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TEST 구성
MPU-9250 Module 에서 WHO AM I 레지스터 값을 SPI 통신을 이용하여STM32F101C8T6 에서 읽어와
PLM-100 모듈로 전송하여 결과를 확인하는 TEST 를 진행하였다.
[ MPU-9250-Refister-Map 44page ]
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#include <stdio.h>
#include "stm32f10x.h"
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define INT_PIN_CFG 0x37
#define INT_ENABLE 0x38
#define USER_CTRL 0x6A
#define PWR_MGMT_1 0x6B
#define WHO_AM_I 0x75
#define DLPF_CFG_42HZ 0x03
#define I2C_IF_DIS 0x10
#define BIT_H_RESET 0x80
#define MPU_CLK_SEL_PLLGYROX 0x01
#define MPU_CLK_SEL_PLLGYROZ 0x03
/* 00:01:93 */
volatile unsigned int msTicks;
void LED_Init(void);
void UART_Init(void);
void SPI1_Init(void);
void SPI1_SS_L(void);
void SPI1_SS_H(void);
void PLM_100_RF_SendData(unsigned char* data, int len);
void SPI1_Write_byte(uint8_t addr, uint8_t data);
void Delay(unsigned int dlyTicks);
uint8_t mpuData[2] = {0,};
void SysTick_Handler(void){
msTicks++;
}
int main(void)
{
unsigned char data[20] = {0,};
LED_Init();
UART_Init();
SPI1_Init();
SystemCoreClockUpdate();
SysTick_Config(SystemCoreClock / 10000);
GPIO_WriteBit(GPIOB, GPIO_Pin_12, Bit_SET);
while(1)
{
GPIO_WriteBit(GPIOB, GPIO_Pin_12, Bit_SET);
Delay(1000);
SPI1_Write_byte(WHO_AM_I | 0x80, 0);
sprintf((char *)data, "0x%x, 0x%x", mpuData[0], mpuData[1]);
PLM_100_RF_SendData(data, sizeof(data)-1);
GPIO_WriteBit(GPIOB, GPIO_Pin_12, Bit_RESET);
Delay(10000);
}
}
void PLM_100_RF_SendData(unsigned char* data, int len)
{
unsigned char atCmd[] = "AT+DATA=000193:";
int i;
/* AT Cmd 전송 */
for(i = 0; i < sizeof(atCmd)-1; i++){
USART_SendData(USART1, atCmd[i]);
Delay(10);
}
for(i = 0; i < len; i++){
USART_SendData(USART1, data[i]);
Delay(10);
}
USART_SendData(USART1, '\r');
}
void LED_Init(void)
{
GPIO_InitTypeDef PORTB;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
PORTB.GPIO_Pin = GPIO_Pin_12;
PORTB.GPIO_Speed = GPIO_Speed_50MHz;
PORTB.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &PORTB);
}
void UART_Init(void)
{
GPIO_InitTypeDef PORTA;
USART_InitTypeDef USART1_struct;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 |
RCC_APB2Periph_GPIOA |
RCC_APB2Periph_AFIO, ENABLE);
PORTA.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10;
PORTA.GPIO_Speed = GPIO_Speed_50MHz;
PORTA.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &PORTA);
USART_Cmd(USART1, ENABLE);
USART1_struct.USART_BaudRate = 115200;
USART1_struct.USART_WordLength = USART_WordLength_8b;
USART1_struct.USART_Parity = USART_Parity_No;
USART1_struct.USART_StopBits = USART_StopBits_1;
USART1_struct.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART1_struct.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_Init(USART1, &USART1_struct);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
NVIC_EnableIRQ(USART1_IRQn);
}
void SPI1_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
SPI_InitTypeDef SPI_InitStructure;
/* Enable GPIO clock for SPI MASTER */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA |
RCC_APB2Periph_SPI1 |
RCC_APB2Periph_AFIO, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; /* PA6 : SDO */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_7; /* PA5 : SCLK, PA7 : SDI */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; /* PA4 : nCS */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOA, &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_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(SPI1, &SPI_InitStructure);
SPI1_SS_H();
SPI_Cmd(SPI1, ENABLE);
}
void SPI1_Write_byte(uint8_t addr, uint8_t data)
{
SPI1_SS_L();
/* 레지스터 주소 전송 */
while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET);
SPI_I2S_SendData(SPI1, addr);
/* SPI 더미 데이터 수신 */
while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET);
mpuData[0] = SPI_I2S_ReceiveData(SPI1);
/* SPI 더미 데이터 송신 */
while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET);
SPI_I2S_SendData(SPI1, data);
while(SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET);
mpuData[1] = SPI_I2S_ReceiveData(SPI1);
SPI1_SS_H();
}
/* SPI LOW CLOCK */
void SPI1_SS_L(void)
{
GPIO_ResetBits(GPIOA, GPIO_Pin_4);
}
/* SPI HIGH CLOCK */
void SPI1_SS_H(void)
{
GPIO_SetBits(GPIOA, GPIO_Pin_4);
}
void USART1_IRQHandler(void)
{
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
{
if(USART_ReceiveData(USART1) != 0)
{
GPIO_WriteBit(GPIOB, GPIO_Pin_12, Bit_RESET);
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET)
{
}
}
}
}
void Delay(unsigned int dlyTicks)
{
unsigned int curTicks;
curTicks = msTicks;
while((msTicks - curTicks) < dlyTicks){
__NOP();
}
}
[TEST 결과]
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MPU-9250-Register-Map.pdf
