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[STM32L4+] 【STEVAL-STWINKT1B测评】4.驱动六轴陀螺仪（Ism330）

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 楼主| 电子烂人 发表于 2024-8-29 11:07 | 显示全部楼层 |阅读模式
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win, ev, TE, ISM, ST
本帖最后由 电子烂人 于 2024-8-29 11:07 编辑

#申请开发板# #申请原创# 之前的IS3DWB遇到了一些bug,在联系FAE修改。目前用polling的代码修改，识别到whoami错误。屏蔽掉这部分后只能读取到一次数据，之后会卡在循环中。
看了下nanoedge AI貌似对这个传感器不太好用，所以换ISM330传感器来采集数据1.传感器简介
ISM330DHCX是一种系统级封装器件，它具有专为工业4.0应用而量身定制的高性能3D数字加速度计和3D数字陀螺仪。加速计可选量程为±2/±4/±8/±16 g，陀螺仪可选量程为±125/±250/±500/±1000/±2000/±4000 dps，能够用在各种应用中。并且在ISM330DHCX的所有设计环节和校准方面进行了优化，实现了极高的精度、稳定性、极低噪声和完全的数据同步。
另外，ISM330DHCX还有：
  • 可编程有限状态机，处理来自加速度计、陀螺仪和一个外部传感器的数据
  • 机器学习内核
  • 智能嵌入式功能和中断：倾斜检测、自由落体、唤醒、6D/4D方向检测、单击和双击


该传感器完全可以满足工业自动化中各类电机的监测功能。
2.初始化配置：
6087266ce9252d7fca.png
基础配置和IS3DWB别无二致，只需要改一下对应的引脚即可。
8077666ce94ed2f11c.png
7831966ce9483b773c.png
3975566ce94cf8351a.png

另外INT1/INT2这两个引脚是配置传感器内部寄存器的
3024266ce94a5caa5b.png
5913866ce94aca1013.png

经询问ST的FAE，这两个引脚不配置也可以正常工作，只是工作模式固定
597366ce95b83670c.png
具体的IO配置如图：
6300466ce9bb8ce206.png
3995766ce9c1aeb422.png
3202466ce9c29abbf1.png
cube-mems包的配置同前一篇帖子，不再展示
4.代码分析：
定义加速度、陀螺仪的参数：
复制
  1. #ifndef AXIS
    

  2.   #define AXIS                          3                         /* Axis should be defined between 1 and 3 */
    

  3. #endif
    

  4. #ifndef SAMPLES
    

  5.   #define SAMPLES                       256                       /* Should be between 16 & 4096 */
    

  6. #endif
    

  7. #define MAX_FIFO_SIZE                   256                       /* The maximum number of data we can get in the FIFO is 512 but here we define max to 256 for our need */
    

  8. #define FIFO_FULL                       512                       /* FIFO full size */
    

  9. /************************************************************ Sensor type part ************************************************************/
    

  10. #define ACCELEROMETER                                             /* Could be either ACCELEROMETER or GYROSCOPE */
    

  11. /************************************************************ Sensors configuration part ************************************************************/
    

  12. #ifdef ACCELEROMETER
    

  13.   #ifndef ACCELEROMETER_ODR
    

  14.     #define ACCELEROMETER_ODR           ISM330DHCX_XL_ODR_1666Hz  /* Shoud be between ISM330DHCX_XL_ODR_12Hz5 and ISM330DHCX_XL_ODR_6667Hz */
    

  15.   #endif
    

  16.   #ifndef ACCELEROMETER_FS
    

  17.     #define ACCELEROMETER_FS            ISM330DHCX_2g             /* Should be between ISM330DHCX_2g and ISM330DHCX_8g */
    

  18.   #endif
    

  19. #else
    

  20.   #ifndef GYROSCOPE_ODR
    

  21.     #define GYROSCOPE_ODR               ISM330DHCX_GY_ODR_1666Hz  /* Shoud be between ISM330DHCX_GY_ODR_12Hz5 and ISM330DHCX_GY_ODR_6667Hz */
    

