RTL8762DW测试ICM 20618六轴传感器

本实验是I2C测试模式，没有配置初始化就简单的测试6轴数据。
1、 CS接高电平。
2、 要看看板子上的AD0脚

经过测试AD0为低电平。
AD0=0		1101000
AD0=1		1101001

I2C配置代码

    //===========================================================
    Pad_Config(I2C0_SCL_PIN, PAD_PINMUX_MODE, PAD_IS_PWRON, PAD_PULL_UP, PAD_OUT_ENABLE, PAD_OUT_HIGH);
    Pad_Config(I2C0_SDA_PIN, PAD_PINMUX_MODE, PAD_IS_PWRON, PAD_PULL_UP, PAD_OUT_ENABLE, PAD_OUT_HIGH);

    Pinmux_Config(I2C0_SCL_PIN, I2C0_CLK);
    Pinmux_Config(I2C0_SDA_PIN, I2C0_DAT);


    //============================================================
    RCC_PeriphClockCmd(APBPeriph_I2C0, APBPeriph_I2C0_CLOCK, ENABLE);

    I2C_InitTypeDef  I2C_InitStruct;
    I2C_StructInit(&I2C_InitStruct);

    I2C_InitStruct.I2C_ClockSpeed    = 10000;
    I2C_InitStruct.I2C_DeviveMode    = I2C_DeviveMode_Master;
    I2C_InitStruct.I2C_AddressMode   = I2C_AddressMode_7BIT;
    I2C_InitStruct.I2C_SlaveAddress  = ICM_20618_ADDR;
    I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;

    I2C_Init(I2C0, &I2C_InitStruct);
    I2C_Cmd(I2C0, ENABLE);

配置ICM20618

    uint8_t i2c_writeBuf[16] = {0x00, 0x00, 0x66, 0x68, 0x77, 0x88};
    uint8_t i2c_readBuf[16] = {0};

    i2c_writeBuf[0] = ICM20618_WHO_AM_I;
    I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
    DBG_DIRECT("icm 20618 who am i :0x%x",i2c_readBuf[0]);



    i2c_writeBuf[0] = ICM20618_REG_BANK_SEL;
    I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
    DBG_DIRECT("ICM20618_REG_BANK_SEL:0x%x",i2c_readBuf[0]);

    i2c_writeBuf[0] = ICM20618_LP_CONFIG;
    i2c_writeBuf[1] = 0xff;
    I2C_MasterWrite(I2C0, i2c_writeBuf, 2);


    i2c_writeBuf[0] = ICM20618_LP_CONFIG;
    I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
    DBG_DIRECT("ICM20618_LP_CONFIG:0x%x",i2c_readBuf[0]);


    i2c_writeBuf[0] = ICM20618_PWR_MGMT_1;
    i2c_writeBuf[1] = 0x01;
    I2C_MasterWrite(I2C0, i2c_writeBuf, 2);


    i2c_writeBuf[0] = ICM20618_PWR_MGMT_1;
    I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
    DBG_DIRECT("ICM20618_PWR_MGMT_1:0x%x",i2c_readBuf[0]);

测试代码

    int16_t xaccel,yaccel,zaccel;
    int16_t xgyros,ygyros,zgyros;
#define DELAY_TIME   (100000*100)
    while(1)
    {

#if 1
        //x=============================================================
        i2c_writeBuf[0] = ACCEL_XOUT_H;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        xaccel = (i2c_readBuf[0]<<8);

        i2c_writeBuf[0] = ACCEL_XOUT_L;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        xaccel |= i2c_readBuf[0];




        //y=============================================================
        i2c_writeBuf[0] = ACCEL_YOUT_H;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        yaccel = (i2c_readBuf[0]<<8);

        i2c_writeBuf[0] = ACCEL_YOUT_L;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        yaccel |= i2c_readBuf[0];




        //z=============================================================
        i2c_writeBuf[0] = ACCEL_ZOUT_H;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        zaccel = (i2c_readBuf[0]<<8);

        i2c_writeBuf[0] = ACCEL_ZOUT_L;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        zaccel |= i2c_readBuf[0];



        //x g=============================================================
        i2c_writeBuf[0] = GYRO_XOUT_H;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        xgyros = (i2c_readBuf[0]<<8);


        i2c_writeBuf[0] = GYRO_XOUT_L;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        xgyros |= i2c_readBuf[0];


        //y g=============================================================
        i2c_writeBuf[0] = GYRO_YOUT_H;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        ygyros = (i2c_readBuf[0]<<8);


        i2c_writeBuf[0] = GYRO_YOUT_L;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        ygyros |= i2c_readBuf[0];


        //z g=============================================================
        i2c_writeBuf[0] = GYRO_ZOUT_H;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        zgyros = (i2c_readBuf[0]<<8);


        i2c_writeBuf[0] = GYRO_ZOUT_L;
        I2C_RepeatRead(I2C0, i2c_writeBuf, 1, i2c_readBuf, 1);
        zgyros |= i2c_readBuf[0];
        DBG_DIRECT("accel:%d-%d-%d====gyros:%d-%d-%d",xaccel,yaccel,zaccel,xgyros,ygyros,zgyros);


        for (uint32_t i = 0; i < DELAY_TIME; i++);
#endif
    }

配置文件

#define ICM20618_WHO_AM_I			0x00

#define ICM20618_LP_CONFIG			0x05

#define ICM20618_PWR_MGMT_1 		0x06


#define ICM20618_REG_BANK_SEL		0x7F


#define ACCEL_XOUT_H				0X2D
#define ACCEL_XOUT_L				0X2E

#define ACCEL_YOUT_H				0X2F
#define ACCEL_YOUT_L				0X30

#define ACCEL_ZOUT_H				0X31
#define ACCEL_ZOUT_L				0X32

#define GYRO_XOUT_H					0X33
#define GYRO_XOUT_L					0X34

#define GYRO_YOUT_H					0X35
#define GYRO_YOUT_L					0X36

#define GYRO_ZOUT_H					0X37
#define GYRO_ZOUT_L					0X38