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
