• 标题：测试基于STM32的ADIS16405评估板，并在匿名四轴上实时显示3轴陀螺仪+3轴加速度计＋3轴磁力计 波形。本文最好还公开一个基于C# 的串口波形显示客户端源码。

这里附上该评估板的原理图和PCB图。图片可以放大看，看不清不要紧我把PDF格式附上去的：

该评估板内部已经刷了固件。这里也分享下HEX固件可以自己在STM32CubeProgrammer用 STLINK刷进去。

STM32CubeProgrammer在 https://download.csdn.net/download/cornrn/12145402下载。

https://download.csdn.net/download/cornrn/12145199 《固件HEX直接用STM32CubeProgrammer烧录》

https://download.csdn.net/download/cornrn/12145384《固件源码》

/*----------------------------------------------------------------
 Copyright  by 寒林电科 2018.11.24  
------------------------------------------------------------------*/

#ifndef _ADIS16405_H_
#define _ADIS16405_H_
 
#define ADIS16405_XGYRO_OUT ((unsigned char)0x04)
#define ADIS16405_YGYRO_OUT ((unsigned char)0x06)
#define ADIS16405_ZGYRO_OUT ((unsigned char)0x08)

#define ADIS16405_XACCL_OUT ((unsigned char)0x0A)
#define ADIS16405_YACCL_OUT ((unsigned char)0x0C)
#define ADIS16405_ZACCL_OUT ((unsigned char)0x0E)

#define ADIS16405_XMAGN_OUT ((unsigned char)0x10)
#define ADIS16405_YMAGN_OUT ((unsigned char)0x12)
#define ADIS16405_ZMAGN_OUT ((unsigned char)0x14)

#define ADIS16405_SMPL_PRD 	((unsigned char)0x36)
#define ADIS16405_SENS_AVG 	((unsigned char)0x38)
#define ADIS16405_SLP_CNT 	((unsigned char)0x3A)
#define ADIS16405_GLOB_CMD 	((unsigned char)0x3E)
#define ADIS16405_PRODUCT_ID 	((unsigned char)0x56)


enum {
    ADIS16405_REG_FLASH_CNT = 0x00,
    ADIS16405_REG_SUPPLY_OUT = 0x02,
    ADIS16405_REG_XGYRO_OUT = 0x04,
    ADIS16405_REG_YGYRO_OUT = 0x06,
    ADIS16405_REG_ZGYRO_OUT = 0x08,
    ADIS16405_REG_XACCL_OUT = 0x0A,
    ADIS16405_REG_YACCL_OUT = 0x0C,
    ADIS16405_REG_ZACCL_OUT = 0x0E,
    ADIS16405_REG_XMAGN_OUT = 0x10,
    ADIS16405_REG_YMAGN_OUT = 0x12,
    ADIS16405_REG_ZMAGN_OUT = 0x14,
    ADIS16405_REG_TEMP_OUT = 0x16,
    ADIS16405_REG_AUX_ADC = 0x18,
    ADIS16405_REG_XGYRO_OFF = 0x1A,
    ADIS16405_REG_YGYRO_OFF = 0x1C,
    ADIS16405_REG_ZGYRO_OFF = 0x1E,
    ADIS16405_REG_XACCL_OFF = 0x20,
    ADIS16405_REG_YACCL_OFF = 0x22,
    ADIS16405_REG_ZACCL_OFF = 0x24,
    ADIS16405_REG_XMAGN_HIF = 0x26,
    ADIS16405_REG_YMAGN_HIF = 0x28,
    ADIS16405_REG_ZMAGN_HIF = 0x2A,
    ADIS16405_REG_XMAGN_SIF = 0x2C,
    ADIS16405_REG_YMAGN_SIF = 0x2E,
    ADIS16405_REG_ZMAGN_SIF = 0x30,
    ADIS16405_REG_GPIO_CTRL = 0x32,
    ADIS16405_REG_MSC_CTRL = 0x34,
    ADIS16405_REG_SMPL_PRD = 0x36,
    ADIS16405_REG_SENS_AVG = 0x38,
    ADIS16405_REG_SLP_CNT = 0x3A,
    ADIS16405_REG_DIAG_STAT = 0x3C,
    ADIS16405_REG_GLOB_CMD = 0x3E,
    ADIS16405_REG_ALM_MAG1 = 0x40,
    ADIS16405_REG_ALM_MAG2 = 0x42,
    ADIS16405_REG_ALM_SMPL1 = 0x44,
    ADIS16405_REG_ALM_SMPL2 = 0x46,
    ADIS16405_REG_ALM_CTRL = 0x48,
    ADIS16405_REG_AUX_DAC = 0x4A,
    ADIS16405_REG_PRODUCT_ID = 0x55,

