stm32 gpio口模拟三线spi协议 读写鼠标传感器adns-5050

1，H文件

/*
 * adns-5050.h
 *
 *  Created on: Sep 3, 2024
 *      Author: ll
 */

#include "main.h"

#ifndef INC_ADNS_5050_H_
#define INC_ADNS_5050_H_

#define PROD_ID                          0x00	//R
#define REV_ID                           0x01	//R
#define MOTION_ST                        0x02	//R		自上次读取是否发生了移动0为未移动，8位二进制补码
#define DELTA_X                          0x03	//R
#define DELTA_Y                          0x04	//R
#define SQUAL                            0x05	//R		表面质量0为无，最大128
#define SHUT_HI                          0x06	//R		当前帧的最大像素值
#define SHUT_LO                          0x07	//R
#define PIX_MAX                          0x08	//R
#define PIX_SUM							 0x09	//R
#define PIX_MIN                          0x0a	//R
#define PIX_GRAB                         0x0b	//R/W	连续读取361次，任何写入都将重置
#define MOUSE_CTRL                       0x0d	//R/W	最低位为0时CPI为500（默认）为1时1000；第一位为0（默认）时开启电源，1时关闭
#define MOUSE_CTRL2                      0x019	//R/W	第4位为1时，0-3位表示CPI
#define LED_DC_MODE                      0x022	//R/W	写入0x80将强制直流模式，00为自动亮度
#define CHIP_RESET						 0x3A	//W
#define PROD_ID2						 0x26	//R
#define INV_REV_ID						 0x3F	//R
#define MOTION_BURST                     0x63	//R


/*
MOUSE_CTRL2
Bit		7			6		5		4	3	2	1	0
Field Reserved Reserved Reserved RES_EN RES RES RES RES
RES_EN	= 0 Disable RES[3:0] setting.
		= 1 Enable RES[3:0] setting.
RES [3:0]	= 0b0001: 125 CPI
			= 0b0010: 250 CPI
			= 0b0011: 375 CPI
			= 0b0100: 500 CPI
			= 0b0101: 625 CPI
			= 0b0110: 750 CPI
			= 0b0111: 875 CPI
			= 0b1000: 1000 CPI
			= 0b1001: 1125 CPI
			= 0b1010: 1250 CPI
			= 0b1011: 1375 CPI
先把第4位设置为1，然后设置低3位。
*/



/*
PIX_GRAB 的读取结果顺序：
18	37	...	322	341	360
17	36	...			359
16	35				358
.
.
.
2	21
1	20
0	19				342
其0-6位为数据，最高位为有效性标志
*/


#define SPI_SCK_HIGH    HAL_GPIO_WritePin(GPIOD,GPIO_PIN_15,GPIO_PIN_SET)          /* SCK = 1 */
#define SPI_SCK_LOW     HAL_GPIO_WritePin(GPIOD,GPIO_PIN_15,GPIO_PIN_RESET)      /* SCK = 0 */

#define SPI_CS_HIGH     HAL_GPIO_WritePin(GPIOD,GPIO_PIN_12,GPIO_PIN_SET)       /* SCK = 1 */
#define SPI_CS_LOW      HAL_GPIO_WritePin(GPIOD,GPIO_PIN_12,GPIO_PIN_RESET)     /* SCK = 0 */

#define SPI_RES_HIGH     HAL_GPIO_WritePin(GPIOD,GPIO_PIN_11,GPIO_PIN_SET)       /* SCK = 1 */
#define SPI_RES_LOW      HAL_GPIO_WritePin(GPIOD,GPIO_PIN_11,GPIO_PIN_RESET)     /* SCK = 0 */


void SPI_IoInit(void);
void adns5050_reset(void);
uint8_t spi_read_register(uint8_t adr);
void spi_write_register(uint8_t adr,uint8_t value);


#endif /* INC_ADNS_5050_H_ */

2，C文件

#include "adns-5050.h"
#include "tim.h"
#include "main.h"
/*
 * gpio 模拟单线spi
 *
 * CLK     PD15
 * SDIO    PD14
 * NCS     PD12
 * RESET   PD11
 *
 * */

void SPI_IoInit(void)
{

	  GPIO_InitTypeDef GPIO_InitStruct = {0};

	  /* GPIO Ports Clock Enable */

	  __HAL_RCC_GPIOD_CLK_ENABLE();

	  /*Configure GPIO pins : PD9 PD11 PD12 PD14
	                           PD15 PD4 */
	  GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_14|GPIO_PIN_15;
	  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	  GPIO_InitStruct.Pull = GPIO_PULLUP;
	  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

	  GPIO_InitStruct.Pin = GPIO_PIN_12;
	  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
	  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
	  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

	  HAL_GPIO_WritePin(GPIOD,GPIO_PIN_11|GPIO_PIN_12|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_SET);