  22.   #endif
    

  23.   #ifndef GYROSCOPE_FS
    

  24.     #define GYROSCOPE_FS                ISM330DHCX_2000dps        /* Should be between ISM330DHCX_125dps and ISM330DHCX_4000dps */
    

  25.   #endif
    

  26. #endif
    

  27. /************************************************************ Datalogger / NEAI mode part ************************************************************/
    

  28. #ifndef NEAI_MODE
    

  29.   #define NEAI_MODE                     0                         /* 0: Datalogger mode, 1: NEAI functions mode */
    

  30. #endif
    

  31. #if (NEAI_MODE == 1)
    

  32.   #ifndef NEAI_LEARN_NB
    

  33.     #define NEAI_LEARN_NB               20                        /* Number of buffers to be learn by the NEAI library */
    

  34.   #endif
    

  35. #endif
定义部分

复制
  1. /* USER CODE BEGIN PV */
    

  2. static int16_t data_raw_acceleration[3];
    

  3. static int16_t data_raw_angular_rate[3];
    

  4. static uint8_t whoamI, rst;
    

  5. uint8_t neai_similarity = 0, neai_state = 0;
    

  6. volatile uint8_t drdy = 0;
    

  7. uint16_t data_left = (uint16_t) SAMPLES, number_read = 0, neai_buffer_ptr = 0, neai_cnt = 0;
    

  8. float neai_time = 0.0;
    

  9. static float neai_buffer[AXIS * SAMPLES] = {0.0};
    

  10. stmdev_ctx_t dev_ctx;
    


  11. 


  12. 

  13. /* USER CODE END PV */
初始化要用到的函数：
复制
  1. /* USER CODE BEGIN PV */
    

  2. static int16_t data_raw_acceleration[3];
    

  3. static int16_t data_raw_angular_rate[3];
    

  4. static uint8_t whoamI, rst;
    

  5. uint8_t neai_similarity = 0, neai_state = 0;
    

  6. volatile uint8_t drdy = 0;
    

  7. uint16_t data_left = (uint16_t) SAMPLES, number_read = 0, neai_buffer_ptr = 0, neai_cnt = 0;
    

  8. float neai_time = 0.0;
    

  9. static float neai_buffer[AXIS * SAMPLES] = {0.0};
    

  10. stmdev_ctx_t dev_ctx;
    


  11. 


  12. 

  13. /* USER CODE END PV */
复制
  1. /* USER CODE BEGIN PFP */
    

  2. static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp, uint16_t len);
    

  3. static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len);
    

  4. static void ism330dhcx_initialize(void);
    

  5. static void ism330dhcx_initialize_basics(void);
    

  6. static void ism330dhcx_initialize_fifo(void);
    

  7. static void ism330dhcx_get_buffer_from_fifo(uint16_t nb);
    

  8. static float ism330dhcx_convert_gyro_data_to_mdps(int16_t gyro_raw_data);
    

  9. static float ism330dhcx_convert_accel_data_to_mg(int16_t accel_raw_data);
    


  10. 

  11. /* USER CODE END PFP */
同前一篇帖子一样，定义platform
复制
  1. /* USER CODE BEGIN 1 */
    

  2.   /* Initialize mems driver interface */
    

  3.   dev_ctx.write_reg = platform_write;
    

  4.   dev_ctx.read_reg = platform_read;
    

  5.   dev_ctx.handle = &hspi3;
    

  6.   /* USER CODE END 1 */
在主循环中用FIFO采集加速度数据，并用串口打印出来。
复制
  1. while (1)
    

  2.   {
    

  3.     uint8_t wtm_flag = 0, status2 = 0;
    

  4.     uint16_t num = 0;
    

  5.     if (drdy) {
    

  6.       /* Reset data ready condition */
    

  7.       drdy = 0;
    

  8.       ism330dhcx_read_reg(&dev_ctx, ISM330DHCX_FIFO_STATUS2, &status2, 1);
    

  9.       wtm_flag = status2 >> 7;
    

  10.       if (wtm_flag) {
    

  11.         ism330dhcx_fifo_data_level_get(&dev_ctx, &num);
    

