Problems between STM32F413 and ICM42688 using SPI

[SpeedyPLH]

HI All, 

I am trying to connect an STM32F413 and the TDK ICM-42688 IMU chip using SPI.  The connection works correctly and the ICM-42688 responds, but the data doesnt seem to be clocked into the STM32F413 chip.   

The ICM-42688 Timing data is:

 So CPOL = 1, CPHA = 2 and SCLK ic high in idle.

(I have also tried CPOL = 1 and CPHA = 1  which also delivers an identical result)

The Device Config is as follows:  

hspi1.Instance = SPI1;

hspi1.Init.Mode = SPI_MODE_MASTER;

hspi1.Init.Direction = SPI_DIRECTION_2LINES;

hspi1.Init.DataSize = SPI_DATASIZE_8BIT;

hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;

hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;

hspi1.Init.NSS = SPI_NSS_SOFT;

hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128;

hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;

hspi1.Init.TIMode = SPI_TIMODE_DISABLE;

hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;

hspi1.Init.CRCPolynomial = 10;

I have it slowed down at present to see if speed is the cause of my problems...

When I monitor the lines with my Saleae 16 I get a good response.

The 0x76,00 is a write to the register 0x76 to select bank 0.

The 0xF5,00 is a read request for the Register 0x75 and it should return 0x47 which is is doing - YAY.

My problem is that the data doesnt seem to be clocked into the STM32F413 chip...

I always end up with 0x00.

I have tried a number of different permutations using HAL_SPI_Read and HAL_SPI_TransmitReceive and none seem to work.

Here is the code doing the work.

const uint16_t SPI_TIMEOUT = 100; // 100 ms

static constexpr uint8_t WHOAMI = 0x47;

uint8_t CSpiDevice::_readRegister(uint8_t *recv, uint16_t rLen)

{

uint8_t result = HAL_OK;

HAL_GPIO_WritePin(_pGPIO, _CS, GPIO_PIN_RESET);

// result = HAL_SPI_Receive((SPI_HandleTypeDef*)get_handle(), recv, (uint16_t)rLen, SPI_TIMEOUT);

result = HAL_SPI_TransmitReceive ((SPI_HandleTypeDef*)get_handle(), recv, recv, rLen, SPI_TIMEOUT);

HAL_GPIO_WritePin(_pGPIO, _CS, GPIO_PIN_SET);

return result == HAL_OK ? OK : ERR;

}

template <typename T>

uint8_t Cicm42688P::RegisterRead(T reg)

{

uint8_t cmd[2] {};

cmd[0] = static_cast<uint8_t>(reg) | DIR_READ;

SelectRegisterBank(reg);

if(_readRegister(cmd, sizeof(cmd))!= OK)

INFO_LOG(logger::CdataLog::errorCategory_e::data_error,sRReadErr,RReadErrLn,0);

return cmd[1];

}

static const char sProbeError[] = "probe() Returned (0x%hx)";

static constexpr uint8_t probeErrorLn = strlen(sProbeError);

uint8_t Cicm42688P::probe(void) {

SelectRegisterBank(REG_BANK_SEL_BIT::BANK_SEL_0, true);

uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);

if (whoami == WHOAMI) {

INFO_LOG(logger::CdataLog::errorCategory_e::information_only,

sProbeError, probeErrorLn,whoami);

return OK;

} else {

INFO_LOG(logger::CdataLog::errorCategory_e::configuration_error,

sProbeError, probeErrorLn,whoami);

}

return ERR;

};

I am somewhat flumoxed at present.

Any and all thoughts are appeciated.  

Thanks in Advance.

cheers

Paul

[SpeedyPLH]

Sorry Typo . 0x75 is a register in Bank 0. 

[Amit29]

Hey can u share the code for the driver , I am currently working on a project and i need the drivers code very urgently 

kindly share the libarary you used to interface the ICM-42688P 

[Techn]

Spi_TransmitReceive , you have to fill with the register value and then dummy bytes of zero to clock out the data. For example 

rx[0] = 0x75; rx[1] = 0  till the len count. 

FYI. As per datasheet, the first bit should be 1 for read and 0 for write. So you can try eith 0xF5

[Amit29]

sir do you have the code for ICM42688 for interfacing with stm32 ?? if yes ,kindly share it.

[Qingcha]

Hi,speedyPLH.

Using the same parameter(except the baudrate->656.25KBits/s ) in my project that it seems working,you can try my code

void SPI2_TestFunction(void)

{

SPI2_CS_Enable();

SPI2_Send_buffer[0]= 0x76|WriteOperation;

HAL_SPI_TransmitReceive(&hspi2, &SPI2_Send_buffer[0], &SPI2_Recv_buffer[0], 2, 10);

SPI2_CS_Disable();

HAL_Delay(10);

SPI2_CS_Enable();

SPI2_Send_buffer[0]= 0x75|ReadOperation;

HAL_SPI_TransmitReceive(&hspi2, &SPI2_Send_buffer[0], &SPI2_Recv_buffer[0], 2, 10);

SPI2_CS_Disable();

}