RT-Thread-英飞凌XMC7200评测 -SPIRT-Thread问答社区

英飞凌XMC7200评测 -SPI

发布于 2024-08-14 14:04:22 浏览：287 订阅该版

[tocm]

# BSP修改与SPI配置
首先在board/Kconfig里面加入SPI配置
~~~bash
menuconfig BSP_USING_SPI  
    bool "Enable SPI BUS"  
    select RT_USING_SPI  
    default n  
    if BSP_USING_SPI  
        menuconfig BSP_USING_SPI0  
            bool "Enable SPI0 BUS"  
            default n  
        menuconfig BSP_USING_SPI3  
            bool "Enable SPI3 BUS"  
            default n  
            if BSP_USING_SPI3  
                config BSP_USING_SPI3_SAMPLE  
                    bool "Enable SPI3 BUS Sample"  
                    default n  
            endif  
        menuconfig BSP_USING_SPI6  
            bool "Enable SPI6 BUS"  
            default n  
    endif
~~~
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408141359940.png)

然后在menuconfig开启即可，但是需要修改一下drv_spi.c的引脚
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408130926156.png)
引脚修改成EVK上对应的引脚即可，我这里用的是Arduino接口上的SPI，也是官方例程使用的SPI。
配置与应用代码如下所示。
~~~C
/*  
 * Copyright (c) 2006-2023, RT-Thread Development Team * * SPDX-License-Identifier: Apache-2.0 * * Change Logs: * Date           Author       Notes * 2024-05-22     LZero        first version */  
#include <rtthread.h>  
#include <rtdevice.h>  
#include "ADIS16467-2.h"  
  
#include "drv_gpio.h"  
#include "drv_spi.h"  
#include "rtdbg.h"  
  
#define DBG_LVL DBG_  
  
#define LED_PIN     GET_PIN(16, 1)  
#define LED2_PIN    GET_PIN(16,2)  
rt_thread_t IMU_thread; 
ADIS16467_T adi_imu = {0};  
  
void SPIRTTEST() {

rt_pin_mode(GET_PIN(10, 3), PIN_MODE_OUTPUT);  
    rt_kprintf("IMU Thread Start！\n");  
    struct rt_spi_configuration imu_config = {  
            .data_width=16,  
            .mode=RT_SPI_MASTER | RT_SPI_MODE_3 | RT_SPI_MSB,  
            .max_hz=1000000  
    };  
	struct rt_spi_device* imu_device = (struct rt_spi_device*)rt_malloc(sizeof(struct rt_spi_device));
    rt_spi_bus_attach_device_cspin(imu,"spi61","spi6",GET_PIN(10,3),RT_NULL);  
    struct rt_spi_device *imu = (struct rt_spi_device *) rt_device_find("spi61");  
  
    if (!imu) {  
        rt_kprintf("imu not found\n");  
    } else {

rt_kprintf("imu found\n");  
    }

rt_spi_configure(imu, &imu_config);

adi_imu.spi_device = imu;  
  
    ADIS16467_Init(&adi_imu);  
    ADIS16467_Check(&adi_imu);  
    ADIS16467_imuInfo(&adi_imu);  
    rt_kprintf("IMU ProdID : %X", adi_imu.ProdId);  
    rt_pin_mode(LED2_PIN, PIN_MODE_OUTPUT);  
    while (1) {  
        ADIS16467_Read_Temp(&adi_imu);
        ADIS16467_Read_Accel(&adi_imu);
        ADIS16467_Read_Gyro(&adi_imu);
        ADIS16467_Read_DeltaAngle(&adi_imu);

rt_kprintf("Accel X :%f Accel Y: %f Accel Z: %f \n",adi_imu.ADIS_Accel.HP_Accel_X, adi_imu.ADIS_Accel.HP_Accel_Y,adi_imu.ADIS_Accel.HP_Accel_Z);
        // adi_imu.ADIS_Gyro.HP_Gyro_X, adi_imu.ADIS_Gyro.HP_Gyro_Y, adi_imu.ADIS_Gyro.HP_Gyro_Z,
        // adi_imu.ADIS_DeltaAng.HP_DeltaAngle_X, adi_imu.ADIS_DeltaAng.HP_DeltaAngle_Y,adi_imu.ADIS_DeltaAng.HP_DeltaAngle_Z);
        rt_thread_mdelay(500);
    }  
}  
  
int main(void) {  
    spitest = rt_thread_create("spitest", SPIRTTEST, RT_NULL,  
                               RT_MAIN_THREAD_STACK_SIZE, 20, 20);  
    rt_thread_startup(spitest);  
    rt_pin_mode(LED_PIN, PIN_MODE_OUTPUT);  
    for (;;) {  
        rt_pin_write(LED_PIN, PIN_HIGH);  
        rt_thread_mdelay(500);  
        rt_pin_write(LED_PIN, PIN_LOW);  
        rt_thread_mdelay(500);  
    }
}
~~~
# 实际使用
原计划使用SPI驱动ADIS16467-2，这是一个ADI的精密陀螺仪，在STM32上已经有完整实现，计划在本次实践中使用XMC7200嵌入RTT官方BSP，但是始终无法驱动起来。sendandsend函数逻分显示是正确的，但是
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810164228.png)
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810164228.png)

