MK10DN512VMC10主控陀螺仪调试记录

1.前言
2.初始代码部分
3.检查IIC通讯
4. 更新code

1.前言

项目使用的芯片为MK10DN512VMC10。
正在尝试初始化 I2C 模块，以便和我的FXOS8700CQ 6轴传感器进行通讯
该传感器为4位加速度传感器和16位磁力计与高性能ASIC结合在一起
典型的方向分辨率为0.1°，罗盘方位精度误差小于5°

目前完成了IIC初始化，但一直无法和陀螺仪进行正常的通讯
用示波器进行监视，没能在示波器上看到 SCL 方波
当尝试写入 I2C 寄存器时，系统遇到hard fault

FXOS8700CQ的描述如下：

2.初始代码部分

#define I2C_Frequency_Divider_register__I2C1_F (*(uint32_t *)0x40067001U)
#define I2C_Control_Register_1__I2C1_C1 (*(uint32_t *)0x40067002U)
#define I2C_Status_Register__I2C1_S (*(uint32_t *)0x40067003U)
#define Pin_Control_Register_n__PORTE_PCR0 (*(uint32_t *)0x4004D000U)
#define Pin_Control_Register_n__PORTE_PCR1 (*(uint32_t *)0x4004D004U)
#define System_Clock_Gating_Control_Register_4_SIM_SCGC4 (*(uint32_t *)0x40048034U)
#define System_Clock_Gating_Control_Register_5_SIM_SCGC5 (*(uint32_t *)0x40048038U)
void mcu_Initialise()
{
Pin_Control_Register_n__PORTE_PCR0 = 0x00000620U;
Pin_Control_Register_n__PORTE_PCR1 = 0x00000620U;
System_Clock_Gating_Control_Register_4_SIM_SCGC4 |= 0x00000080U;
System_Clock_Gating_Control_Register_5_SIM_SCGC5 |= 0x00002000U;
}
 
void intitialiseI2C()
{
I2C_Frequency_Divider_register__I2C0_F |= 0x29U; //writing to this register takes the system into hard fault
I2C_Control_Register_1__I2C1_C1 |= 0x80;
}
int main(void) {
BOARD_InitBootPins();
BOARD_InitBootClocks();
 mcu_Initialise();
intitialiseI2C();
}

3.检查IIC通讯

手册上面的地址如上图：
命令发送顺序如下：

4. 更新code

按照上面的顺序，对程序进行了修改，
但是未能从 I2C 模块FXOS8700 中获取 我需要的值，

I2C 模块的电源电压为 5V。
在对 mcu 进行编程之前，SCL 和 SDA 线均以接地为基准测量 5 伏。
然后当在调试时，将示波器连接到 I2C 总线，电压从 5V 下降到 3.75V，
并在代码中复用 PortD 时保持在那里。

即使 mcu 和模块之间没有数据传输，
不应该在 scl 线上看到方波吗？
在状态寄存器没有更新参数。

下面为更新后的code：

Printing "ReceivedByte" array on tera term shows wrong WhoAmI value
uint8_t Receivedbyte[3];
uint8_t WhoAmI_address[1] = {0x0D};
size_t RegSize = 1;
void Mcu_Initialise()
{
PORTD->PCR[8] = 0x01000000; //clear the ISF flag
PORTD->PCR[9] = 0x01000000; //clear the ISF flag
PORTD->PCR[8] |= 0x00000200; //mux PTD8 for I2C0_SCL
PORTD->PCR[9] |= 0x00000200; //mux PTD9 for I2C0_SDA
SIM->SCGC4 |= SIM_SCGC4_I2C0_MASK; // I2C0 clock
SIM->SCGC5 |= 0x00002000U; //portD
//I'm not sure about the following two lines
EnableIRQ(I2C0_IRQn);
NVIC_SetPriority(I2C0_IRQn,0);
}
void I2C_Initialise()
{
I2C0->A1 = 0;
I2C0->F = 0;
I2C0->C1 = 0;
I2C0->S = 0xFFU;
I2C0->C2 = 0;
I2C0->S |= I2C_S_IICIF_MASK ; //clear IICIF
I2C0->F = 0x27U; //bus clock is 48MHz, calculated baud rate for 100khz
I2C0->C1 = I2C_C1_IICEN_MASK;
//I2C0->C1 |= I2C_C1_IICIE_MASK; // When I enable this interrupt the system gets stuck in CLOCK_GetOutClkFreq() function. When I disable it I'm able to run my code from mcu_initialise() to Read()
void StartCondition()
{
I2C_MasterStart(I2C0, FXOS8700CQ_Address, kI2C_Write);
}
void StartRepeat()
{
I2C_MasterRepeatedStart(I2C0, FXOS8700CQ_Address, kI2C_Read);
}
void sendRegister()
{
I2C_MasterWriteBlocking(I2C0, WhoAmI_address, RegSize, kI2C_TransferNoStopFlag);
}
void Read()
{
I2C_MasterReadBlocking(I2C0,ReceivedByte, RegSize, kI2C_TransferNoStartFlag);
}
int main()
{
BOARD_InitPins();
__disable_irq();
InitVersion();
/* Init board hardware. */
BOARD_InitBootPins();
BOARD_InitBootClocks();
BOARD_InitBootPeripherals();
mcu_Initialise();
intitialiseI2C();
StartCondition();
sendRegister();
StartRepeat();
Read();
}