Hello
I am currently trying to get sensor values via SPI communication with mpu9250, a 9-axis sensor.
Although the following settings were made,acceleration,gyro,and temperature could be measured , but geomagnetics can not be measured.
Is the setting for acquiring geomagnetism with mpu9250 SPI correct?
#define mpu_6axis_sleve_address 0x68
#define read_six_axis 0xBB//read data
#define PWR_MGMT_1 0x6B
#define USER_CTRL 0x6A
#define AK8963_SLAVE_ADDR 0x03//mag
#define I2C_MST_CTRL 0x24
#define I2C_SLV0_ADDR 0x25
#define I2C_SLV0_REG 0x26
#define I2C_SLV0_CTRL 0x27
#define I2C_SLV0_DO 0x63
#define I2C_SLV4_ADDR 0x31
#define I2C_SLV4_REG 0x32
#define I2C_SLV4_DO 0x33
#define I2C_SLV4_CTRL 0x34
#define ACCEL_XOUT_H 0x3B
#define SMPLRT_DIV 0x19
#define GYRO_CONFIG 0x1B
#define ACCEL_CONFIG 0x1C
#define ACCEL_CONFIG2 0x1D
#define SPI_INSTANCE 1;
static const nrf_drv_spi_t spi = NRF_DRV_SPI_INSTANCE(SPI_INSTANCE);//SPI_INSTANCE (spi1)
static volatile bool spi_xfer_done; /**< Flag used to indicate that SPI instance completed the transfer. */
volatile static bool spi_tx_done = false;
void nrf_drv_mpu_spi_event_handler(const nrf_drv_spi_evt_t *evt, void * p_context)
{
if(evt->type == NRF_DRV_SPI_EVENT_DONE)
{
spi_tx_done = true;
}
else
{
// Something is wrong
}
}
void SPI_INIT()
{
uint32_t err_code;
nrf_drv_spi_config_t config = {
.sck_pin = sensor_SCK_PIN,
.mosi_pin = sensor_MOSI_PIN,
.miso_pin = sensor_MISO_PIN,
.ss_pin = sensor_CS_PIN,
.frequency = NRF_DRV_SPI_FREQ_4M,
.mode = NRF_DRV_SPI_MODE_0,
.bit_order = NRF_DRV_SPI_BIT_ORDER_MSB_FIRST
};
err_code = nrf_drv_spi_init(&spi,&config,nrf_drv_mpu_spi_event_handler,NULL);///////////////
}
void MPU9250_setMODE()
{
uint8_t reg_chipreset[2] = {PWR_MGMT_1,0x80};
nrf_drv_spi_transfer(&spi,reg_chipreset,sizeof(reg_chipreset),NULL,0);//chip reset
nrf_delay_ms(100);
uint8_t reg_wakeup[2] = {PWR_MGMT_1,0x01};
nrf_drv_spi_transfer(&spi,reg_wakeup,sizeof(reg_wakeup),NULL,0);// wake up device
uint8_t reg_userctrl[2] = {USER_CTRL,0x30};
nrf_drv_spi_transfer(&spi,reg_userctrl,sizeof(reg_userctrl),NULL,0);//Activate function
uint8_t reg_accel[2] = {ACCEL_CONFIG,0x10};
nrf_drv_spi_transfer(&spi,reg_accel,sizeof(reg_accel),NULL,0);//±8g(accel)
uint8_t reg_accel2[2] = {ACCEL_CONFIG2,0x08};
nrf_drv_spi_transfer(&spi,reg_accel2,sizeof(reg_accel2),NULL,0);//4kHz sampling
uint8_t reg_gyro[2] = {GYRO_CONFIG,0x10};
nrf_drv_spi_transfer(&spi,reg_gyro,sizeof(reg_gyro),NULL,0);//±1000dps (gyro)
uint8_t reg_mag100hz[2] = {SMPLRT_DIV,0x09};
nrf_drv_spi_transfer(&spi,reg_mag100hz,sizeof(reg_mag100hz),NULL,0);//100Hz sampling for mag
nrf_drv_spi_transfer(&spi,reg_i2cclk,sizeof(reg_i2cclk),NULL,0);//I2C clock to 400kHz
uint8_t reg_addr[2] = {I2C_SLV4_ADDR,0x0C};
nrf_drv_spi_transfer(&spi,reg_addr,sizeof(reg_addr),NULL,0);//AK8963 slave address
uint8_t reg_ctrl2[2] = {I2C_SLV4_REG,0x0B};
nrf_drv_spi_transfer(&spi,reg_ctrl2,sizeof(reg_ctrl2),NULL,0);//CTRL2
uint8_t reg_reset[2] = {I2C_SLV4_DO,0x01};
nrf_drv_spi_transfer(&spi,reg_reset,sizeof(reg_reset),NULL,0);//reset enabled
uint8_t reg_data[2] = {I2C_SLV4_CTRL,0x80};
nrf_drv_spi_transfer(&spi,reg_data,sizeof(reg_data),NULL,0);//send data
nrf_delay_ms(20);
uint8_t reg_ctrl1[2] = {I2C_SLV4_REG,0x0A};
nrf_drv_spi_transfer(&spi,reg_ctrl1,sizeof(reg_ctrl1),NULL,0);//ctrl1
uint8_t reg_100hz[2] = {I2C_SLV4_DO,0x16};
nrf_drv_spi_transfer(&spi,reg_100hz,sizeof(reg_100hz),NULL,0);//Continuous measurement mode 100Hz
nrf_drv_spi_transfer(&spi,reg_data,sizeof(reg_data),NULL,0);//send data
nrf_delay_ms(20);
uint8_t reg_ak8963[2] = {I2C_SLV0_ADDR,0x8C};
nrf_drv_spi_transfer(&spi,reg_ak8963,sizeof(reg_ak8963),NULL,0);//AK8963 data read
uint8_t reg_hxl[2] = {I2C_SLV0_REG,0x03};
nrf_drv_spi_transfer(&spi,reg_hxl,sizeof(reg_hxl),NULL,0);//hxl
uint8_t reg_receive[2] = {I2C_SLV0_CTRL,0x87};
nrf_drv_spi_transfer(&spi,reg_receive,sizeof(reg_receive),NULL,0);//7byte data receive -> ext_sens_data_00
}
uint8_t mag_axis[7] = {0};
nrf_drv_spi_xfer_desc_t xfer_spi = NRF_DRV_SPI_XFER_TRX(®_six,1,six_axis,21);
uint32_t flags = NRF_DRV_SPI_FLAG_HOLD_XFER |
NRF_DRV_SPI_FLAG_RX_POSTINC |
NRF_DRV_SPI_FLAG_NO_XFER_EVT_HANDLER |
NRF_DRV_SPI_FLAG_REPEATED_XFER;
ret_code_t ret = nrf_drv_spi_xfer(&spi,&xfer_spi,flags); uint32_t start_tsk_addr = nrf_drv_spi_start_task_get(&spi);
Thank you.