  12.         if (data_left < num) {
    

  13.           num = data_left;
    

  14.         }
    

  15.         ism330dhcx_get_buffer_from_fifo(num);
    

  16.         data_left -= num;
    

  17.         number_read += num;
    

  18.         if (data_left == 0) {
    

  19.           ism330dhcx_fifo_mode_set(&dev_ctx, ISM330DHCX_BYPASS_MODE);
    

  20. #if NEAI_MODE
    

  21.           uint32_t cycles_cnt = 0;
    

  22.           if (neai_cnt < NEAI_LEARN_NB) {
    

  23.             neai_cnt++;
    

  24.             KIN1_ResetCycleCounter();
    

  25.             neai_state = neai_anomalydetection_learn(neai_buffer);
    

  26.             cycles_cnt = KIN1_GetCycleCounter();
    

  27.             neai_time = (cycles_cnt * 1000000.0) / HAL_RCC_GetSysClockFreq();
    

  28.             printf("Learn: %d / %d. NEAI learn return: %d. Cycles counter: %ld = %.1f µs at %ld Hz.\n",
    

  29.                   neai_cnt, NEAI_LEARN_NB, neai_state, cycles_cnt, neai_time, HAL_RCC_GetSysClockFreq());
    

  30.           }
    

  31.           else {
    

  32.             KIN1_ResetCycleCounter();
    

  33.             neai_state = neai_anomalydetection_detect(neai_buffer, &neai_similarity);
    

  34.             cycles_cnt = KIN1_GetCycleCounter();
    

  35.             neai_time = (cycles_cnt * 1000000.0) / HAL_RCC_GetSysClockFreq();
    

  36.             printf("Similarity: %d / 100. NEAI detect return: %d. Cycles counter: %ld = %.1f µs at %ld Hz.\n",
    

  37.                   neai_similarity, neai_state, cycles_cnt, neai_time, HAL_RCC_GetSysClockFreq());
    

  38.           }
    

  39. #else
    

  40.           for (uint16_t i = 0; i < AXIS * SAMPLES; i++) {
    

  41.             printf("%.3f ", neai_buffer[i]);
    

  42.           }
    

  43.           printf("\n");
    

  44. #endif
    

  45.           data_left = (uint16_t) SAMPLES;
    

  46.           number_read = 0;
    

  47.           memset(neai_buffer, 0x00, AXIS * SAMPLES * sizeof(float));
    

  48.           if (SAMPLES <= MAX_FIFO_SIZE) {
    

  49.             ism330dhcx_fifo_watermark_set(&dev_ctx, (uint16_t) SAMPLES);
    

  50.           }
    

  51.           else {
    

  52.             ism330dhcx_fifo_watermark_set(&dev_ctx, (uint16_t) MAX_FIFO_SIZE);
    

  53.           }
    

  54.           ism330dhcx_fifo_mode_set(&dev_ctx, ISM330DHCX_STREAM_MODE);
    

  55.         }
    

  56.         else if (data_left < MAX_FIFO_SIZE) {
    

  57.           ism330dhcx_fifo_watermark_set(&dev_ctx, data_left);
    

  58.         }
    

  59.       }
    

  60.     }
    

  61.     /* USER CODE END WHILE */
    


  62. 

  63.     /* USER CODE BEGIN 3 */
    

  64.   }
    

  65.   /* USER CODE END 3 */
另外把串口数据打印部分重定义一下：
复制
  1. int __io_putchar(int ch)
    

  2. {
    

  3.  uint8_t c[1];
    

  4.  c[0] = ch & 0x00FF;
    

  5.  HAL_UART_Transmit(&huart2, &*c, 1, 10);
    

  6.  return ch;
    

  7. }
其他几个函数如写入，读取等直接使用例程：
复制
  1. static int32_t platform_write(void *handle, uint8_t reg, const uint8_t *bufp, uint16_t len)
    

  2. {
    

  3.   HAL_GPIO_WritePin(CS_DHC_GPIO_Port, CS_DHC_Pin, GPIO_PIN_RESET);
    

  4.   HAL_SPI_Transmit(handle, ®, 1, 1000);
    

  5.   HAL_SPI_Transmit(handle, (uint8_t*) bufp, len, 1000);
    

  6.   HAL_GPIO_WritePin(CS_DHC_GPIO_Port, CS_DHC_Pin, GPIO_PIN_SET);
    

  7.   return 0;
    

  8. }
    


  9. 

