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];
}
Acc_x_low-Byte
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