[basic course of flight control development 7] crazy shell · open source formation UAV SPI (barometer data acquisition)

COCOFLY course
—— Crazy shell · Unmanned aerial vehicle (uav) · series
SPI（ Barometer data acquisition ）
    

    

    
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    One 、SPL06 brief introduction
    SPL06 It's Goethe's latest air pressure sensor , Newly launched new air pressure sensor SPL06-001, Goethe is the world's leading MEMS manufacturer ,SPL06 Take advantage of Goethe's accumulation over the years MEMS Development technology , By carrying high-precision detection MEMS(MicroElectroMechanicalSystems) That is, micro electromechanical systems and low-power integrated circuits , Achieve the highest level of accuracy in the industry ±5cm,SPL06 It is a miniaturized digital air pressure sensor with high precision and low current consumption , It has two characteristics of pressure and temperature measurement . The pressure sensor element is based on the principle of capacitance sensor , Ensure high-precision measurement in the process of temperature change . Small package structure is suitable for mobile applications and wearable devices .SPL06 The internal signal processor converts the output of pressure and temperature sensor elements into 24 Bit data . Each pressure sensor has been calibrated separately and contains a calibration factor . In the application, the coefficient is used to convert the measured results into real pressure and temperature values .
    SPL06 The physical drawing of is shown below .
    
    
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    Two 、 Barometer data acquisition experiment
    Barometer data acquisition experiment use STM32 The hardware SPI And barometer SPL06 Connect , A serial port 1 namely UART1, adopt USB Connect the serial port module to the computer , hold SPI Acquired SPL06 The original pressure value and the original temperature value data are transmitted through the serial port 1 The serial port debugging assistant transmitted to the computer is displayed . When doing this experiment, you need to temporarily remove the visual module , And the USB The line to serial port is connected to the interface of the visual module . barometer SPL06 White on top of the drone RGB In the lantern box , Through the soft row handle SPI And power supply outlet , As shown in the figure below .
    
    
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    According to the schematic diagram , You can see SPL06 Of course SPI The interfaces are ：PB15、PA5、PA6、PA7, As shown in the figure below .
    
    
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    A serial port 1 The configuration of can refer to 《 A serial port （ Basic transceiver ）, Configuration code （ By calling the official library ）. obtain SPL06 The idea of data code writing is as follows ：
    
    
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    SPI The initialization code is as follows ：
    

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    SPI The reading and writing code of is as follows .
    
    
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    SPL06 The initialization code of is as follows .
    
    
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    SPL06 The reading and writing code of is as follows .
    
    
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    Check the manual and find the pressure 、 Temperature 24 Bit original value at address 0x00~0x05 On .
    
    
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    Read the register data , And send it to the serial port . The code is as follows .
    
    
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    Pay attention to configuring the serial port for sending , In this way, the data can be sent to the computer . A serial port 1 adopt USB Connect the serial port module to the computer , preservation 、 compile 、 Download code , You can see USB The serial port module is constantly printing SPL06 Of 3 Bytes of raw pressure value data and 3 Bytes of raw temperature data , The data is shown in the figure below ：
    
    
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