STM32 SPI与HAL通信

Question

我刚开始对 STM32 进行编程，并使用 CubeMX 生成了一个代码，用于与陀螺仪 (L3GD20) 进行 SPI 通信 HAL_SPI 命令有问题。

我首先尝试读取 WHO_AM_I 寄存器，return 响应良好 (0xD4) 然后我尝试对 CTRL_REG1 寄存器做同样的事情，通过 returning (0x07) 仍然很好。

但是如果我尝试一个接一个地获取它们，HAL_SPI_Receive 会继续发送代码的第一个 HAL_SPI_Transmit 的数据... 试图给它其他缓冲区，但仍然没有用。

这是我感兴趣的代码部分：

    uint8_t txData[8],rxData[8];    //Buffers for the first read.
    uint8_t rBuffer[8];             //Buffer for the second read.
/*...............................................................
 *...............................................................
 *...............................................................
*/...............................................................
  txData[0] = ADDR_WHO_AM_I | 0x80; 
  HAL_SPI_Transmit(&hspi2, txData, 1, HAL_MAX_DELAY);
  HAL_SPI_Receive(&hspi2, rxData, 1, HAL_MAX_DELAY);   //Returns the right value
  HAL_Delay(1000);

  txData[0] = ADDR_CTRL_REG1 | 0x80;
  HAL_Delay(500);
  
  HAL_SPI_Transmit(&hspi2, txData, 1, HAL_MAX_DELAY);
  HAL_SPI_Receive(&hspi2, rBuffer, 1, HAL_MAX_DELAY);  //Returns the same value...
  HAL_Delay(1000);

PS : 我也想知道更多关于 HAL_SPI_TransmitReceive 如果可能的话，我应该如何使用它来执行相同的任务？（从不同的寄存器读取 1 个字节）。

还有完整的代码:

/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

//      Gyro Definitions
#define ADDR_WHO_AM_I   0x0f
#define ADDR_CTRL_REG1  0x20
#define ADDR_CTRL_REG2  0x21
#define ADDR_CTRL_REG3  0x22
#define ADDR_CTRL_REG4  0x23
#define ADDR_CTRL_REG5  0x24
#define ADDR_OUT_TEMP   0x26
#define ADDR_STATUS_REG 0x27
#define ADDR_OUT_X_L    0x28
#define ADDR_OUT_X_H    0x29
#define ADDR_OUT_Y_L    0x2A
#define ADDR_OUT_Y_H    0x2B
#define ADDR_OUT_Z_L    0x2C
#define ADDR_OUT_Z_H    0x2D


/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c3;

SD_HandleTypeDef hsd1;

SPI_HandleTypeDef hspi2;

/* USER CODE BEGIN PV */
HAL_SD_CardInfoTypeDef pCardInfo;
char datar[1024];
HAL_StatusTypeDef retstat;

//HAL_MMC_CardInfoTypeDef pCardInfo;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_SDMMC1_SD_Init(void);
static void MX_I2C3_Init(void);
static void MX_SPI2_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */
    int ret;
    uint8_t txData[8],rxData[8];    //Buffers for the first read.
    uint8_t rBuffer[8];             //Buffer for the second read.
    
  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_SDMMC1_SD_Init();
  MX_I2C3_Init();
  MX_SPI2_Init();
  /* USER CODE BEGIN 2 */
  

  txData[0] = ADDR_WHO_AM_I | 0x80; 
  HAL_SPI_Transmit(&hspi2, txData, 1, HAL_MAX_DELAY);
  HAL_SPI_Receive(&hspi2, rxData, 1, HAL_MAX_DELAY);
  HAL_Delay(1000);

  txData[0] = ADDR_CTRL_REG1 | 0x80;
  HAL_Delay(500);
  
  HAL_SPI_Transmit(&hspi2, txData, 1, HAL_MAX_DELAY);
  HAL_SPI_Receive(&hspi2, rBuffer, 1, HAL_MAX_DELAY);
  HAL_Delay(1000);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */  
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 10;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV4;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C3|RCC_PERIPHCLK_SDMMC1;
  PeriphClkInit.I2c3ClockSelection = RCC_I2C3CLKSOURCE_PCLK1;
  PeriphClkInit.Sdmmc1ClockSelection = RCC_SDMMC1CLKSOURCE_PLL;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief I2C3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_I2C3_Init(void)
{

  /* USER CODE BEGIN I2C3_Init 0 */

  /* USER CODE END I2C3_Init 0 */

  /* USER CODE BEGIN I2C3_Init 1 */

  /* USER CODE END I2C3_Init 1 */
  hi2c3.Instance = I2C3;
  hi2c3.Init.Timing = 0x10909CEC;
  hi2c3.Init.OwnAddress1 = 0;
  hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c3.Init.OwnAddress2 = 0;
  hi2c3.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c3) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Analogue filter
  */
  if (HAL_I2CEx_ConfigAnalogFilter(&hi2c3, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure Digital filter
  */
  if (HAL_I2CEx_ConfigDigitalFilter(&hi2c3, 0) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN I2C3_Init 2 */

