#include "ICM20600_i2c.h" /* STM32 I2C 快速模式 */ #define I2C_Speed 400000 //* #define I2Cx_OWN_ADDRESS7 0X0A static __IO uint32_t I2CTimeout = I2CT_LONG_TIMEOUT; static unsigned short RETRY_IN_MLSEC = 5; //若定义了这个宏，使用硬件iic，否则使用软件iic。这个宏在bsp_i2c.h文件定义 //使用硬件IIC时不能与液晶屏共用，因为FSMC的NADV与IIC1的SDA 是同一个引脚，互相影响了 #ifdef HARD_IIC /********************************* Prototypes *********************************/ unsigned long ST_Hard_Sensors_I2C_WriteRegister(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, const unsigned char *RegisterValue); unsigned long ST_Hard_Sensors_I2C_ReadRegister(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue); /******************************* Function ************************************/ #define ST_Sensors_I2C_WriteRegister ST_Hard_Sensors_I2C_WriteRegister #define ST_Sensors_I2C_ReadRegister ST_Hard_Sensors_I2C_ReadRegister static uint8_t I2C_TIMEOUT_UserCallback(uint8_t errorCode); #else #define Soft_I2C_SDA_STATE HAL_GPIO_ReadPin(Soft_I2C_PORT, Soft_I2C_SDA) #define Soft_I2C_DELAY Soft_I2C_Delay(100000) #define Soft_I2C_NOP Soft_I2C_Delay(10) #define Soft_I2C_READY 0x00 #define Soft_I2C_BUS_BUSY 0x01 #define Soft_I2C_BUS_ERROR 0x02 #define Soft_I2C_NACK 0x00 #define Soft_I2C_ACK 0x01 static void Soft_I2C_Configuration(void); static void Soft_I2C_Delay(uint32_t dly); static uint8_t Soft_I2C_START(void); static void Soft_I2C_STOP(void); static void Soft_I2C_SendACK(void); static void Soft_I2C_SendNACK(void); static uint8_t Soft_I2C_SendByte(uint8_t anbt_i2c_data); static uint8_t Soft_I2C_ReceiveByte_WithACK(void); static uint8_t Soft_I2C_ReceiveByte_WithNACK(void); static uint8_t Soft_DMP_I2C_Write(uint8_t soft_dev_addr, uint8_t soft_reg_addr, uint8_t soft_i2c_len,uint8_t *soft_i2c_data_buf); // static uint8_t Soft_DMP_I2C_Read(uint8_t soft_dev_addr, uint8_t soft_reg_addr, uint8_t soft_i2c_len,uint8_t *soft_i2c_data_buf); uint8_t Soft_DMP_I2C_Read(uint8_t soft_dev_addr, uint8_t soft_reg_addr, uint8_t soft_i2c_len,uint8_t *soft_i2c_data_buf); #define ST_Sensors_I2C_WriteRegister Soft_DMP_I2C_Write #define ST_Sensors_I2C_ReadRegister Soft_DMP_I2C_Read #endif /** * @brief 向IIC设备的寄存器连续写入数据，带超时重试设置，供mpu接口调用 * @param Address: IIC设备地址 * @param RegisterAddr: 寄存器地址 * @param RegisterLen: 要写入数据的长度 * @param RegisterValue: 要指向写入数据的指针 * @retval 0正常，非0异常 */ void Sensors_I2C_WriteRegister(uint8_t slave_addr, uint8_t reg_addr, uint8_t len, uint8_t *data_ptr) { char retries=0; int ret = 0; unsigned short retry_in_mlsec = Get_I2C_Retry(); tryWriteAgain: ret = 0; ret = ST_Sensors_I2C_WriteRegister( slave_addr, reg_addr, len, ( uint8_t *)data_ptr); if(ret && retry_in_mlsec) { if( retries++ > 4 ) return ; HAL_Delay(retry_in_mlsec); goto tryWriteAgain; } return ; } /** * @brief 向IIC设备的寄存器连续读出数据,带超时重试设置，供mpu接口调用 * @param Address: IIC设备地址 * @param RegisterAddr: 寄存器地址 * @param RegisterLen: 要读取的数据长度 * @param RegisterValue: 指向存储读出数据的指针 * @retval 0正常，非0异常 */ void Sensors_I2C_ReadRegister(uint8_t slave_addr, uint8_t reg_addr, uint8_t len, uint8_t *data_ptr) { char retries=0; int ret = 0; unsigned short retry_in_mlsec = Get_I2C_Retry(); tryReadAgain: ret = 0; ret = ST_Sensors_I2C_ReadRegister( slave_addr, reg_addr, len, ( unsigned