//    ADIS16405_PRODUCT_ID = 0x4105
};


typedef struct{
	short gyr[3];
	short acc[3];
	short mag[3];
}ADIS16405_DataTypeDef;

#define  ADI_SPI_CS_LOW()   HAL_GPIO_WritePin(GPIOA, SPI_CS_Pin, GPIO_PIN_RESET)
#define  ADI_SPI_CS_HIGH()  HAL_GPIO_WritePin(GPIOA, SPI_CS_Pin, GPIO_PIN_SET)
 

//void ADIS16405_SPI_Init(void);
//unsigned char ADIS16405_SPI_SendByte(unsigned char byte);
//unsigned char ADIS16405_SPI_ReadByte(void);
unsigned char ADIS16405_Burst_Read(ADIS16405_DataTypeDef* adt);
void ADIS16405_Restore_Cali(void);
void ADIS16405_Preci_Cali(void);
void ADIS16405_Reset(void);
extern void adis16405_init(void);
void ADIS16405_Delayms(unsigned short n);
void ADIS16405_Delayus(unsigned short n);
extern unsigned short ADIS16XXX_Readreg(unsigned char ADIS16XX_REG_NUM);

extern unsigned char ADIS16405_Burst_Read(ADIS16405_DataTypeDef* adt);
	
#endif

#include "stm32f1xx_hal.h"
#include "adis16405.h"
#include "spi.h" 
/*----------------------------------------------------------------
 Copyright  by 寒林电科 2018.11.24  
------------------------------------------------------------------*/
/********************************************************************************
	注意到ADIS16XXX的SPI时序图有个tSTALL，其叫做Stall Time。这个Stall Time很重要。
	当用方式一single register read模式读取数据时，
	Stall Time就是MCU向IMU发送读取控制指令的最小间隔时间。
	举个例子，我想获取IMU的加速度计x轴和y轴的数据，
	若用single register read模式读取数据，
	MCU需要向IMU发送两个读取指令，这个Stall Time就是两条读取指令的最小间隔时间。
	若不加Stall Time，读出来的数据会有问题。而用Burst Read模式读取数据的话，
	因为其传感器数据为连续发送，所以不存在Stall Time，手册上也给了相关说明：
*******************************************************************************/


void adis16405_init(void) 
	{
		unsigned short err = 0,ProductID=0;
    unsigned char txbuf[3]  =  {0},rxbuf[2]  =  {0};
		// Reset calibration to factory defaults
		//		txbuf[0] = ADIS16405_REG_GLOB_CMD;
		txbuf[0] = 0XBE;
		txbuf[1] = 0x01;
		HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
    HAL_Delay(100);
    // Setting the data rate to the default of 819.2 samples per second 0x0001
		txbuf[0] = ADIS16405_REG_SMPL_PRD;
		txbuf[1] = 0x01;
		HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
    HAL_Delay(50);
    // Setting sleep mode 0x0000 turn sleep mode off
		txbuf[0] = ADIS16405_REG_SLP_CNT;
		txbuf[1] = 0x00;
		HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
    HAL_Delay(50);
    // Setting the data rate to 300 degrees per sec
    // And the number of filter taps to 4 resulting in a
    // filter bandwidth of ~205Hz
//		txbuf[0] = ADIS16405_REG_SLP_CNT;
//		txbuf[1] = 0x04;
//    txbuf[2] = 0x02;
// 		HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 3,0xFFFF);
//    adis16405_write_u16(ADIS16405_REG_SENS_AVG, 0x0402);
    HAL_Delay(50);
    // Reset GPIO controls
		txbuf[0] = ADIS16405_REG_GPIO_CTRL;
		txbuf[1] = 0x00;
		HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
    HAL_Delay(50);
    // Enable data ready interrupt
		txbuf[0] = ADIS16405_REG_MSC_CTRL;
		txbuf[1] = 0x86;
		HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
    HAL_Delay(50);

    // Disable Alarms
		txbuf[0] = ADIS16405_REG_ALM_CTRL;
		txbuf[1] = 0x00;
		HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
    HAL_Delay(50);
 
		err = ADIS16XXX_Readreg(ADIS16405_REG_DIAG_STAT);
    printf("\n\r ADIS16405_REG_DIAG_STAT =%X!!!\n\r",err);
     		
		ProductID = ADIS16XXX_Readreg(0x56);
    printf("\n\r ProductID=%X!!!\n\r",ProductID);
}

