Stm32f7 – Disco get data from IMU LSM9DS1 (SPI interface). In last post , I was show how to get data of LSM9DS1 sensor with I2C interface. In this post , I used SPI interface to get data. SPI interface is faster than I2C but more wires to connect .
Table of Contents
Stm32f7 – Disco get data from IMU LSM9DS1 (SPI interface)
LSM9DS1_DATASHEET
Connectionst.com/…nt/translations/en.DM00103319.pdf
Sensor MPU
3.3V———————–3.3V
GND———————GND
SCL———————-PI_1
SDA———————-MOSI (PB_15)
SDO_AG—————-MISO (PB_14)
CS_AG——————- PA_8
1. Pin out setting
RCC -> High speed clock -> Crystal ceramic resonator
Up system clock to 216Mhz
SPI2 ->Mode ->Full Duplex Master
PA_8->Output
2. SPI configuration
Frame format ->Motorola
Data size-> 8bit
Prescaler -> 16
3. Source generation and edition
In file Src/main.c add
/* Includes ——————————————————————*/
#include “stm32f7xx_hal.h”
#include “stm32f7xx_hal.h”
#include “stm32f7xx_hal_uart.h”
#include “stm32f7xx_hal_sdram.h”
#include “stm32f7xx_hal_ltdc.h”
#include “stm32746g_discovery.h”
#include “stm32746g_discovery_lcd.h”
#include “stm32746g_discovery_sdram.h”
#include “stm32f7xx_ll_fmc.h”
#define ACT_THS 0x04
#define ACT_DUR 0x05
#define INT_GEN_CFG_XL 0x06
#define INT_GEN_THS_X_XL 0x07
#define INT_GEN_THS_Y_XL 0x08
#define INT_GEN_THS_Z_XL 0x09
#define INT_GEN_DUR_XL 0x0A
#define REFERENCE_G 0x0B
#define INT1_CTRL 0x0C
#define INT2_CTRL 0x0D
#define WHO_AM_I_XG 0x0F
#define CTRL_REG1_G 0x10
#define CTRL_REG2_G 0x11
#define CTRL_REG3_G 0x12
#define ORIENT_CFG_G 0x13
#define INT_GEN_SRC_G 0x14
#define OUT_TEMP_L 0x15
#define OUT_TEMP_H 0x16
#define STATUS_REG_0 0x17
#define OUT_X_L_G 0x18
#define OUT_X_H_G 0x19
#define OUT_Y_L_G 0x1A
#define OUT_Y_H_G 0x1B
#define OUT_Z_L_G 0x1C
#define OUT_Z_H_G 0x1D
#define CTRL_REG4 0x1E
#define CTRL_REG5_XL 0x1F
#define CTRL_REG6_XL 0x20
#define CTRL_REG7_XL 0x21
#define CTRL_REG8 0x22
#define CTRL_REG9 0x23
#define CTRL_REG10 0x24
#define INT_GEN_SRC_XL 0x26
#define STATUS_REG_1 0x27
#define OUT_X_L_XL 0x28
#define OUT_X_H_XL 0x29
#define OUT_Y_L_XL 0x2A
#define OUT_Y_H_XL 0x2B
#define OUT_Z_L_XL 0x2C
#define OUT_Z_H_XL 0x2D
#define FIFO_CTRL 0x2E
#define FIFO_SRC 0x2F
#define INT_GEN_CFG_G 0x30
#define INT_GEN_THS_XH_G 0x31
#define INT_GEN_THS_XL_G 0x32
#define INT_GEN_THS_YH_G 0x33
#define INT_GEN_THS_YL_G 0x34
#define INT_GEN_THS_ZH_G 0x35
#define INT_GEN_THS_ZL_G 0x36
#define INT_GEN_DUR_G 0x37
///////////////////////////////
// LSM9DS1 Magneto Registers //
///////////////////////////////
#define OFFSET_X_REG_L_M 0x05
#define OFFSET_X_REG_H_M 0x06
#define OFFSET_Y_REG_L_M 0x07
#define OFFSET_Y_REG_H_M 0x08
#define OFFSET_Z_REG_L_M 0x09
#define OFFSET_Z_REG_H_M 0x0A
#define WHO_AM_I_M 0x0F
#define CTRL_REG1_M 0x20
#define CTRL_REG2_M 0x21
#define CTRL_REG3_M 0x22
#define CTRL_REG4_M 0x23
#define CTRL_REG5_M 0x24
#define STATUS_REG_M 0x27
#define OUT_X_L_M 0x28
#define OUT_X_H_M 0x29
#define OUT_Y_L_M 0x2A
#define OUT_Y_H_M 0x2B
#define OUT_Z_L_M 0x2C
#define OUT_Z_H_M 0x2D
