STM32L031 BMI160 陀螺仪检测到移动向单片机发送中断

开发环境：
电路板硬件：stm32L031+BMI160
软件环境：keil5.27+stm32cubemx6.2.0
开发库: HAL库

问题点：
BMI160是一个微小型的陀螺仪芯片，经过两天的调试，终于搞定了移动或晃动电路板，使BMI160芯片的INT1向单片机发出中断信号，BMI160的配置，还是挺麻烦的，特此记录一下，防止记性太差。stm32L301与BMI160 通信使用的I2C。

直接上代码：

// 0x68 << 1 = 0xD0
#define MBI160_ADDRESS 0xD0

#define AM_DEVICES_BMI160_CMD 0x7e
#define AM_DEVICES_BMI160_INT_MOTION_3 0x62
#define AM_DEVICES_BMI160_INT_MOTION_2 0x61
#define AM_DEVICES_BMI160_INT_MOTION_1 0x60
#define AM_DEVICES_BMI160_INT_MOTION_0 0x5F
#define AM_DEVICES_BMI160_INT_MAP_1 0x56
#define AM_DEVICES_BMI160_INT_MAP_0 0x55
#define AM_DEVICES_BMI160_INT_LATCH 0x54
#define AM_DEVICES_BMI160_INT_OUT_CTRL 0x53
#define AM_DEVICES_BMI160_INT_EN_2 0x52
#define AM_DEVICES_BMI160_INT_EN_1 0x51
#define AM_DEVICES_BMI160_INT_EN_0 0x50
#define AM_DEVICES_BMI160_PMU_STATUS 0x03
#define AM_DEVICES_BMI160_ERR_REG 0x02

// 写指令 buffer
uint8_t I2C_Buffer_Write[16] = {0};

// 定义变量
int gyr_x = 0, gyr_y = 0, gyr_z = 0,  \
                                  acc_x = 0, acc_y = 0, acc_z = 0;

void BMI160_Write_Reg(uint8_t reg,  uint8_t val)
{
    I2C_Buffer_Write[0] = reg ; ;
    I2C_Buffer_Write[1] = val;
    HAL_I2C_Master_Transmit(&hi2c1, MBI160_ADDRESS, I2C_Buffer_Write, 2, 1000);
	HAL_Delay(50);
	
}


void BMI160_Read_Reg(uint8_t reg, uint16_t data_len)
{    
	I2C_Buffer_Write[0] = reg;
    I2C_Buffer_Write[1] = 0x0c;

    HAL_I2C_Master_Transmit(&hi2c1, MBI160_ADDRESS, I2C_Buffer_Write, 1, 1000);

    HAL_Delay(5);
    memset(I2C_Buffer_Write, 0, sizeof(I2C_Buffer_Write));
    HAL_I2C_Master_Receive(&hi2c1, MBI160_ADDRESS, I2C_Buffer_Write, data_len, 1000);
}


// 初始化一下BMI160 若有晃动，移动，INT1 发出中断信号
void init_bmi160()
{
	uint8_t ui8Attempts = 20;
	uint8_t ui8Status = 0;
	
	// 重启 BMI160
	BMI160_Write_Reg(AM_DEVICES_BMI160_CMD, 0xB6);

	while (ui8Status != 0x24 && ui8Attempts--)
	{
		// BMI160 陀螺仪 通用模式
		BMI160_Write_Reg(AM_DEVICES_BMI160_CMD, 0x15);
	
		// BMI160 加速器 low power
		BMI160_Write_Reg(AM_DEVICES_BMI160_CMD, 0x12);
		BMI160_Read_Reg(AM_DEVICES_BMI160_PMU_STATUS, 1);
		ui8Status =	I2C_Buffer_Write[0];
		
#if GYROSCOPE_DEBUG		
		printf ("PMU_STATUS=%02Xr\n", I2C_Buffer_Write[0]);
#endif
	}

	BMI160_Read_Reg(AM_DEVICES_BMI160_ERR_REG, 1);
#if GYROSCOPE_DEBUG	
	printf ("_ERR_REG=%02X\r\n", I2C_Buffer_Write[0]);
#endif
	
	
	BMI160_Write_Reg(AM_DEVICES_BMI160_INT_MOTION_0, 0x00);
	BMI160_Write_Reg(AM_DEVICES_BMI160_INT_MOTION_1, 0x14);
	//BMI160_Write_Reg(AM_DEVICES_BMI160_INT_MOTION_2, 0xFF);
	BMI160_Write_Reg(AM_DEVICES_BMI160_INT_MOTION_3, 0x02);
	
	
	BMI160_Write_Reg(AM_DEVICES_BMI160_INT_OUT_CTRL, 0x0A);
	
	//BMI160_Write_Reg(AM_DEVICES_BMI160_INT_MAP_2, 0x07);
	//BMI160_Write_Reg(AM_DEVICES_BMI160_INT_MAP_1, 0x07);
	BMI160_Write_Reg(AM_DEVICES_BMI160_INT_MAP_0, 0x07);
	
	// INT_EN_0
	BMI160_Write_Reg(AM_DEVICES_BMI160_INT_EN_0, 0x07);
	BMI160_Write_Reg(AM_DEVICES_BMI160_INT_EN_1, 0x07);
	BMI160_Write_Reg(AM_DEVICES_BMI160_INT_EN_2, 0x07);
	
}


// 读取I2c数据。 
void i2c_read_data()
{

    HAL_Delay(100);

    I2C_Buffer_Write[0] = 0x0c;
    I2C_Buffer_Write[1] = 0x0c;

    HAL_I2C_Master_Transmit(&hi2c1, MBI160_ADDRESS, I2C_Buffer_Write, 1, 1000);

    HAL_Delay(5);
    memset(I2C_Buffer_Write, 0, sizeof(I2C_Buffer_Write));
    HAL_I2C_Master_Receive(&hi2c1, MBI160_ADDRESS, I2C_Buffer_Write, 6, 1000);

    gyr_x  = I2C_Buffer_Write[0] | (I2C_Buffer_Write[1] << 8);
    if(gyr_x > 0x7fff)
    {
        gyr_x = -(0xffff - gyr_x);
    }
    gyr_x = (gyr_x * 2000) / 0x8000;

    gyr_y  = I2C_Buffer_Write[2] | (I2C_Buffer_Write[3] << 8);
    if(gyr_y > 0x7fff)
    {
        gyr_y = -(0xffff - gyr_y);
    }

    gyr_y = (gyr_y * 2000) / 0x8000;

    gyr_z  = I2C_Buffer_Write[4] | (I2C_Buffer_Write[5] << 8);
    if(gyr_z > 0x7fff)
    {
        gyr_z = -(0xffff - gyr_z);
    }
    gyr_z = (gyr_z * 2000) / 0x8000;

#if GYROSCOPE_DEBUG
    printf("read i2c=\r\n %02x, %02x, %02x, %02x, %02x, %02x\r\n",
           I2C_Buffer_Write[0], I2C_Buffer_Write[1], I2C_Buffer_Write[2],
           I2C_Buffer_Write[3], I2C_Buffer_Write[4], I2C_Buffer_Write[5]);
    printf("gyr_x=%d, gyr_y=%d, gyr_z=%d\r\n", gyr_x, gyr_y, gyr_z);
#endif

    if (abs(gyr_z) + abs(gyr_x) + abs(gyr_y) >= 5)
    {    
#if GYROSCOPE_DEBUG
        printf("warnning REMOVE \r\n");
#endif
    }
}

参考：
https://blog.csdn.net/wangyijieonline/article/details/52925908

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