char *)data_ptr); if(ret && retry_in_mlsec) { if( retries++ > 4 ) return ; HAL_Delay(retry_in_mlsec); goto tryReadAgain; } return ; } void I2C_Bus_Init(void) { Set_I2C_Retry(5); #ifdef HARD_IIC I2C_GPIO_Config(); I2C_Mode_Configu(); #else Soft_I2C_Configuration(); #endif } /** * @brief 设置iic重试时间 * @param ml_sec：重试的时间，单位毫秒 * @retval 重试的时间，单位毫秒 */ void Set_I2C_Retry(unsigned short ml_sec) { RETRY_IN_MLSEC = ml_sec; } /** * @brief 获取设置的iic重试时间 * @param none * @retval none */ unsigned short Get_I2C_Retry(void) { return RETRY_IN_MLSEC; } #ifdef HARD_IIC static void I2C_GPIO_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; /* 使能与 I2C1 有关的时钟 */ SENSORS_I2C_APBxClock_FUN ( SENSORS_I2C_CLK, ENABLE ); SENSORS_I2C_GPIO_APBxClock_FUN ( SENSORS_I2C_GPIO_CLK, ENABLE ); /* PB6-I2C1_SCL、PB7-I2C1_SDA*/ GPIO_InitStructure.GPIO_Pin = SENSORS_I2C_SCL_PIN; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; // 开漏输出 GPIO_Init(SENSORS_I2C_SCL_PORT, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = SENSORS_I2C_SDA_PIN; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; // 开漏输出 GPIO_Init(SENSORS_I2C_SDA_PORT, &GPIO_InitStructure); } static void I2C_Mode_Configu(void) { I2C_InitTypeDef I2C_InitStructure; /* I2C 配置 */ I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; /* 高电平数据稳定，低电平数据变化 SCL 时钟线的占空比 */ I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; I2C_InitStructure.I2C_OwnAddress1 =I2Cx_OWN_ADDRESS7; I2C_InitStructure.I2C_Ack = I2C_Ack_Enable ; /* I2C的寻址模式 */ I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; /* 通信速率 */ I2C_InitStructure.I2C_ClockSpeed = I2C_Speed; /* I2C1 初始化 */ I2C_Init(SENSORS_I2Cx, &I2C_InitStructure); /* 使能 I2C1 */ I2C_Cmd(SENSORS_I2Cx, ENABLE); } /** * @brief 向IIC设备的寄存器连续写入数据 * @param Address: IIC设备地址 * @param RegisterAddr: 寄存器地址 * @param RegisterLen: 要写入数据的长度 * @param RegisterValue: 要指向写入数据的指针 * @retval 0正常，非0异常 */ unsigned long ST_Hard_Sensors_I2C_WriteRegister(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, const unsigned char *RegisterValue) { uint32_t i=0; /* Send STRAT condition */ I2C_GenerateSTART(SENSORS_I2Cx, ENABLE); I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV5 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_MODE_SELECT)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(0); } /* Send slave address for write */ I2C_Send7bitAddress(SENSORS_I2Cx, (Address<<1), I2C_Direction_Transmitter); I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV6 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(1); } /* Send the slave's internal address to write to */ I2C_SendData(SENSORS_I2Cx, RegisterAddr); I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV8 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_BYTE_TRANSMITTED)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(2); } /* Send the byte to be written */ for( i=0; i<(RegisterLen); i++) { I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV8 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_BYTE_TRANSMITTED)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(3); } /* Prepare the register value to be sent */ I2C_SendData(SENSORS_I2Cx, RegisterValue[i]); } I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV8 