BMI160硬件SPI

前言：STM32L4、BMI160

学习笔记

原理图

 BMI160有两种通信模式，上电默认IIC，使用SPI模式需要CSB引脚检测到一个上升沿。在寄存器0x70中可设置spi_en位使接口永久设置成SPI。

 cubeMX配置

在spi.c中添加 

/* USER CODE BEGIN 1*/
uint8_t SPI_ReadWriteByte(uint8_t TxData)
{
  uint8_t Rxdata;
  HAL_SPI_TransmitReceive(&hspi1,&TxData,&Rxdata,1,1000);      
  return Rxdata;                                      
}
/* USER CODE END 1*/

配置传感器

void BMI160_config(void)
{
//	BMI160_Write_Reg(0x40,);
	BMI160_Write_Reg(0x41,0x08);//acc_range 8g
	BMI160_Write_Reg(0x42,0x26);//gyr_conf  25hz
	BMI160_Write_Reg(0x43,0x03);//gyr_range  250
	BMI160_Write_Reg(0x47,0xfe);//enable
	BMI160_Write_Reg(0x7e,0x11);//acc normal mode
	BMI160_Write_Reg(0x7e,0x15);//gry normal mode

    CS_HIGH;
}

 读写函数

//BMI160写
uint8_t BMI160_Write_Reg(uint8_t reg,uint8_t value)
{
    uint8_t status; 
	  CS_LOW;
    status =SPI_ReadWriteByte(reg & 0x7f);
    SPI_ReadWriteByte(value);
		CS_HIGH; 
    return(status);               
}


//BMI160读
uint8_t BMI160_Read_Reg(uint8_t reg)
{   
    uint8_t reg_val;             
	CS_LOW ;
	SPI_ReadWriteByte(reg | 0x80);  
    reg_val=SPI_ReadWriteByte(0xFF);
    CS_HIGH;	
    return(reg_val);  
}

逻辑分析仪