  10. /*
    

  11.  * [url=home.php?mod=space&uid=247401]@brief[/url]  Read generic device register (platform dependent)
    

  12.  *
    

  13.  * @param  handle    customizable argument. In this examples is used in
    

  14.  *                   order to select the correct sensor bus handler.
    

  15.  * @param  reg       register to read
    

  16.  * @param  bufp      pointer to buffer that store the data read
    

  17.  * @param  len       number of consecutive register to read
    

  18.  *
    

  19.  */
    

  20. static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp, uint16_t len)
    

  21. {
    

  22.   reg |= 0x80;
    

  23.   HAL_GPIO_WritePin(CS_DHC_GPIO_Port, CS_DHC_Pin, GPIO_PIN_RESET);
    

  24.   HAL_SPI_Transmit(handle, ®, 1, 1000);
    

  25.   HAL_SPI_Receive(handle, bufp, len, 1000);
    

  26.   HAL_GPIO_WritePin(CS_DHC_GPIO_Port, CS_DHC_Pin, GPIO_PIN_SET);
    

  27.   return 0;
    

  28. }
    


  29. 

  30. /*
    

  31.  * [url=home.php?mod=space&uid=247401]@brief[/url]  Initialize ISM330DHCX sensor interface
    

  32.  *
    

  33.  * @param  No
    

  34.  *
    

  35.  * [url=home.php?mod=space&uid=266161]@return[/url] No
    

  36.  *
    

  37.  */
    

  38. static void ism330dhcx_initialize()
    

  39. {
    

  40.   ism330dhcx_initialize_basics();
    

  41. #ifdef ACCELEROMETER
    

  42.   /* Accelelerometer configuration */
    

  43.   ism330dhcx_xl_data_rate_set(&dev_ctx, ACCELEROMETER_ODR);
    

  44.   ism330dhcx_xl_full_scale_set(&dev_ctx, ACCELEROMETER_FS);
    

  45. #else
    

  46.   /* Gyroscope configuration */
    

  47.   ism330dhcx_gy_data_rate_set(&dev_ctx, GYROSCOPE_ODR);
    

  48.   ism330dhcx_gy_full_scale_set(&dev_ctx, GYROSCOPE_FS);
    

  49. #endif
    

  50.   ism330dhcx_initialize_fifo();
    

  51. }
    


  52. 

  53. /*
    

  54.  * @brief  Initialize ISM330DHCX basics
    

  55.  *
    

  56.  * @param  No
    

  57.  *
    

  58.  * [url=home.php?mod=space&uid=266161]@return[/url] No
    

  59.  *
    

  60.  */
    

  61. static void ism330dhcx_initialize_basics()
    

  62. {
    

  63.   /* Check device ID */
    

  64.   whoamI = 0;
    


  65. 

  66.   do {
    

  67.     /* Wait sensor boot time */
    

  68.     HAL_Delay(10);
    

  69.     ism330dhcx_device_id_get(&dev_ctx, &whoamI);
    

  70.   } while (whoamI != ISM330DHCX_ID);
    


  71. 

  72.   /* Restore default configuration */
    

  73.   ism330dhcx_reset_set(&dev_ctx, PROPERTY_ENABLE);
    


  74. 

  75.   do {
    

  76.     ism330dhcx_reset_get(&dev_ctx, &rst);
    

  77.   } while (rst);
    


  78. 

  79.   /* Start device configuration. */
    

  80.   ism330dhcx_device_conf_set(&dev_ctx, PROPERTY_ENABLE);
    

  81. }
    


  82. 