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_BYTE_TRANSMITTED)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(4); } /* Send STOP condition */ I2C_GenerateSTOP(SENSORS_I2Cx, ENABLE); return 0; //正常返回0 } /** * @brief 向IIC设备的寄存器连续读出数据 * @param Address: IIC设备地址 * @param RegisterAddr: 寄存器地址 * @param RegisterLen: 要读取的数据长度 * @param RegisterValue: 指向存储读出数据的指针 * @retval 0正常，非0异常 */ unsigned long ST_Hard_Sensors_I2C_ReadRegister(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue) { I2CTimeout = I2CT_LONG_TIMEOUT; while(I2C_GetFlagStatus(SENSORS_I2Cx, I2C_FLAG_BUSY)) // Added by Najoua 27/08/2008 { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(5); } I2C_GenerateSTART(SENSORS_I2Cx, ENABLE); I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV5 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_MODE_SELECT)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(6); } /* Send slave address for write */ I2C_Send7bitAddress(SENSORS_I2Cx, (Address<<1), I2C_Direction_Transmitter); I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV6 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(7); } /* Clear EV6 by setting again the PE bit */ I2C_Cmd(SENSORS_I2Cx, ENABLE); /* Send the slave's internal address to write to */ I2C_SendData(SENSORS_I2Cx, RegisterAddr); I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV8 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_BYTE_TRANSMITTED)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(8); } /* Send STRAT condition a second time */ I2C_GenerateSTART(SENSORS_I2Cx, ENABLE); I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV5 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_MODE_SELECT)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(9); } /* Send slave address for read */ I2C_Send7bitAddress(SENSORS_I2Cx, (Address<<1), I2C_Direction_Receiver); I2CTimeout = I2CT_FLAG_TIMEOUT; /* Test on EV6 and clear it */ while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)) { if((I2CTimeout--) == 0) return I2C_TIMEOUT_UserCallback(10); } /* While there is data to be read */ while(RegisterLen) { if(RegisterLen == 1) { /* Disable Acknowledgement */ I2C_AcknowledgeConfig(SENSORS_I2Cx, DISABLE); /* Send STOP Condition */ I2C_GenerateSTOP(SENSORS_I2Cx, ENABLE); } I2CTimeout = I2CT_LONG_TIMEOUT; while(!I2C_CheckEvent(SENSORS_I2Cx, I2C_EVENT_MASTER_BYTE_RECEIVED)) { if((I2CTimeout--) == 0) { return I2C_TIMEOUT_UserCallback(10); } } { /* Read a byte from the slave */ *RegisterValue = I2C_ReceiveData(SENSORS_I2Cx); /* Point to the next location where the byte read will be saved */ RegisterValue++; /* Decrement the read bytes counter */ RegisterLen--; } } /* Enable Acknowledgement to be ready for another reception */ I2C_AcknowledgeConfig(SENSORS_I2Cx, ENABLE); return 0; //正常，返回0 } /** * @brief Basic management of the timeout situation. * @param None. * @retval None. */ static uint8_t I2C_TIMEOUT_UserCallback(uint8_t errorCode) { /*重置IIC*/ I2C_GenerateSTOP(SENSORS_I2Cx, ENABLE); I2C_SoftwareResetCmd(SENSORS_I2Cx, ENABLE); I2C_SoftwareResetCmd(SENSORS_I2Cx, DISABLE); I2C_Bus_Init(); /* Block communication and all processes */ MPU_ERROR("I2C