i] = ICM42688_SPI_Transfer(0);
    }
    ICM42688_SPI_CS_HIGH();
}

void ICM42688_SPI_Write(uint8_t reg_addr, uint8_t data)
{
    ICM42688_SPI_CS_LOW();
    ICM42688_SPI_Transfer(reg_addr);
    ICM42688_SPI_Transfer(data);
    ICM42688_SPI_CS_HIGH();
}

uint8_t ICM42688_WHO_AM_I_Test(void)
{
    uint8_t who_am_i;
    ICM42688_SPI_Read(ICM42688_WHO_AM_I, &who_am_i, 1);
    return who_am_i == ICM42688_WHO_AM_I_RESULT;
}

void ICM42688_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    __HAL_RCC_GPIOA_CLK_ENABLE();

    ICM42688_SPI_HANDLE.Instance = SPI1;
    ICM42688_SPI_HANDLE.Init.Mode = SPI_MODE_MASTER;
    ICM42688_SPI_HANDLE.Init.Direction = SPI_DIRECTION_2LINES;
    ICM42688_SPI_HANDLE.Init.DataSize = SPI_DATASIZE_8BIT;
    ICM42688_SPI_HANDLE.Init.CLKPolarity = SPI_POLARITY_LOW;
    ICM42688_SPI_HANDLE.Init.CLKPhase = SPI_PHASE_1EDGE;
    ICM42688_SPI_HANDLE.Init.NSS = SPI_NSS_SOFT;
    ICM42688_SPI_HANDLE.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
    ICM42688_SPI_HANDLE.Init.FirstBit = SPI_FIRSTBIT_MSB;
    ICM42688_SPI_HANDLE.Init.TIMode = SPI_TIMODE_DISABLE;
    ICM42688_SPI_HANDLE.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
    ICM42688_SPI_HANDLE.Init.CRCPolynomial = 10;
    if (HAL_SPI_Init(&ICM42688_SPI_HANDLE) != HAL_OK)
    {
        Error_Handler();
    }

    GPIO_InitStruct.Pin = ICM42688_CS_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(ICM42688_CS_GPIO, &GPIO_InitStruct);

    ICM42688_SPI_CS_HIGH();
}

void ICM42688_ReadAccData(ICM42688_AccData_t *accData)
{
    uint8_t data[6];
    ICM42688_SPI_Read(ICM42688_ACCEL_DATA_X1, data, 6);

    int16_t x = (int16_t)((data[1] << 8) | data[0]);
    int16_t y = (int16_t)((data[3] << 8) | data[2]);
    int16_t z = (int16_t)((data[5] << 8) | data[4]);

    accData->x = (float)x / 16384.0;
    accData->y = (float)y / 16384.0;
    accData->z = (float)z / 16384.0;
}

void ICM42688_ReadGyroData(ICM42688_GyroData_t *gyroData)
{
    uint8_t data[6];
    ICM42688_SPI_Read(ICM42688_GYRO_DATA_X1, data, 6);

    int16_t x = (int16_t)((data[1] << 8) | data[0]);
    int16_t y = (int16_t)((data[3] << 8) | data[2]);
    int16_t z = (int16_t)((data[5] << 8) | data[4]);

    gyroData->x = (float)x / 131.0;
    gyroData->y = (float)y / 131.0;
    gyroData->z = (float)z / 131.0;
}

在您的主函数中，您可以按照以下方式使用该库：

#include "icm42688p.h"
#include <stdio.h>

int main(void)
{
    HAL_Init();
    ICM42688_Init();
    if (ICM42688_WHO_AM_I_Test())
    {
        printf("ICM-42688-P is detected.\n");
    }
    else
    {
        printf("ICM-42688-P is NOT detected.\n");
    }

    ICM42688_AccData_t accData;
    ICM42688_GyroData_t gyroData;

    while (1)
    {
        ICM42688_ReadAccData(&accData);
        printf("Acc Data: x = %.6f, y = %.6f, z = %.6f\n", accData.x, accData.y, accData.z);

        ICM42688_ReadGyroData(&gyroData);
        printf("Gyro Data: x = %.6f, y = %.6f, z = %.6f\n", gyroData.x, gyroData.y, gyroData.z);
    }
}

这样，您就可以读取 ICM-42688-P 的加速度和陀螺仪数据，并将其输出到终端。