STM32F4通过SPI无法读取MPU9250磁力计

2019-07-14 16:24发布

现在正在学习mpu9250，使用STM32F4+MPU9250, 通过SPI接口方式通讯，现在已经可以正常读取加速度和陀螺仪数据，但是磁力计无法读取，根据网上资料更改的程序：http://www.amobbs.com/thread-5579616-1-1.html，  求大侠指点！！！

附上程序：

UNS8 AkWriteReg(UNS8 const regAddr, UNS8 const value)
{
      OS_ERR       err;
      UNS8 sta = TRUE, tmp;
      UNS16       retrytime = SPI_WAIT_I2C_TIME;

      SpiMpuWriteReg(I2C_SLV4_ADDR, AK8963_I2C_ADDR);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      SpiMpuWriteReg(I2C_SLV4_REG, regAddr);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      SpiMpuWriteReg(I2C_SLV4_DO, value);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      SpiMpuWriteReg(I2C_SLV4_CTRL, I2C_SLV4_EN_VAL);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      do
      {
            SpiMpuReadReg(I2C_MSTR_STA, &tmp);
            OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      }while( (--retryTime) && (0==(tmp&I2C_SLV4_DONE_VAL)) );

      if (0 == retryTime)
      {
            sta = FALSE;
      }

      return sta;
}

UNS8 AkReadReg(UNS8 const regAddr, UNS8 *const pData)
{
      OS_ERR       err;
      UNS8 sta = TRUE, tmp;
      UNS16       retryTime = SPI_WAIT_I2C_TIME;

      if (NULL == pData)
      {
            return FALSE;
      }

      SpiMpuWriteReg(I2C_SLV4_ADDR, AK8963_I2C_ADDR | SPI_MPU_READ_CMD);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      SpiMpuWriteReg(I2C_SLV4_REG, regAddr);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      SpiMpuWriteReg(I2C_SLV4_CTRL, I2C_SLV4_EN_VAL);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      do
      {
            SpiMpuReadReg(I2C_MSTR_STA, &tmp);
            OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      }while( (--retryTime) && (0==(tmp&I2C_SLV4_DONE_VAL)) );

      if (0 != retryTime)
      {
            SpiMpuReadReg(I2C_SLV4_DI, pData);
      }
      else
      {
            sta = FALSE;
      }

      return sta;
}

void Ak8963Init( void )
{
      OS_ERR             err;
      UNS8                      tmp;

      AkReadReg(AK8963_WIA, &tmp);//// ref smartImu
      if (AK8963_WIA_VAL != tmp)
      {
            tmp ++;
      }

      AkWriteReg(0x0B, 0x01);
      OSTimeDlyHMSM(0, 0, 0, 100, OS_OPT_TIME_HMSM_STRICT, &err);

      AkWriteReg(0x0A, 0x10);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      AkWriteReg(0x0A, 0x1F);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      //// for test
      AkReadReg(0x00, &sAk8963AdjData.XMagnAdj);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      AkReadReg(0x10, &sAk8963AdjData.XMagnAdj);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      AkReadReg(0x11, &sAk8963AdjData.YMagnAdj);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      AkReadReg(0x12, &sAk8963AdjData.ZMagnAdj);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      AkWriteReg(0x0A, 0x10);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      SpiMpuWriteReg(0x24, 0x5D);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      SpiMpuWriteReg(0x25, SPI_MPU_READ_CMD | AK8963_I2C_ADDR);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      SpiMpuWriteReg(0x26, 0x02);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      SpiMpuWriteReg(0x27, 0x80 | 0x08);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);

      AkWriteReg(0x0A, 0x16);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      SpiMpuWriteReg(I2C_SLV4_CTRL, 0x01);
      OSTimeDlyHMSM(0, 0, 0, 1, OS_OPT_TIME_HMSM_STRICT, &err);
      SpiMpuWriteReg(0x67, 0x81);
      OSTimeDlyHMSM(0, 0, 0, 100, OS_OPT_TIME_HMSM_STRICT, &err);
}

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