Timeout error! error code = %d",errorCode); return 1; } #endif //endof #ifdef HARD_IIC /************************软件IIC驱动函数****************************************/ #ifndef HARD_IIC static void Soft_I2C_Configuration(void) { GPIO_InitTypeDef GPIO_InitStructure; __HAL_RCC_GPIOB_CLK_ENABLE(); // GPIO_InitStructure.Pin = Soft_I2C_SCL | Soft_I2C_SDA; //配置使用的I2C口 GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_LOW; //设置I2C口最大允许输出速度 GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD; //设置I2C为开漏输出 HAL_GPIO_Init(Soft_I2C_PORT, &GPIO_InitStructure); // Soft_I2C_SCL_1; Soft_I2C_SDA_1; Soft_I2C_DELAY; } static void Soft_I2C_Delay(uint32_t dly) { while(--dly); //dly=10: 8.75us; dly=100: 85.58 us (SYSCLK=72MHz) } static uint8_t Soft_I2C_START(void) //40us { Soft_I2C_SDA_1; Soft_I2C_SCL_1; Soft_I2C_Delay(7); if(!Soft_I2C_SDA_STATE) return Soft_I2C_BUS_BUSY; Soft_I2C_SDA_0; Soft_I2C_Delay(7); Soft_I2C_SCL_0; // Soft_I2C_Delay(2); if(Soft_I2C_SDA_STATE) return Soft_I2C_BUS_ERROR; return Soft_I2C_READY; } static void Soft_I2C_STOP(void) //30us { Soft_I2C_SDA_0; Soft_I2C_SCL_1; Soft_I2C_Delay(7); Soft_I2C_SDA_1; Soft_I2C_Delay(7); } static void Soft_I2C_SendACK(void) //30us { Soft_I2C_SDA_0; Soft_I2C_Delay(2); Soft_I2C_SCL_1; Soft_I2C_Delay(7); Soft_I2C_SCL_0; // Soft_I2C_Delay(2); } static void Soft_I2C_SendNACK(void) //30us { Soft_I2C_SDA_1; Soft_I2C_Delay(2); Soft_I2C_SCL_1; Soft_I2C_Delay(7); Soft_I2C_SCL_0; // Soft_I2C_Delay(2); } /** * @brief 等待应答信号到来 * @retval 返回值：1，接收应答失败 * 0，接收应答成功 */ uint8_t Soft_I2C_Wait_Ack(void) //20us { uint8_t ucErrTime=0; Soft_I2C_SDA_1; Soft_I2C_Delay(2); Soft_I2C_SCL_1; Soft_I2C_Delay(2); while(Soft_I2C_SDA_STATE) { ucErrTime++; if(ucErrTime>250) { Soft_I2C_STOP(); return Soft_I2C_BUS_ERROR; } } Soft_I2C_SCL_0;//时钟输出0 return 0; } static uint8_t Soft_I2C_SendByte(uint8_t soft_i2c_data) //260us { uint8_t i; Soft_I2C_SCL_0; for(i=0;i<8;i++) { if(soft_i2c_data&0x80) Soft_I2C_SDA_1; else Soft_I2C_SDA_0; soft_i2c_data<<=1; // Soft_I2C_Delay(2); // Soft_I2C_NOP; Soft_I2C_SCL_1; Soft_I2C_Delay(2); // Soft_I2C_NOP; Soft_I2C_SCL_0; Soft_I2C_Delay(2); // Soft_I2C_NOP; } return Soft_I2C_Wait_Ack(); } static uint8_t Soft_I2C_ReceiveByte_WithNACK(void) //200us { uint8_t i,soft_i2c_data; // Soft_I2C_SDA_1; Soft_I2C_SCL_0; soft_i2c_data=0; // for(i=0;i<8;i++) { Soft_I2C_SCL_1; Soft_I2C_Delay(2); soft_i2c_data<<=1; // if(Soft_I2C_SDA_STATE) soft_i2c_data|=0x01; Soft_I2C_SCL_0; Soft_I2C_Delay(2); } Soft_I2C_SendNACK(); return soft_i2c_data; } static uint8_t Soft_I2C_ReceiveByte_WithACK(void) //200us { uint8_t i,soft_i2c_data; // Soft_I2C_SDA_1; Soft_I2C_SCL_0; soft_i2c_data=0; // for(i=0;i<8;i++) { Soft_I2C_SCL_1; Soft_I2C_Delay(2); soft_i2c_data<<=1; // if(Soft_I2C_SDA_STATE) soft_i2c_data|=0x01; Soft_I2C_SCL_0; Soft_I2C_Delay(2); } Soft_I2C_SendACK(); return soft_i2c_data; } static uint8_t Soft_DMP_I2C_Write(uint8_t soft_dev_addr, uint8_t soft_reg_addr, uint8_t soft_i2c_len,uint8_t *soft_i2c_data_buf) //850us { uint8_t i, result=0; Soft_I2C_START(); result = Soft_I2C_SendByte(soft_dev_addr << 1 | 0x00); if(result != 0) return result; result = Soft_I2C_SendByte(soft_reg_addr); if(result != 0) return result; for (i=0;i