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英飞凌XMC7200评测 -SPI

发布于 2024-08-14 14:04:22 浏览：175 订阅该版

[tocm]

看的舒服点的链接，~~论坛这个格式调起来好抽象~~
https://wwwangguan.github.io/2024/08/09/qian-ru-shi-ruan-jian/rt-thread/xmc7200evk-spi/

# 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
```

![screenshot_202408141359940.png](https://oss-club.rt-thread.org/uploads/20240909/815801e062097060599b146569d5166e.png)

然后在menuconfig开启即可，但是需要修改一下drv_spi.c的引脚

![screenshot_202408130926156.png](https://oss-club.rt-thread.org/uploads/20240909/a9df0f9d7949247586d65aef41a4f724.png.webp)

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 spitest;  
ADIS16467_T adi_imu = {0};  
  
void SPIRTTEST() {  
//    LOG_D("SPIRTTEST\n");  
    rt_pin_mode(GET_PIN(10, 3), PIN_MODE_OUTPUT);  
    rt_kprintf("SPIRTTEST\n");  
    struct rt_spi_configuration imu_config = {  
            .data_width=16,  
            .mode=RT_SPI_MASTER | RT_SPI_MODE_3 | RT_SPI_MSB,  
            .max_hz=1000000  
    };  
//    rt_hw_spi_device_attach("spi6", "spi61", GET_PIN(10, 3));  
  
    struct rt_spi_device *imu = (struct rt_spi_device *) rt_device_find("spi61");  
  
    if (!imu) {  
        LOG_E("imu not found\n");  
    } else {  
//        LOG_D("imu found\n");  
        rt_kprintf("imu found\n");  
    }    
    rt_spi_bus_attach_device_cspin(imu,"spi61","spi6",GET_PIN(10,3),RT_NULL);  
    rt_spi_configure(imu, &imu_config);  
  
    adi_imu.spi_device = imu;  
  
%%     uint16_t send[1]={0x1234};  
    rt_spi_send(imu,send,1);   %%
    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) {  
        rt_pin_write(LED2_PIN, PIN_HIGH);  
        rt_thread_mdelay(500);  
        rt_pin_write(LED2_PIN, PIN_LOW);  
        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);  
    rt_kprintf("Hello World!\n");  
    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

![screenshot_Pasted image 20240810164228.png](https://oss-club.rt-thread.org/uploads/20240909/d62d91a44ca281cbce182e429cc86117.png.webp)

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)

![screenshot_Pasted image 20240810191157.png](https://oss-club.rt-thread.org/uploads/20240909/4f90909bd0879dd86db96b39bc1ed01b.png.webp)

该函数使用的寄存器如图所示
![screenshot_Pasted image 20240810191240.png](https://oss-club.rt-thread.org/uploads/20240909/cb1cf846e51a4462533929a2cfba4000.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
![screenshot_Pasted image 20240810204754.png](https://oss-club.rt-thread.org/uploads/20240909/57acd326f6e97af3b8a117ff8e4c751e.png)

![screenshot_Pasted image 20240810204758.png](https://oss-club.rt-thread.org/uploads/20240909/2a5ed789bd205486d85e92999909167a.png)

换用rt_spi_transfer，能发出去了，但是收不到

![screenshot_Pasted image 20240810205832.png](https://oss-club.rt-thread.org/uploads/20240909/283fa7cdf46c475d2da09c9c1a916886.png)

![screenshot_Pasted image 20240810205857.png](https://oss-club.rt-thread.org/uploads/20240909/37880c38d1efbc1eeef0ae27165f5e46.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
![screenshot_202408121513515.png](https://oss-club.rt-thread.org/uploads/20240909/de7c1ce5bf0f7e6388dee39b61340d04.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
![screenshot_202408121533643.png](https://oss-club.rt-thread.org/uploads/20240909/ba9a9f3c1f88a72101f97011ec3d997f.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)

# EVK板载QSPI Flash
换用QSPI，更换逻分之后再尝试
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810170117.png)

原理图如图所示，型号为S25FL512SAGMFMR10，英飞凌自己家的，参数挺好
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810170337.png)

引脚映射在下图
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810170201.png)

使用SPI0/SPI3模式
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810170802.png)

支持SFDP，这下好办了，可以直接使用RTT的SFUD
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810171424.png)

## Kconfig文件修改
添加以下内容
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810171833.png)

scons重新生成cmakelist之后提示
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810172000.png)

尝试 pkgs -Update，发现无效
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810172154.png)
尝试在menucongfig中启用对应软件包，该软件包对此报错无效，且在HAL中无法找到此文件
![](https://raw.githubusercontent.com/WwWangGuan/pics/main/Pasted%20image%2020240810180618.png)

问题：有对应的头文件，但是其实现却在drv_flash.c中，疑似官方错误，英飞凌的官方包也没有这个东西，在cmakelist中删除文件后能通过编译，但是AC6编译未能通过。