7 years, 1 month ago.

I cannot get values with spi 4 wire protocol from ADXL345

Hi ,friends why I cant a value from adxl345 ,here are my codes.also at the bottom .I wrote where code is hang up

void ADXL345_Raw_Values(SPI_HandleTypeDef *hspi,int16_t *AccRaw) { HAL_GPIO_WritePin(GPIOC,ADXL345_CS_Pin, GPIO_PIN_RESET); ADXL345Setup[0] = INT_SOURCE | 0x80; HAL_SPI_Transmit(hspi,ADXL345Setup,1,100); HAL_SPI_Receive(hspi,temp,1,1000); HAL_GPIO_WritePin(GPIOC,ADXL345_CS_Pin, GPIO_PIN_SET); while((temp[0] & 0x80) == 0) { code is hang up here and also these code are in ADXL345_SPI.h HAL_GPIO_WritePin(GPIOC,ADXL345_CS_Pin, GPIO_PIN_RESET); ADXL345Setup[0] = INT_SOURCE | 0x80; HAL_SPI_Transmit(hspi,ADXL345Setup,1,100); HAL_SPI_Receive(hspi,temp,1,1000); HAL_GPIO_WritePin(GPIOC,ADXL345_CS_Pin, GPIO_PIN_SET); } HAL_GPIO_WritePin(GPIOC,ADXL345_CS_Pin, GPIO_PIN_RESET); ADXL345Setup[0] = DATAXL; HAL_SPI_Transmit(hspi,ADXL345Setup,1,100); HAL_SPI_Receive(hspi,out,6,1000); HAL_GPIO_WritePin(GPIOC,ADXL345_CS_Pin, GPIO_PIN_SET);

AccRaw[x_eksen] = (int16_t)(((uint16_t)out[1]<<8) | out[0]); AccRaw[y_eksen] = (int16_t)(((uint16_t)out[3]<<8) | out[2]); AccRaw[z_eksen] = (int16_t)(((uint16_t)out[5]<<8) | out[4]); }

1. include "main.h"
2. include "stm32f4xx_hal.h"
3. include "math.h"

1. include "ADXL345_SPI.h"

SPI_HandleTypeDef hspi1; TIM_HandleTypeDef htim4;

int16_t ADXL345Raw[3],L3G4200DRaw[3]; float Rth[3],Ro[3],ADXL345Angle[3],L3G4200DDps[3]; float X,Y,Z,Roll,Pitch; uint16_t RollPID=0,PitchPID=0; float deltaR[3]={0}; uint8_t j=0;

void SystemClock_Config(void); void Error_Handler(void); static void MX_GPIO_Init(void); static void MX_SPI1_Init(void); static void MX_TIM4_Init(void); void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

void ADXL345_Angle(void);

int main(void) {

HAL_Init(); SystemClock_Config(); MX_GPIO_Init(); MX_SPI1_Init(); MX_TIM4_Init(); HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_1); HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_2); HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_3); HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4); HAL_GPIO_WritePin(GPIOC,L3G4200D_CS_Pin,GPIO_PIN_SET); ADXL345_Setup(&hspi1); while (1) { ADXL345_Angle();

if (ADXL345Angle[x_eksen] > 0) TIM4->CCR2 = 10000; else TIM4->CCR2 = 100; if (ADXL345Angle[y_eksen] > 0) TIM4->CCR3 = 10000; else TIM4->CCR3 = 100;

}

}

###################### void ADXL345_Angle(void) { ADXL345_Raw_Values(&hspi1,ADXL345Raw);

X = ADXL345Raw[x_eksen]*0.004F; Y = ADXL345Raw[y_eksen]*0.004F; Z = ADXL345Raw[z_eksen]*0.004F;

ADXL345Angle[x_eksen] = -atan2(X,sqrt(pow(Y,2)+pow(Z,2))) * 57.29577F; teta pitch ADXL345Angle[y_eksen] = atan2(Y,sqrt(pow(X,2)+pow(Z,2))) * 57.29577F;psi roll } ######################

void SystemClock_Config(void) {

RCC_OscInitTypeDef RCC_OscInitStruct; RCC_ClkInitTypeDef RCC_ClkInitStruct;

HAL_RCC_PWR_CLK_ENABLE();

HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 4; RCC_OscInitStruct.PLL.PLLN = 168; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 4; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); }

/Initializes the CPU, AHB and APB busses 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_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { Error_Handler(); }

HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); }

/* SPI1 init function */ static void MX_SPI1_Init(void) {

hspi1.Instance = SPI1; hspi1.Init.Mode = SPI_MODE_MASTER; hspi1.Init.Direction = SPI_DIRECTION_2LINES; hspi1.Init.DataSize = SPI_DATASIZE_8BIT; hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; hspi1.Init.NSS = SPI_NSS_SOFT; hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB ; hspi1.Init.TIMode = SPI_TIMODE_DISABLE; hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; hspi1.Init.CRCPolynomial = 10; if (HAL_SPI_Init(&hspi1) != HAL_OK) { Error_Handler(); }

}

/* TIM4 init function */ static void MX_TIM4_Init(void) {

TIM_MasterConfigTypeDef sMasterConfig; TIM_OC_InitTypeDef sConfigOC;

htim4.Instance = TIM4; htim4.Init.Prescaler = 84; htim4.Init.CounterMode = TIM_COUNTERMODE_UP; htim4.Init.Period = 19999; htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; if (HAL_TIM_PWM_Init(&htim4) != HAL_OK) { Error_Handler(); }

sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK) { Error_Handler(); }

sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); }

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); }

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) != HAL_OK) { Error_Handler(); }

if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK) { Error_Handler(); }

HAL_TIM_MspPostInit(&htim4);

}

static void MX_GPIO_Init(void) {

GPIO_InitTypeDef GPIO_InitStruct;

/* GPIO Ports Clock Enable */ HAL_RCC_GPIOH_CLK_ENABLE(); HAL_RCC_GPIOA_CLK_ENABLE(); HAL_RCC_GPIOC_CLK_ENABLE(); HAL_RCC_GPIOD_CLK_ENABLE();

/*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOC, ADXL345_CS_Pin|L3G4200D_CS_Pin, GPIO_PIN_RESET);

/*Configure GPIO pins : ADXL345_CS_Pin L3G4200D_CS_Pin */ GPIO_InitStruct.Pin = ADXL345_CS_Pin|L3G4200D_CS_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

}

void Error_Handler(void) { /* USER CODE BEGIN Error_Handler */ /* User can add his own implementation to report the HAL error return state */ while(1) { } /* USER CODE END Error_Handler */ }

1. 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, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */

}

1. endif