#define INT_CFG_M 0x30
#define INT_SRC_M 0x30
#define INT_THS_L_M 0x32
#define INT_THS_H_M 0x33
————————————————————————————
void write_data(uint8_t regedit , uint8_t data){
uint8_t cmd[1];
HAL_GPIO_WritePin (GPIOA, GPIO_PIN_8, 0);
cmd[0]= regedit&0x7f;
HAL_SPI_Transmit(&hspi2, cmd,1,0×1000);
cmd[0]=data;
HAL_SPI_Transmit(&hspi2, cmd,1,0×1000);
HAL_GPIO_WritePin (GPIOA, GPIO_PIN_8, 1);
}
uint8_t read_1data(uint8_t reg){
uint8_t data[1];
uint8_t cmd[1];
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, 0);
cmd[0]=reg|0x80;
HAL_SPI_Transmit(&hspi2, &cmd[0],1,0×1000);
cmd[0]=0x00;
HAL_SPI_TransmitReceive(&hspi2,&cmd[0], &data[0], 1,0×1000);
//HAL_SPI_TransmitReceive(&hspi2, cmd, data,1,10);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, 1);
return data[0];
}
void read_ndata(uint8_t reg,uint8_t* data,uint8_t n){
uint8_t cmd[1];
uint8_t i;
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, 0);
cmd[0]=reg|0x80;
HAL_SPI_Transmit(&hspi2, &cmd[0],1,0×1000);
for(i=0;i<n;i++){
cmd[0]=0x00;
HAL_SPI_TransmitReceive(&hspi2,&cmd[0], &data[i], 1,0×1000);
}
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, 1);
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_SPI2_Init();
BSP_LCD_Init();
BSP_LCD_LayerDefaultInit(0, LCD_FB_START_ADDRESS);
BSP_LCD_LayerDefaultInit(1, LCD_FB_START_ADDRESS+(BSP_LCD_GetXSize()*BSP_LCD_GetYSize()*4));
BSP_LCD_DisplayOn();
BSP_LCD_SelectLayer(0);
BSP_LCD_Clear(LCD_COLOR_BLACK);
BSP_LCD_SelectLayer(1);
BSP_LCD_Clear(LCD_COLOR_BLACK);
BSP_LCD_SetFont(&LCD_DEFAULT_FONT);
BSP_LCD_SetBackColor(LCD_COLOR_WHITE);
BSP_LCD_SetTextColor(LCD_COLOR_DARKBLUE);
HAL_Delay(100);
write_data(CTRL_REG1_G, 0x00);
write_data(CTRL_REG1_G, 0xC0);// 952 Hz OD, 33 Hz cutoff
write_data(CTRL_REG2_G, 0x00);
write_data(CTRL_REG3_G, 0x00);
write_data(CTRL_REG4, 0x38);
write_data(CTRL_REG5_XL, 0x38);
write_data(CTRL_REG6_XL, 0x00);
write_data(CTRL_REG7_XL, 0x00);
HAL_Delay(100);
double gyro[3],acc[3];
uint8_t data[6];
int i=0;
char buffer[30];
int16_t gyro_data[3],acc_data[3];
while (1)
{
BSP_LCD_Clear(LCD_COLOR_WHITE);
read_ndata(0x18,data,6);
for(i=0;i<3;i++){
gyro_data[i]=(data[2*i+1]<<8)|data[2*i];
gyro[i]=(double)gyro_data[i]*0.00875;
}
sprintf(buffer,”vx=%2.2lf vy=%2.2lf vz=%2.2lf”, gyro[0],gyro[1],gyro[2]);
BSP_LCD_DisplayStringAt(0, LINE(3), (uint8_t *)”GyroScope:”, LEFT_MODE);
BSP_LCD_DisplayStringAt(0, LINE(4), (uint8_t *)buffer, LEFT_MODE);
read_ndata(0x28,data,6);
for(i=0;i<3;i++){
acc_data[i]=(data[2*i+1]<<8)|data[2*i];
acc[i]=(double)acc_data[i]/16384*9.8;
}
sprintf(buffer,”ax=%2.2lf ay=%2.2lf az=%2.2lf”, acc[0],acc[1],acc[2]);
BSP_LCD_DisplayStringAt(0, LINE(7), (uint8_t *)”Accelerometer:”, LEFT_MODE);
BSP_LCD_DisplayStringAt(0, LINE(8), (uint8_t *)buffer, LEFT_MODE);
HAL_Delay(200);
BSP_LCD_Clear(LCD_COLOR_WHITE);
}
}
Video:
How to connect the LSM9DS1 to a STM32F769i Discovery board?
Based on LSM9DS1 datasheet you can connect this module to STM32F769 Discovery board through SPI or I2C interfaces.