/*
作用：	SPI发送字节（同时返回接收到的一个字节）
参数：	要发送的字节
返回值：接收到的字节
*/

//(&hspi1, (uint8_t*)&spi1_txbuf[0], 2,0xFFFF);
unsigned short ADIS16XXX_Readreg(unsigned char ADIS16XX_REG_NUM)
{
 	unsigned char txbuf[2]  =  {ADIS16XX_REG_NUM,0},rxbuf[2]  =  {0};
  unsigned short reg_value  =  0;
	ADI_SPI_CS_LOW();
	//方式1
//	HAL_SPI_TransmitReceive(&hspi1, (uint8_t*)&txbuf[0], (uint8_t*)&rxbuf[0], 2,0xFFFF);
	//方式2，两种都可以
	HAL_SPI_Transmit(&hspi1, (uint8_t*)&txbuf[0], 2,0xFFFF);
	HAL_SPI_Receive(&hspi1,  (uint8_t*)&rxbuf[0], 2,0xFFFF);
	ADI_SPI_CS_HIGH();
  reg_value  =  rxbuf[1]|(rxbuf[0]<<8);
 
	return reg_value;
}


//unsigned char ADIS16405_SPI_SendByte(unsigned char byte)
//{
//    while(SPI_I2S_GetFlagStatus(ADIS16405_SPI,SPI_I2S_FLAG_TXE)  =  =  RESET);
//	SPI_I2S_SendData(ADIS16405_SPI,byte);
//	while(SPI_I2S_GetFlagStatus(ADIS16405_SPI,SPI_I2S_FLAG_RXNE)  =  =  RESET);
//	return SPI_I2S_ReceiveData(ADIS16405_SPI);
//}

/*
作用：从从设备读取一个字节
参数：无
返回值：读取的字节
*/

//unsigned char ADIS16405_Burst_Read(ADIS16405_DataTypeDef* adt)
//{
// 
//	short wordBuffer[9] = {0};
//	unsigned char i;
//  unsigned char CMD[18] = {0},rxbuf[18]= {0};
//	ADI_SPI_CS_LOW();
//	ADIS16405_Delayus(1);
// 
//	CMD[0] = ADIS16405_XGYRO_OUT;
//	CMD[1] = 0x00;
//	CMD[2] = ADIS16405_YGYRO_OUT;
//	CMD[3] = 0x00;
//	CMD[4] = ADIS16405_ZGYRO_OUT;
//	CMD[5] = 0x00;
//	CMD[6] = ADIS16405_XACCL_OUT;
//	CMD[7] = 0x00;
//	CMD[8] = ADIS16405_YACCL_OUT;
//	CMD[9] = 0x00;
//	CMD[10] = ADIS16405_ZACCL_OUT;
//	CMD[11] = 0x00;
//	CMD[12] = ADIS16405_XMAGN_OUT;
//  CMD[13] = 0x00;
//	CMD[14] = ADIS16405_YMAGN_OUT;
//  CMD[15] = 0x00;
//	CMD[16] = ADIS16405_ZMAGN_OUT;
//  CMD[17] = 0x00;	
//	
//	ADI_SPI_CS_LOW();
//	
//	for(i=0;i<9;i++)
//	{
//		HAL_SPI_TransmitReceive(&hspi1, (uint8_t*)&CMD[2*i], (uint8_t*)&rxbuf[2*i], 2,0xFFFF);
//	  HAL_Delay(2);
//	}
//  ADI_SPI_CS_HIGH();
//	
// 
// 
// 
//	for(i = 0;i<9;i++)
//	{
		wordBuffer[i] = (rxbuf[i*2]&0x003f)<<8 | (rxbuf[i*2+1]);
//		wordBuffer[i] = (rxbuf[i*2]&0x3f)<<8 | (rxbuf[i*2+1]);
//	}		



//		adt->gyr[0] = wordBuffer[0];
//		adt->gyr[1] = wordBuffer[1];
//		adt->gyr[2] = wordBuffer[2];
//		
//		adt->acc[0] = wordBuffer[3];
//		adt->acc[1] = wordBuffer[4];
//		adt->acc[2] = wordBuffer[5];
//	
//		adt->mag[0] = wordBuffer[6];
//		adt->mag[1] = wordBuffer[7];
//		adt->mag[2] = wordBuffer[8];

//	return 1;
//}
unsigned char ADIS16405_Burst_Read(ADIS16405_DataTypeDef* adt)
{
	unsigned char byteBuffer[24] = {0},upperlow=0x00;
	unsigned short wordBuffer[9] = {0};
	unsigned char i,j;
  unsigned char CMD[2] = {0};
	ADI_SPI_CS_LOW();
	ADIS16405_Delayus(1);
 
	CMD[0] = 0x3E;
	CMD[1] = 0x00;
//	HAL_SPI_Transmit(&hspi1, (uint8_t*)&CMD[0], 2,0xFFFF);
	
	ADIS16405_Delayus(1);
	
