MPU6000数据读取失败，SPI协议

FantasyJXF

配置好串口、MPU6000以及SPI后始终读取不到数据，经检测程序停在这一步
while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET) { }
请问该如何解决？

现贴出MPU6000的配置以及SPI配置，求解答一下。
/*********************************************************************************************************
* mpu6000.c
*********************************************************************************************************/
#include "STM32F4.h"

u8        mpu6000_buf[14];       
//u8 offset_flag = 0;       
u16 adress=0;

S_INT16_XYZ        MPU6000_Acc_Offset        =        {0,0,0};       
S_INT16_XYZ        MPU6000_Gyro_Offset        =        {0,0,0};       
S_INT16_XYZ MPU6000_Acc = {0,0,0};
S_INT16_XYZ MPU6000_Gyro = {0,0,0};

float        mpu6000_tempreature = 0;
s16 mpu6000_tempreature_temp = 0;
s16 mpu6000_tempreature_Offset = 0;

void MPU6000_ReadValue(void)
{
uint8_t i;

MPU6000_CS(0);        

SPI1_Read_Write_Byte(ACCEL_XOUT_H|0x80);        

for(i        =        0;i        <        14;i++)       
mpu6000_buf        =        SPI1_Read_Write_Byte(0xff);       
}       

MPU6000_Acc.X = BYTE16(s16, mpu6000_buf[0],  mpu6000_buf[1]) - MPU6000_Acc_Offset.X;
MPU6000_Acc.Y = BYTE16(s16, mpu6000_buf[2],  mpu6000_buf[3]) - MPU6000_Acc_Offset.Y;
MPU6000_Acc.Z = BYTE16(s16, mpu6000_buf[4],  mpu6000_buf[5]);
MPU6000_Gyro.X = BYTE16(s16, mpu6000_buf[8],  mpu6000_buf[9]) - MPU6000_Gyro_Offset.X;
MPU6000_Gyro.Y = BYTE16(s16, mpu6000_buf[10],  mpu6000_buf[11]) - MPU6000_Gyro_Offset.Y;
MPU6000_Gyro.Z = BYTE16(s16, mpu6000_buf[12],  mpu6000_buf[13]) - MPU6000_Gyro_Offset.Z;

mpu6000_tempreature_temp        =        BYTE16(s16, mpu6000_buf[6],  mpu6000_buf[7]);
mpu6000_tempreature        =        (float)(35000+((521+mpu6000_tempreature_temp)*100)/34);
mpu6000_tempreature = mpu6000_tempreature/1000;                             
if(( -4        <        MPU6000_Gyro.X ) && (MPU6000_Gyro.X < 4) ) MPU6000_Gyro.X = 0;
if(( -4        <        MPU6000_Gyro.Y ) && (MPU6000_Gyro.Y < 4) ) MPU6000_Gyro.Y = 0;
if(( -4        <        MPU6000_Gyro.Z ) && (MPU6000_Gyro.Z < 4) ) MPU6000_Gyro.Z = 0;

MPU6000_CS(1);            
}

u8 MPU6000_Init(void)
{
SPI1_Init();       
adress=MPU6000_Read_Reg(WHO_AM_I);
if(MPU6000_Read_Reg(WHO_AM_I) == 0x68)       
{       
MPU6000_Write_Reg(PWR_MGMT_1,0X80);          
Delay_Ms(100);
MPU6000_Write_Reg(SIGNAL_PATH_RESET,0X07);
Delay_Ms(100);
MPU6000_Write_Reg(PWR_MGMT_1,0X01);          
MPU6000_Write_Reg(PWR_MGMT_2,0X00);          
MPU6000_Write_Reg(CONFIG,0X02);       
MPU6000_Write_Reg(SMPLRT_DIV,0X00);       
MPU6000_Write_Reg(GYRO_CONFIG,0X18);         
MPU6000_Write_Reg(ACCEL_CONFIG,0x10);        

return 1;
}
else return 0;
}



/*********************************************************************************************************
* mpu6000_spi.c
*********************************************************************************************************/
#include "STM32F4.h"

void SPI1_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
  SPI_InitTypeDef  SPI_InitStructure;

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOC,ENABLE);       
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1,ENABLE );        /


GPIO_InitStructure.GPIO_Pin = GPIO_PinSource5|GPIO_PinSource6|GPIO_PinSource7;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;  
GPIO_Init(GPIOA, &GPIO_InitStructure); //3&#245;ê&#188;&#187;ˉ


GPIO_PinAFConfig(GPIOA,GPIO_PinSource5,GPIO_AF_SPI1);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_SPI1);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource7,GPIO_AF_SPI1);



  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_Init(GPIOC, &GPIO_InitStructure);


MPU6000_CS(1);                 
GPIO_SetBits(GPIOA,GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7);         

SPI_Cmd(SPI1,DISABLE);         

SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;         
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;       
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;       
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;       
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;       
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;       
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;       
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;       
SPI_InitStructure.SPI_CRCPolynomial = 7;       
SPI_Init(SPI1, &SPI_InitStructure);           

SPI_Cmd(SPI1,ENABLE);       
SPI1_Read_Write_Byte(0xff);       
}

u8 MPU6000_Write_Reg(uint8_t reg,uint8_t value)
{
uint8_t status;
MPU6000_CS(0);         
status = SPI1_Read_Write_Byte(reg);
SPI1_Read_Write_Byte(value);       
MPU6000_CS(1);         
return(status);       
}

u8 MPU6000_Read_Reg(uint8_t reg)
{
uint8_t reg_val;
MPU6000_CS(0);         
//        SPI1_Read_Write_Byte(reg | 0x80);          
SPI1_Read_Write_Byte(reg);
reg_val = SPI1_Read_Write_Byte(0xff);  
MPU6000_CS(1);         
return(reg_val);
}

u8 SPI1_Read_Write_Byte(uint8_t TxData)
{       
u8 retry = 0;                
while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET)
{
retry++;
if(retry > 250)        return 0;
}          
SPI_I2S_SendData(SPI1, TxData);        
retry = 0;

while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET)
{
retry++;
if(retry > 250) return 0;
}                      
return SPI_I2S_ReceiveData(SPI1);        
}

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左丘冰

可能是引脚不对或者spi没正确初始化

FantasyJXF

左丘冰 发表于 2016-9-1 08:52
可能是引脚不对或者spi没正确初始化

初始化寄存器的时候，给寄存器写值，读出来的全都是0X00，说MPU6000的SPI频率不能超过1MHz也设置了，看来真的可能是初始化不正确了。我觉得代码没错的。