  83. /*
    

  84.  * @brief  Initialize ISM330DHCX internal FIFO
    

  85.  *
    

  86.  * @param  No
    

  87.  *
    

  88.  * @return No
    

  89.  *
    

  90.  */
    

  91. static void ism330dhcx_initialize_fifo()
    

  92. {
    

  93. #ifdef ACCELEROMETER
    

  94.   /* Batch odr config */
    

  95.   ism330dhcx_fifo_xl_batch_set(&dev_ctx, ACCELEROMETER_ODR);
    

  96.   ism330dhcx_fifo_gy_batch_set(&dev_ctx, 0);
    

  97. #else
    

  98.   /* Batch odr config */
    

  99.   ism330dhcx_fifo_xl_batch_set(&dev_ctx, 0);
    

  100.   ism330dhcx_fifo_gy_batch_set(&dev_ctx, GYROSCOPE_ODR);
    

  101. #endif
    

  102.   /* FIFO MODE */
    

  103.   ism330dhcx_fifo_mode_set(&dev_ctx, ISM330DHCX_BYPASS_MODE);
    

  104.   HAL_Delay(10);
    

  105.   ism330dhcx_fifo_mode_set(&dev_ctx, ISM330DHCX_STREAM_MODE);
    

  106.   /* Watermark config */
    

  107.   if (SAMPLES <= MAX_FIFO_SIZE) {
    

  108.     ism330dhcx_fifo_watermark_set(&dev_ctx, (uint16_t) SAMPLES);
    

  109.   }
    

  110.   else {
    

  111.     ism330dhcx_fifo_watermark_set(&dev_ctx, (uint16_t) MAX_FIFO_SIZE);
    

  112.   }
    

  113.   uint8_t ctrl = 0x08;
    

  114.   ism330dhcx_write_reg(&dev_ctx, ISM330DHCX_INT1_CTRL, (uint8_t *) &ctrl, 1);
    

  115. }
    


  116. 

  117. /*
    

  118.  * @brief  Get accelerometer or gyroscope data from
    

  119.  *         ISM330DHCX using the internal FIFO buffer
    

  120.  *
    

  121.  * @param  No
    

  122.  *
    

  123.  * @return No
    

  124.  *
    

  125.  */
    

  126. static void ism330dhcx_get_buffer_from_fifo(uint16_t nb)
    

  127. {
    

  128.   static int16_t dummy[3];
    

  129.   ism330dhcx_fifo_tag_t reg_tag;
    

  130.   for (uint16_t i = 0; i < nb; i++) {
    

  131.     /* Read FIFO tag */
    

  132.     ism330dhcx_fifo_sensor_tag_get(&dev_ctx, ®_tag);
    

  133.     if(reg_tag == ISM330DHCX_XL_NC_TAG) {
    

  134.       memset(data_raw_acceleration, 0x00, 3 * sizeof(int16_t));
    

  135.       ism330dhcx_fifo_out_raw_get(&dev_ctx, (uint8_t *) data_raw_acceleration);
    

  136.       for(uint8_t j = 0; j < AXIS; j++) {
    

  137.         neai_buffer[(AXIS * neai_buffer_ptr) + (AXIS * i) + j] = ism330dhcx_convert_accel_data_to_mg(data_raw_acceleration[j]);
    

  138.       }
    

  139.     }
    

  140.     else if(reg_tag == ISM330DHCX_GYRO_NC_TAG) {
    

  141.       memset(data_raw_angular_rate, 0x00, 3 * sizeof(int16_t));
    

  142.       ism330dhcx_fifo_out_raw_get(&dev_ctx, (uint8_t *) data_raw_angular_rate);
    

  143.       for(uint8_t j = 0; j < AXIS; j++) {
    

  144.         neai_buffer[(AXIS * neai_buffer_ptr) + (AXIS * i) + j] = ism330dhcx_convert_gyro_data_to_mdps(data_raw_angular_rate[j]);
    

  145.       }
    

  146.     }
    

  147.     else {
    

  148.       /* Flush unused samples */
    

  149.       printf("Bad sensor tag: %d.\n", reg_tag);
    

  150.       memset(dummy, 0x00, 3 * sizeof(int16_t));
    

  151.       ism330dhcx_fifo_out_raw_get(&dev_ctx, (uint8_t *) dummy);
    

  152.     }
    

  153.   }
    

  154.   neai_buffer_ptr += nb;
    

  155.   if (neai_buffer_ptr == SAMPLES) {
    

  156.     neai_buffer_ptr = 0;
    

  157.   }
    

  158. }
    


  159. 