//  HAL_SPI_Receive(&hspi1, (uint8_t*)&byteBuffer[0], 24,0xFFFF);
	for(i=0;i<12;i++)
	{
	 HAL_SPI_TransmitReceive(&hspi1, (uint8_t*)&CMD[0]+2*i,(uint8_t*)&byteBuffer[0+2*i], 2,0xFFFF);
	}
	ADIS16405_Delayus(1);
	ADI_SPI_CS_HIGH();
	
	for(j = 0;j<9;j++)
	{
		wordBuffer[j] = (byteBuffer[2*j+4]&0x3f)<<8 | (byteBuffer[2*j+5]);
		if (wordBuffer[j]>0x2000)//说明是负数则16bit的9轴信号需要补齐补码的高位，加上二进制1100 0000 0000 0000 
		{
			wordBuffer[j]+=0xC000;
		}
	}		


		adt->gyr[0] = wordBuffer[0];
		adt->gyr[1] = wordBuffer[1];
		adt->gyr[2] = wordBuffer[2];
		
		adt->acc[0] = wordBuffer[3];
		adt->acc[1] = wordBuffer[4];
		adt->acc[2] = wordBuffer[5];
	
		adt->mag[0] = wordBuffer[6];
		adt->mag[1] = wordBuffer[7];
		adt->mag[2] = wordBuffer[8];

	return 1;
}

//void ADIS16405_Preci_Cali(void)
//{
//	ADIS16405_SPI_CS_LOW();
//	ADIS16405_Delayus(1);
//	ADIS16405_SPI_SendByte(0xBE);
//	ADIS16405_SPI_SendByte(0x10);
//	ADIS16405_Delayus(1);
//	ADIS16405_SPI_CS_LOW();	
//	//need 30sec
//}

//void ADIS16405_Reset(void)
//{
//	ADIS16405_SPI_CS_LOW();
//	ADIS16405_Delayus(1);
//	ADIS16405_SPI_SendByte(0xBE);
//	ADIS16405_SPI_SendByte(0x80);
//	ADIS16405_Delayus(1);
//	ADIS16405_SPI_CS_LOW();	
//	//need 50ms
//}
//void ADIS16405_READ_ID(void)
//{
//	ADIS16405_SPI_CS_LOW();
//	ADIS16405_Delayus(1);
//	ADIS16405_SPI_SendByte(0xBE);
//	ADIS16405_SPI_SendByte(0x02);
//	ADIS16405_Delayus(1);
//	ADIS16405_SPI_CS_LOW();	
//	//need 50ms	
//}
//void ADIS16405_Restore_Cali(void)
//{
//	ADIS16405_SPI_CS_LOW();
//	ADIS16405_Delayus(1);
//	ADIS16405_SPI_SendByte(0xBE);
//	ADIS16405_SPI_SendByte(0x02);
//	ADIS16405_Delayus(1);
//	ADIS16405_SPI_CS_LOW();	
//	//need 50ms	
//}

//void ADIS16405_Delayms(unsigned short n)
//{
//	unsigned short i;
//	while(n--)
//	{
//		i = 28000;
//		while(i--);
//	}
//}

void ADIS16405_Delayus(unsigned short n)
{
	unsigned short i;
	while(n--)
	{
		i = 28;
		while(i--);
	}	
}

/*----------------------------------------------------------------
 读取ADIS16405 9轴数据信号
 Copyright  by 寒林电科 2018.11.24   
------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"
#include "spi.h"
#include "usart.h"
#include "gpio.h"
 
#include "adis16405.h"
#include "anonymous.h"


void SystemClock_Config(void);
 
ADIS16405_DataTypeDef imu_data;
 
int main(void)
{
	uint32_t i=0;
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_SPI1_Init();
  HAL_Delay(2000);
	adis16405_init();
	LED_R_ON();LED_B_OFF();LED_G_OFF();
  while (1)
  {

		ADIS16405_Burst_Read(&imu_data);
		
		data_to_computer(&imu_data);//发送PC端:匿名科创地面站 V4.34
		HAL_Delay(1);
		
		if(++i%300==0)
		{
			HAL_GPIO_TogglePin(GPIOC, LED_R_Pin|LED_G_Pin|LED_B_Pin);
		}
		
		

//		printf("\n\r 加速度XYZ:---%x---%x---%x", \
//		   imu_data.acc[0] ,imu_data.acc[1],imu_data.acc[2]);
// 
//		printf("\n\r 陀螺仪XYZ:---%x---%x---%x", \
//		   imu_data.gyr[0] ,imu_data.gyr[1],imu_data.gyr[2]);
//		
//		printf("\n\r 地磁XYZ:---%x---%x---%x", \
//		   imu_data.mag[0] ,imu_data.mag[1],imu_data.mag[2]);
		
  }


}