}


void adns5050_reset(void)  //ADNS3080 复位（高）
{
	  SPI_RES_HIGH;
	  HAL_Delay(1);
      SPI_RES_LOW;
      HAL_Delay(1);
	  SPI_RES_HIGH;
	  HAL_Delay(100);
}


void adns5050_sync(void)  //ADNS3080 复位（高）
{
      SPI_CS_HIGH;
	  HAL_Delay(2);
	  SPI_CS_LOW;
      HAL_Delay(2);
      SPI_CS_HIGH;
	  HAL_Delay(2);
}

void SPI_IoInput(void)
{
	  GPIO_InitTypeDef GPIO_InitStruct = {0};

	  GPIO_InitStruct.Pin = GPIO_PIN_14;
	  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
	  GPIO_InitStruct.Pull = GPIO_PULLUP;
	  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
	  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

}



void SPI_IoOutput(void)
{
	  GPIO_InitTypeDef GPIO_InitStruct = {0};

	  GPIO_InitStruct.Pin = GPIO_PIN_14;
	  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
	  GPIO_InitStruct.Pull = GPIO_PULLUP;
	  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
	  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

}


uint8_t spi_read_register(uint8_t adr)
{

  uint8_t temp=0;
  adr = adr&0x7f ;

  SPI_CS_LOW;
  SPI_IoOutput();

  for(char i=0;i<8;i++)
  {

  SPI_SCK_LOW;

  delay_us(1);
  if (adr & (1 << (7 - i))) {
    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
  } else {
    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
  }
  delay_us(1);
  SPI_SCK_HIGH;
  delay_us(1);
  }

  SPI_IoInput();
  delay_us(10);

  for(char i=0;i<8;i++)
  {

    SPI_SCK_LOW;
    delay_us(1);

    SPI_SCK_HIGH;
    delay_us(1);
	 if (HAL_GPIO_ReadPin(GPIOD, GPIO_PIN_14) == GPIO_PIN_SET) {
    	temp |= (1 << (7 - i));
    }

  }

  delay_us(20);

  SPI_CS_HIGH;
  return temp;

}


void spi_write_register(uint8_t adr,uint8_t value)
{

    //adr |= 0x80;
	SPI_CS_LOW;
	 HAL_Delay(2);
	for(char i=0;i<8;i++)
	{
	SPI_SCK_LOW;

	  if (adr & (1 << (7 - i))) {
		HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
	  } else {
		HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
	  }

	delay_us(1);
	SPI_SCK_HIGH;
	delay_us(1);

	}

	//delay_us(1);

	for(char i=0;i<8;i++)
	{
	 SPI_SCK_LOW;

	  if (value & (1 << (7 - i))) {
		HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
	  } else {
		HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
	  }
	delay_us(1);
	SPI_SCK_HIGH;
	delay_us(1);
	}
  delay_us(20);
  SPI_CS_HIGH;


}

3，main文件

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "iwdg.h"
#include "lwip.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "uudp.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "tcp.h"
#include "mtf02.h"
#include "adns-5050.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */


NRF_Struct nrf_struct;
NRF_LocationFlush lca;
struct tcp_pcb *client_pcb = NULL;   //这一句一定要放在里面，否则会没用

uint8_t  USART_RX_BUF[30]={0};
uint16_t USART_RX_CNT=0;
uint8_t  USART_RX_FLAG=0;

uint8_t  Net_buff[2048]={0};
uint16_t Net_buffnum=0;
uint8_t  Net_buff_FLAG=0;

uint8_t mouse_dx=0;
uint8_t mouse_dy=0;
uint8_t mousebuf=0;

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_SPI1_Init();
  MX_TIM6_Init();
  MX_USART1_UART_Init();
  MX_LWIP_Init();
  MX_USART2_UART_Init();
  MX_IWDG_Init();
  /* USER CODE BEGIN 2 */

  HAL_TIM_Base_Start_IT(&htim6);

  printf("Init SUCCESS/usart test\r\n");
 // NRF_Check();
  HAL_Delay(100);
 //TCP_Client_Init();

  udp_client_init();
  SPI_IoInit();

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	    MX_LWIP_Process();

		if(Net_buffnum!=0)  //网络接收的数据转发
		{
		 //HAL_UART_Transmit(&huart2,Net_buff,Net_buffnum,10000); //422转发

		  Net_buffnum=0;
		  adns5050_sync();
		  HAL_Delay(10);
          adns5050_reset();
         printf("spi_read_register %x\r\n", spi_read_register(PROD_ID));

		}
		 
		  mouse_dx =spi_read_register(DELTA_X);
		  HAL_Delay(1);
		  mouse_dy =spi_read_register(DELTA_Y);
		 
          sprintf(mousebuf,"vel_x: %d  vel_y: %d  \r\n",mouse_dx, mouse_dy);
          udp_client_send(mousebuf);
         
	    if(USART_RX_FLAG==1)      //接收光流传感器的数据转发给以太网
		{
	    	USART_RX_FLAG=0;
			for(int i=0;i<27;i++)
			{
			  micolink_decode(USART_RX_BUF[i]);
			}
		}

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
  HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSE, RCC_MCODIV_1);
}

/* USER CODE BEGIN 4 */


/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */