Hallo Chris,
dann also hier die fehlenden Funktionen im Code und der Schaltplan des Nucleo-Shields. Sollte dir noch etwas fehlen, gib Bescheid!
Grüß, NRicola
Code:/* Includes ------------------------------------------------------------------*/ #include "main.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "stdbool.h" #include "math.h" #include "../Peripherals/LSM6DS3.h" // Funktionen sind hier angehangen (siehe unten) #include "../Peripherals/OLED_128x32.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ I2C_HandleTypeDef hi2c3; SPI_HandleTypeDef hspi2; UART_HandleTypeDef huart2; DMA_HandleTypeDef hdma_usart2_rx; /* USER CODE BEGIN PV */ const uint8_t IMU_datlength = 8; // die letzten x Messwerte werden mitgespeichert struct IMU_Struct IMU1; // besteht aus IMU1.status, sowie 6 Arrays [0:IMU_datlength-1] für acc und gyr in x,y,z /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_DMA_Init(void); static void MX_USART2_UART_Init(void); static void MX_SPI2_Init(void); static void MX_I2C3_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 */ /* 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_DMA_Init(); MX_USART2_UART_Init(); MX_SPI2_Init(); MX_I2C3_Init(); /* USER CODE BEGIN 2 */ IMU1.status=0; for(uint8_t i=0;i<IMU_datlength-1;i++){ IMU1.acc_x[i] = 0; IMU1.acc_y[i] = 0; IMU1.acc_z[i] = 0; IMU1.gyr_x[i] = 0; IMU1.gyr_y[i] = 0; IMU1.gyr_z[i] = 0; } //-------------------------------- Mot001_SS_Disable(); // SS auf high IMU1_SS_Disable(); // SS auf high HAL_Delay(20); // 20ms start-up time für IMUs // OLED-Display uint16_t OLED_refresh_cntr=0; uint16_t OLED_refresh_max=5; OLED_Init(); OLED_Clear_Screen(); OLED_IMU1_vars(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ IMU1 = IMU1_Read_Values(); if(OLED_refresh_cntr>=OLED_refresh_max){ OLED_refresh_cntr=0; OLED_IMU1_vars(); // Messwerte des IMU1 anzeigen }else{ OLED_refresh_cntr++; } } /* USER CODE END 3 */ } void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** 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_NONE; 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_HSI; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != 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.ClockSpeed = 400000; hi2c3.Init.DutyCycle = I2C_DUTYCYCLE_2; hi2c3.Init.OwnAddress1 = 0; hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c3.Init.OwnAddress2 = 0; hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; if (HAL_I2C_Init(&hi2c3) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN I2C3_Init 2 */ /* USER CODE END I2C3_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_SOFT; 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 = 10; if (HAL_SPI_Init(&hspi2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN SPI2_Init 2 */ /* USER CODE END SPI2_Init 2 */ } /** * @brief USART2 Initialization Function * @param None * @retval None */ static void MX_USART2_UART_Init(void) { /* USER CODE BEGIN USART2_Init 0 */ /* USER CODE END USART2_Init 0 */ /* USER CODE BEGIN USART2_Init 1 */ /* USER CODE END USART2_Init 1 */ huart2.Instance = USART2; huart2.Init.BaudRate = 115200; huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Mode = UART_MODE_TX_RX; huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart2.