  160. /*
    

  161.  * @brief  Convert gyroscope raw data to milli degrees per second (mdps)
    

  162.  *
    

  163.  * @param  gyro_raw_data: which is gyroscope raw data
    

  164.  *                        depending on the full scale selected
    

  165.  *
    

  166.  * @return The converted value in milli degrees per second (mdps)
    

  167.  *
    

  168.  */
    

  169. static float ism330dhcx_convert_gyro_data_to_mdps(int16_t gyro_raw_data)
    

  170. {
    

  171.   float gyro_data_mdps = 0.0;
    

  172. #ifdef GYROSCOPE
    

  173.   switch (GYROSCOPE_FS)
    

  174.   {
    

  175.   case ISM330DHCX_125dps:
    

  176.     gyro_data_mdps = ism330dhcx_from_fs125dps_to_mdps(gyro_raw_data);
    

  177.     break;
    

  178.   case ISM330DHCX_250dps:
    

  179.     gyro_data_mdps = ism330dhcx_from_fs250dps_to_mdps(gyro_raw_data);
    

  180.     break;
    

  181.   case ISM330DHCX_500dps:
    

  182.     gyro_data_mdps = ism330dhcx_from_fs500dps_to_mdps(gyro_raw_data);
    

  183.     break;
    

  184.   case ISM330DHCX_1000dps:
    

  185.     gyro_data_mdps = ism330dhcx_from_fs1000dps_to_mdps(gyro_raw_data);
    

  186.     break;
    

  187.   case ISM330DHCX_2000dps:
    

  188.     gyro_data_mdps = ism330dhcx_from_fs2000dps_to_mdps(gyro_raw_data);
    

  189.     break;
    

  190.   case ISM330DHCX_4000dps:
    

  191.     gyro_data_mdps = ism330dhcx_from_fs4000dps_to_mdps(gyro_raw_data);
    

  192.     break;
    

  193.   default:
    

  194.     gyro_data_mdps = 0.0;
    

  195.     break;
    

  196.   }
    

  197. #endif
    

  198.   return gyro_data_mdps;
    

  199. }
    


  200. 

  201. /*
    

  202.  * @brief  Convert accelerometer raw data to milli-G' (mg)
    

  203.  *
    

  204.  * @param  accel_raw_data: which is accelerometer raw data
    

  205.  *                        depending on the full scale selected
    

  206.  *
    

  207.  * @return The converted value in milli-G' (mg)
    

  208.  *
    

  209.  */
    

  210. static float ism330dhcx_convert_accel_data_to_mg(int16_t accel_raw_data)
    

  211. {
    

  212.   float accel_data_mg = 0.0;
    

  213. #ifdef ACCELEROMETER
    

  214.   switch (ACCELEROMETER_FS)
    

  215.   {
    

  216.   case ISM330DHCX_2g:
    

  217.     accel_data_mg = ism330dhcx_from_fs2g_to_mg(accel_raw_data);
    

  218.     break;
    

  219.   case ISM330DHCX_4g:
    

  220.     accel_data_mg = ism330dhcx_from_fs4g_to_mg(accel_raw_data);
    

  221.     break;
    

  222.   case ISM330DHCX_8g:
    

  223.     accel_data_mg = ism330dhcx_from_fs8g_to_mg(accel_raw_data);
    

  224.     break;
    

  225.   case ISM330DHCX_16g:
    

  226.     accel_data_mg = ism330dhcx_from_fs16g_to_mg(accel_raw_data);
    

  227.     break;
    

  228.   default:
    

  229.     accel_data_mg = 0.0;
    

  230.     break;
    

  231.   }
    

  232. #endif
    

  233.   return accel_data_mg;
    

  234. }
代码编译，烧录到板卡中即可
5.演示
(审核通过之后上传)




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