I have been trying to do some i2c communication with my BNO055 IMU but cant seem to get passed the MX_I2C1_Init function when i run it in debug.
It gives me this error:
Error: jtag status contains invalid mode value - communication failure
Polling target STM32F303RETx.cpu failed, trying to reexamine
Examination failed, GDB will be halted. Polling again in 6300ms
Info : Previous state query failed, trying to reconnect
Error: jtag status contains invalid mode value - communication failure
Polling target STM32F303RETx.cpu failed, trying to reexamine
Examination failed, GDB will be halted. Polling again in 6300ms
shutdown command invoked
I'm currently using a nucleo stm32F303RE board and had my base code generated by cubemx. it genreated code for the hal functions, the i2c1 pins, uart4 pins. here is my code.
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f3xx_hal.h"
/* USER CODE BEGIN Includes */
#define DEV_ADD (0x28<<1)
#define UNIT_SELECT_ADD 0x3B
#define UNIT_SELECT_DATA 0x68
#define OPR_MODE_ADD 0x3D
#define OPR_MODE_DATA 0xFC
#define EUL_X_ADD 0x1A
#define EUL_Y_ADD 0x1C
#define EUL_Z_ADD 0x1E
#define LIA_X_ADD 0x28
#define LIA_Y_ADD 0x2A
#define LIA_Z_ADD 0x2C
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
UART_HandleTypeDef huart4;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
unsigned char eul_x_msb = 0, eul_x_lsb = 0, eul_y_msb = 0, eul_y_lsb = 0, eul_z_msb = 0, eul_z_lsb = 0;
unsigned char lia_x_msb = 0, lia_x_lsb = 0, lia_y_msb = 0, lia_y_lsb = 0, lia_z_msb = 0, lia_z_lsb = 0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_UART4_Init(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
void i2c_init_function(void){
unsigned char aRxBuffer[3], txBuffer[3];
HAL_I2C_Mem_Read(&hi2c1, DEV_ADD, UNIT_SELECT_ADD, I2C_MEMADD_SIZE_8BIT, aRxBuffer, 1, 100);
aRxBuffer[0] = aRxBuffer[0] & UNIT_SELECT_DATA;
txBuffer[0] = UNIT_SELECT_ADD;
txBuffer[1] = aRxBuffer[0];
HAL_I2C_Master_Transmit(&hi2c1, DEV_ADD, txBuffer, 1, 100);
HAL_I2C_Mem_Read(&hi2c1, DEV_ADD, OPR_MODE_ADD, I2C_MEMADD_SIZE_8BIT, aRxBuffer, 1, 100);
aRxBuffer[0] = aRxBuffer[0] & OPR_MODE_DATA;
txBuffer[0] = OPR_MODE_ADD;
txBuffer[1] = aRxBuffer[0];
HAL_I2C_Master_Transmit(&hi2c1, DEV_ADD, txBuffer, 1, 100);
}
void eul_x_read(unsigned char * tab){
HAL_I2C_Mem_Read(&hi2c1, DEV_ADD, EUL_X_ADD, I2C_MEMADD_SIZE_8BIT, tab, 2, 100);
}
void eul_y_read(unsigned char * tab){
HAL_I2C_Mem_Read(&hi2c1, DEV_ADD, EUL_Y_ADD, I2C_MEMADD_SIZE_8BIT, tab, 2, 100);
}
void eul_z_read(unsigned char * tab){
HAL_I2C_Mem_Read(&hi2c1, DEV_ADD, EUL_Z_ADD, I2C_MEMADD_SIZE_8BIT, tab, 2, 100);
}
void lia_x_read(unsigned char * tab){
HAL_I2C_Mem_Read(&hi2c1, DEV_ADD, LIA_X_ADD, I2C_MEMADD_SIZE_8BIT, tab, 2, 100);
}
void lia_y_read(unsigned char * tab){
HAL_I2C_Mem_Read(&hi2c1, DEV_ADD, LIA_Y_ADD, I2C_MEMADD_SIZE_8BIT, tab, 2, 100);
}
void lia_z_read(unsigned char * tab){
HAL_I2C_Mem_Read(&hi2c1, DEV_ADD, LIA_Z_ADD, I2C_MEMADD_SIZE_8BIT, tab, 2, 100);
}
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
*
* @retval None
*/
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_I2C1_Init();
MX_UART4_Init();
/* USER CODE BEGIN 2 */
i2c_init_function();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
unsigned char buff[3];
eul_x_read(buff);
HAL_Delay(25);
eul_x_lsb = buff[0];
eul_x_msb = buff[1];
eul_y_read(buff);
HAL_Delay(25);
eul_y_lsb = buff[0];
eul_y_msb = buff[1];
eul_z_read(buff);
HAL_Delay(25);
eul_z_lsb = buff[0];
eul_z_msb = buff[1];
lia_x_read(buff);
HAL_Delay(25);
lia_x_lsb = buff[0];
lia_x_msb = buff[1];
lia_y_read(buff);
HAL_Delay(25);
lia_y_lsb = buff[0];
lia_y_msb = buff[1];
lia_z_read(buff);
HAL_Delay(25);
lia_z_lsb = buff[0];
lia_z_msb = buff[1];
unsigned char mapping[12] = {eul_x_msb, eul_x_lsb, eul_y_msb, eul_y_lsb, eul_z_msb, eul_z_lsb,
lia_x_msb, lia_x_lsb, lia_y_msb, lia_y_lsb, lia_z_msb, lia_z_lsb};
HAL_UART_Transmit(&huart4, mapping, 12, 100);
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_PeriphCLKInitTypeDef PeriphClkInit;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_UART4|RCC_PERIPHCLK_I2C1;
PeriphClkInit.Uart4ClockSelection = RCC_UART4CLKSOURCE_PCLK1;
PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_HSI;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* I2C1 init function */
static void MX_I2C1_Init(void)
{
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x2000090E;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* UART4 init function */
static void MX_UART4_Init(void)
{
huart4.Instance = UART4;
huart4.Init.BaudRate = 115200;
huart4.Init.WordLength = UART_WORDLENGTH_8B;
huart4.Init.StopBits = UART_STOPBITS_1;
huart4.Init.Parity = UART_PARITY_NONE;
huart4.Init.Mode = UART_MODE_TX_RX;
huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart4.Init.OverSampling = UART_OVERSAMPLING_16;
huart4.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart4.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart4) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/*Configure GPIO pins : PA0 PA1 PA2 PA3
PA4 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
|GPIO_PIN_4;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @param file: The file name as string.
* @param line: The line in file as a number.
* @retval None
*/
void _Error_Handler(char *file, int line)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* 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****/
i figured it out XD i was accidentally using the JTags clock pin for my I2C communication so when it would enter the GPIO initializing the debugger would stop working XD i was initially using the pins PA14 and PA15. PA14 is the JTAG clock. so i changed them for PB8 and PB9 witch are a alternative pin selection for the I2C1 communication.here's the pin out description that enlightened me