  /* USER CODE END I2C3_Init 2 */

}

/**
  * @brief SDMMC1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SDMMC1_SD_Init(void)
{

  /* USER CODE BEGIN SDMMC1_Init 0 */

  /* USER CODE END SDMMC1_Init 0 */

  /* USER CODE BEGIN SDMMC1_Init 1 */

  /* USER CODE END SDMMC1_Init 1 */
  hsd1.Instance = SDMMC1;
  hsd1.Init.ClockEdge = SDMMC_CLOCK_EDGE_RISING;
  hsd1.Init.ClockBypass = SDMMC_CLOCK_BYPASS_DISABLE;
  hsd1.Init.ClockPowerSave = SDMMC_CLOCK_POWER_SAVE_DISABLE;
  hsd1.Init.BusWide = SDMMC_BUS_WIDE_1B;
  hsd1.Init.HardwareFlowControl = SDMMC_HARDWARE_FLOW_CONTROL_ENABLE;
  hsd1.Init.ClockDiv = 0;
  if (HAL_SD_Init(&hsd1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_SD_ConfigWideBusOperation(&hsd1, SDMMC_BUS_WIDE_4B) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SDMMC1_Init 2 */

    //HAL_StatusTypeDef HAL_MMC_GetCardInfo(MMC_HandleTypeDef *hmmc, HAL_MMC_CardInfoTypeDef *pCardInfo)
  /* USER CODE END SDMMC1_Init 2 */

}

/**
  * @brief SPI2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI2_Init(void)
{

  /* USER CODE BEGIN SPI2_Init 0 */

  /* USER CODE END SPI2_Init 0 */

  /* USER CODE BEGIN SPI2_Init 1 */

  /* USER CODE END SPI2_Init 1 */
  /* SPI2 parameter configuration*/
  hspi2.Instance = SPI2;
  hspi2.Init.Mode = SPI_MODE_MASTER;
  hspi2.Init.Direction = SPI_DIRECTION_2LINES;
  hspi2.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi2.Init.CLKPolarity = SPI_POLARITY_HIGH;
  hspi2.Init.CLKPhase = SPI_PHASE_2EDGE;
  hspi2.Init.NSS = SPI_NSS_HARD_OUTPUT;
  hspi2.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
  hspi2.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi2.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi2.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi2.Init.CRCPolynomial = 7;
  hspi2.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi2.Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
  if (HAL_SPI_Init(&hspi2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI2_Init 2 */

  /* USER CODE END SPI2_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_1|GPIO_PIN_0, GPIO_PIN_RESET);

  /*Configure GPIO pins : PE1 PE0 */
  GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

Answer 1

由于 HAL_SPI_Receive 已经在使用 HAL_SPI_TransmitReceive (github stm32f4 spi driver) 发送虚拟数据以生成时钟，您可以使用该事实并放弃 HAL_SPI_Transmit，并使用接收函数如下：

  rxData[0] = ADDR_WHO_AM_I | 0x80; 
  HAL_SPI_Receive(&hspi2, rxData, 1, HAL_MAX_DELAY);

请注意，我们使用 rxData 提供地址和操作，但它会被读取的数据有效地覆盖。

或者您可以简单地使用 HAL_SPI_TransmitReceive :

  txData[0] = ADDR_WHO_AM_I | 0x80; 
  HAL_SPI_TransmitReceive(&hspi2, txData, rxData, 1, HAL_MAX_DELAY);
  
  HAL_Delay(500);
  
  txData[0] = ADDR_CTRL_REG1 | 0x80; 
  HAL_SPI_TransmitReceive(&hspi2, txData, rxData, 1, HAL_MAX_DELAY);

Answer 2

我无法解释您为单独的 HAL_SPI_Transmit() 和 HAL_SPI_Receive() 调用描述的行为。但无论如何，您应该使用 HAL_SPI_TransmitReceive()。这是一个例子。

HAL_StatusTypeDef ReadRegister(uint8_t addr, uint8_t *byte)
{
    HAL_StatusTypeDef hal_status;
    uint8_t tx_data[2];
    uint8_t rx_data[2];
    
    tx_data[0] = addr | 0x80;  // read operation
    tx_data[1] = 0;            // dummy byte for response
    
    hal_status = HAL_SPI_TransmitReceive(&hspi2, tx_data, rx_data, 2, SPI_TIMEOUT);
    
    if (hal_status == HAL_OK)
    {
        *byte = rx_data[1];    // response is in the second byte
    }
    return hal_status;
}

主 SPI 控制器输出字节，主从在每个字节期间发送和接收。对于第一个字节，主机传输寄存器地址，从机传输一个虚拟字节，因为从机还不知道您要读取哪个寄存器。（一些从设备在第一个字节中发送状态。）对于第二个字节，主设备传输一个虚拟字节，目的是生成更多从设备可以响应的时钟。在第一个字节期间接收到寄存器地址后，从机知道在第二个字节期间要传输哪个寄存器值。请注意示例代码中您感兴趣的接收字节是响应缓冲区的第二个字节。

STM32 SPI与HAL通信

STM32 SPI communication with HAL

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hal

spi

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stm32f4discovery