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART2_Init 2 */ /* USER CODE END USART2_Init 2 */ } /** * Enable DMA controller clock */ static void MX_DMA_Init(void) { /* DMA controller clock enable */ __HAL_RCC_DMA1_CLK_ENABLE(); /* DMA interrupt init */ /* DMA1_Stream5_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 0, 0); HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn); } /** * @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_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOA, LED_GN_Pin|LED_RD_Pin|Mot003_Status_Pin|Mot002_Status_Pin |IMU2_SS_Pin|IMU3_SS_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOC, IMU1_Status_Pin|IMU2_Status_Pin|Mot001_Status_Pin|Mot003_SS_Pin |IMU3_Status_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|IMU1_SS_Pin|Mot001_SS_Pin|HDMode_LED_Pin |Mot002_SS_Pin, GPIO_PIN_RESET); /*Configure GPIO pins : Reset_SW_Pin Hall_Detection_Button_PC14_Pin */ GPIO_InitStruct.Pin = Reset_SW_Pin|Hall_Detection_Button_PC14_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); /*Configure GPIO pins : LED_GN_Pin LED_RD_Pin Mot003_Status_Pin Mot002_Status_Pin IMU2_SS_Pin IMU3_SS_Pin */ GPIO_InitStruct.Pin = LED_GN_Pin|LED_RD_Pin|Mot003_Status_Pin|Mot002_Status_Pin |IMU2_SS_Pin|IMU3_SS_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); /*Configure GPIO pins : IMU1_Status_Pin IMU2_Status_Pin Mot001_Status_Pin Mot003_SS_Pin IMU3_Status_Pin */ GPIO_InitStruct.Pin = IMU1_Status_Pin|IMU2_Status_Pin|Mot001_Status_Pin|Mot003_SS_Pin |IMU3_Status_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); /*Configure GPIO pins : PB0 IMU1_SS_Pin Mot001_SS_Pin HDMode_LED_Pin Mot002_SS_Pin */ GPIO_InitStruct.Pin = GPIO_PIN_0|IMU1_SS_Pin|Mot001_SS_Pin|HDMode_LED_Pin |Mot002_SS_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /*Configure GPIO pins : Mot002_Error_Pin_Pin Mot003_Error_Pin_Pin Mot001_Error_Pin_Pin HDMode_SW_Pin */ GPIO_InitStruct.Pin = Mot002_Error_Pin_Pin|Mot003_Error_Pin_Pin|Mot001_Error_Pin_Pin|HDMode_SW_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &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****/ //------------------------------------------------------------------------------- //---------- Inhalt LSM6DS3.c --------------------------------------------------- //------------------------------------------------------------------------------- void IMU1_config(void){ const uint8_t CTRL1_XL_addr = 0x10; const uint8_t CTRL1_XL_write = 0x3B; // 0011_10_11 const uint8_t CTRL2_G_addr = 0x11; const uint8_t CTRL2_G_write = 0x34; // 0011_01_0_0 Send_2Bytes_IMU1(CTRL1_XL_addr,CTRL1_XL_write); Send_2Bytes_IMU1(CTRL2_G_addr,CTRL2_G_write); } struct IMU_Struct IMU1_Read_Values(void){ const uint8_t WHO_AM_I = 0x69; // ist die korrekte Antwort, falls der Sensor da ist const uint8_t addr_WHO_AM_I_read = 0x8F; const uint8_t addr_CTRL1_XL_read = 0x90; const uint8_t addr_acc_x_l_read = 0xA8; const uint8_t addr_acc_x_h_read = 0xA9; //------------------------------ //-------------------------------------------------- if (Read_1Byte_IMU1(addr_WHO_AM_I_read) == WHO_AM_I){ // Wenn IMU1 auf WHO_AM_I reagiert, IMU1.status=1; // if (Read_1Byte_IMU1(addr_CTRL1_XL_read) == 0){ IMU1_config(); // Falls der Accelerometer im Sensor nicht korrekt konfiguriert ist, konfiguriere nochmal neu HAL_GPIO_TogglePin(LED_GN_GPIO_Port, LED_GN_Pin); } }else{ IMU1.status=0; // Status: Sensor ist nicht angeschlossen } if(IMU1.status==1){ // Wenn IMU1 erkannt, IMU1_Status_SET(); // dann Status-LED anschalten }else{ IMU1_Status_RESET(); // ansonsten Status-LED ausschalten } IMU1.acc_x[IMU_datlength-1]=Read_1Byte_IMU1(addr_acc_x_l_read); // einen Messwert lesen return IMU1; } void Send_2Bytes_IMU1(uint8_t Byte1,uint8_t Byte2){ const uint8_t timeout = 10; uint8_t TxBuffer[2]; TxBuffer[0]=Byte1; TxBuffer[1]=Byte2; IMU1_SS_Enable(); // SS auf low HAL_SPI_Transmit(&hspi2, TxBuffer, 2, timeout); IMU1_SS_Disable(); // SS auf high } uint8_t Read_1Byte_IMU1(uint8_t Byte){ const uint8_t timeout = 10; uint8_t TxBuffer[2]; TxBuffer[0]=Byte; // Adresse des Read-Bytes TxBuffer[1]=0; uint8_t RxBuffer[2]; IMU1_SS_Enable(); // SS auf low HAL_SPI_TransmitReceive(&hspi2, TxBuffer, RxBuffer, 2, timeout); IMU1_SS_Disable(); // SS auf high return RxBuffer[1]; }
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