RTT BSP传输波形，不知道为什么会在后面有BA0，发送的是E880。
# 波形分析
使用ST官方HAL库，ADIS16467可正常运行，驱动链接：[GitHub - WwWangGuan/ADIS16467-2: ADIS16467-2的STM32驱动程序](https://github.com/WwWangGuan/ADIS16467-2)
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810191157.png)

该函数使用的寄存器如图所示
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810191240.png)

正确的读取数据如下图所示
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810191439.png)

下图为逻分捕捉波形（rangeModel读取）
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810191415.png)

即正常波形为：Master发送5E00，从机回答07
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810191607.png)
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810191628.png)

接下来是写寄存器
 ![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810191728.png)

此函数的目的是为了在开机时重启陀螺仪（写值0x1000 0000/0x80h）
 ![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810191844.png)

那么如何写一个寄存器呢？datasheet这么说
 ![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810192129.png)
 ![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810192203.png)

![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810200227.png)

也就是说 对于每一个16位的数据，写寄存器之前先将最高位置1，然后加上寄存器地址到高八位，低八位是你要写的数据
 来看看逻辑分析仪的波形
 ![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810192726.png)

函数实现是这个样子
 ![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810192502.png)

也明显，分成三步：
 1. 地址先或一个0x80h(0x1000 0000)，因为要写寄存器。
 2. 地址左移8位，”或“上你的数据
 3. 开始通信。
## RTThread SPI设备驱动框架测试
上来就没绷住
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810204754.png)
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810204758.png)
换用rt_spi_transfer，能发出去了，但是收不到
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810205832.png)
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810205857.png)
跟ST的HAL相比，设备驱动框架无论是transfer，send还是send_and_receive都比HAL慢的多
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408121513515.png)
上面有四帧数据，~~能看出来吗~~
感觉是API调的不对，再换。
~~~C
void ADIS16467_Init(ADIS16467_T *imu) {  
//    ADI_Write_Reg(imu, GLOB_CMD_REG, 0x80); //software reset  
//    ADI_Write_Reg(imu, GLOB_CMD_REG + 1, 0x80);  
    uint16_t send[2] = {((GLOB_CMD_REG | 0x80) << 8) | 0x80, (((GLOB_CMD_REG + 1) | 0x80) << 8) | 0x80};  
    uint16_t receive[2] = {0};  
    rt_spi_send_then_recv(imu->spi_device, send, 2, receive, 2);  
    imu->K_G = 40;  
    imu->KG_Reciprocal = (float) (1 / imu->K_G);  
    rt_thread_mdelay(2000); // wait for reboot  
}
~~~
这么写之后的波形是这样的，孩子怪可怜的
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408121533643.png)
对比HAL的波形
~~~C
void ADIS16467_Init(ADIS16467_T *imu) {  
    uint16_t send[2] = {((GLOB_CMD_REG | 0x80) << 8) | 0x80, (((GLOB_CMD_REG + 1) | 0x80) << 8) | 0x80};  
    uint16_t receive[2] = {0};  
    HAL_SPI_TransmitReceive(imu->hspi, (uint8_t *) send, (uint8_t *) receive, 2, 0xFFFF); 
    imu->K_G = 40;  
    imu->KG_Reciprocal = (float) (1 / imu->K_G);  
    HAL_Delay(4000); // wait for reboot  
}
~~~
波形这个样子
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408121544664.png)
能看出来RTT跟HAL的处理方式截然不同，RTT是，我先把TX的东西发完，再收两个
但是只有这么写，波形才对，读出来的数据也是正确的
~~~C
void ADIS16467_Init(ADIS16467_T *imu) {  
    ADI_Write_Reg(imu, GLOB_CMD_REG, 0x80); //software reset  
    ADI_Write_Reg(imu, GLOB_CMD_REG + 1, 0x80);  
    imu->K_G = 40;  
    imu->KG_Reciprocal = (float) (1 / imu->K_G);  
    HAL_Delay(4000); // wait for reboot  
}

int8_t ADI_Write_Reg(ADIS16467_T *imu, uint8_t addr, uint8_t value) {  
    addr |= 0x80; //写数据的掩码  
    uint16_t Tx_tmp = (addr << 8) | value;  
    ADI_flame_TandR(imu, Tx_tmp);  
    return 0;  
}

uint16_t ADI_flame_TandR(ADIS16467_T *imu, uint16_t trans) {  
    HAL_GPIO_WritePin(imu->GPIOx, imu->GPIO_PIN, 0);  
    uint16_t result = 0;  
    static HAL_StatusTypeDef state;  
    state = HAL_SPI_TransmitReceive(imu->hspi, (uint8_t *) &trans, (uint8_t *) &result, 1, 0xFFFF);  
    if (state != HAL_OK) {  
        while (1);  
    }    HAL_GPIO_WritePin(imu->GPIOx, imu->GPIO_PIN, 1);  
    sb_delay(500);  
    return result;  
}
~~~
就是发一次，停一下再发一次。
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408121543264.png)
使用rt_transfer
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408130856658.png)
~~~C
uint16_t ADI_flame_TandR(ADIS16467_T *imu, uint16_t trans) {  
//    HAL_GPIO_WritePin(imu->GPIOx, imu->GPIO_PIN, 0);  
    uint16_t result = 0;  
//    static HAL_StatusTypeDef state;  
//    state = HAL_SPI_TransmitReceive(imu->hspi, (uint8_t *) &trans, (uint8_t *) &result, 1, 0xFFFF);  
//    if (state != HAL_OK) {  
//        while (1);  
//    }  
//    HAL_GPIO_WritePin(imu->GPIOx, imu->GPIO_PIN, 1);  
//    rt_spi_send_then_recv(imu->spi_device, &trans, 1, &result, 1);  
    rt_spi_transfer(imu->spi_device, &trans, &result, 1);  
    return result;  
}
~~~
还是慢，两次transfer时间相差15ms
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408130858604.png)
HAL对比，函数使用HAL_SPI_TransmitReceive，两次传输时间相差39$\mu s$，怪离谱的。
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408130904775.png)
尝试提升线程优先级？
~~~C
int main(void) {  
    spitest = rt_thread_create("spitest", SPIRTTEST, RT_NULL,  
                               4096, 20, 20);  
    rt_thread_startup(spitest);  
    /* set LED2 pin mode to output */  
    rt_pin_mode(LED2_PIN, PIN_MODE_OUTPUT);  
  
    while (1) {  
        rt_pin_write(LED2_PIN, PIN_HIGH);  
        rt_thread_mdelay(500);  
        rt_pin_write(LED2_PIN, PIN_LOW);  
        rt_thread_mdelay(500);  
    }}
~~~
priority改成10？试了，没用，这真的慢。
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/202408130914709.png)
换用rt_spi_transfer_message，有效
~~~C
uint16_t ADI_flame_TandR(ADIS16467_T *imu, uint16_t trans) {  
    // HAL_GPIO_WritePin(imu->GPIOx, imu->GPIO_PIN, 0);  
    uint16_t result;  
    struct rt_spi_message msg1,msg2;  
  
    msg1.send_buf    = &trans;  
    msg1.recv_buf    = &result;  
    msg1.length      = 1;  
    msg1.cs_take     = 1;  
    msg1.cs_release  = 1;  
    msg1.next        = RT_NULL;  
  
    rt_spi_transfer_message(imu->spi_device,&msg1);  
    // rt_spi_transfer(imu->spi_device,&trans,&result,2);  
    // sb_delay(200);    return result;  
}
~~~
读取成功
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/20241011210657.png)
接下来console输出加速度和角速度值（rt_krpintf输出浮点数需要安装全功能软件包），但是debug下是好使的
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/20241011211502.png)
串口输出结果
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/20241011211935.png)