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Interrupt triggered only once

Question asked by Piotr Partyka on Aug 7, 2017
Latest reply on Aug 8, 2017 by Vangelis Fortounas

Hi!

I set my TIM3 for 1kHz and each time interrupt is generated I want to increment the 'delay_us' variable. What is strange the variable is incremented only once! Then the main 'while(1)' loop works all the time and the interrupt is not triggered again. I don't know why this happens. The main loop reads data through I2C bus from motion sensor and prints it through UART using interrupts too. I use HAL libraries and CubeMX. Please help me

Here goes my code: 

#include "main.h"
#include "stm32f3xx_hal.h"

I2C_HandleTypeDef hi2c1;
TIM_HandleTypeDef htim3;
UART_HandleTypeDef huart1;

int16_t acc_x = 0, acc_y = 0, acc_z = 0;
int16_t gyro_x = 0, gyro_y = 0, gyro_z = 0;
#define MPU6050_ADDR     (0x68 << 1)
#define ACC_XOUT_H          0x3B
#define ACC_XOUT_L          0x3C
#define ACC_YOUT_H          0x3D
#define ACC_YOUT_L          0x3E
#define ACC_ZOUT_H          0x3F
#define ACC_ZOUT_L          0x40
#define GYRO_XOUT_H          0x43
#define GYRO_XOUT_L          0x44
#define GYRO_YOUT_H          0x45
#define GYRO_YOUT_L          0x46
#define GYRO_ZOUT_H          0x47
#define GYRO_ZOUT_L          0x48

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM3_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_I2C1_Init(void);

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim);
void MPU6050_ReadGyro();
void MPU6050_ReadAcc();

int main(void)
{
     uint8_t sleep_off      = 0x00,     //0x6B
               fifo_en          = 0x40,     //0x6A
               read_all     = 0x78,     //0x23
               acc_8g          = 0x00,     //0x1C
               gyro_500     = 0x01;     //0x1B
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
  MX_I2C1_Init();

     uint8_t data[50];
     uint8_t data_i2c;
     uint16_t size;
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x6B, 1, &sleep_off, 1, 100);
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x6A, 1, &fifo_en, 1, 100);
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x23, 1, &read_all, 1, 100);
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1C, 1, &acc_8g, 1, 100);
     HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, 0x1B, 1, &gyro_500, 1, 100);
     HAL_TIM_Base_Start(&htim3);
 
     while (1)
     {

          delay_us = 0;
          MPU6050_ReadAcc();
          MPU6050_ReadGyro();
          size = sprintf(data, "data_i2c =  %x\r\n", data_i2c);
          size = sprintf(data, "acc_x = %d, acc_y = %d, acc_z = %d, \r\n", acc_x, acc_y, acc_z);
          HAL_UART_Transmit_IT(&huart1, &data, size);
          size = sprintf(data, "gyro_x = %d, gyro_y = %d, gyro_z = %d, \r\n", gyro_x, gyro_y, gyro_z);
          HAL_UART_Transmit_IT(&huart1, &data, size);
          while(delay_us < 250);
     }

}

/** System Clock Configuration
*/

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_MUL16;
  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_USART1|RCC_PERIPHCLK_I2C1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
  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 = 0x0000020B;
  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__);
  }

}

/* TIM3 init function */
static void MX_TIM3_Init(void)
{

  TIM_ClockConfigTypeDef sClockSourceConfig;
  TIM_MasterConfigTypeDef sMasterConfig;

  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 63999;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 0;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

/* USART1 init function */
static void MX_USART1_UART_Init(void)
{

  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != 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_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOE_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : LED_Pin */
  GPIO_InitStruct.Pin = LED_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
     static int delay_us = 0;
     if(TIM3->SR & TIM_SR_UIF) // if UIF flag is set
     {
          TIM3->SR &= ~TIM_SR_UIF; // clear UIF flag
     }
     if((delay_us == 250) || (delay_us = 0)){
          HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
     }
     delay_us++;
     HAL_TIM_IRQHandler(&htim3);
}

void MPU6050_ReadAcc(){
     uint8_t data_x = 0, data_y = 0, data_z = 0;
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_XOUT_H, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_YOUT_H, 1, &data_y, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_ZOUT_H, 1, &data_z, 1, 100);
     acc_x = data_x << 8;
     acc_y = data_y << 8;
     acc_z = data_z << 8;
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_XOUT_L, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_XOUT_L, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACC_XOUT_L, 1, &data_x, 1, 100);
     acc_x |= (uint16_t)data_x;
     acc_y |= (uint16_t)data_y;
     acc_z |= (uint16_t)data_z;
}

void MPU6050_ReadGyro(){
     uint8_t data_x = 0, data_y = 0, data_z = 0;
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, GYRO_XOUT_H, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, GYRO_YOUT_H, 1, &data_y, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, GYRO_ZOUT_H, 1, &data_z, 1, 100);
     gyro_x = data_x << 8;
     gyro_y = data_y << 8;
     gyro_z = data_z << 8;
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, GYRO_XOUT_L, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, GYRO_XOUT_L, 1, &data_x, 1, 100);
     HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, GYRO_XOUT_L, 1, &data_x, 1, 100);
     gyro_x |= (uint16_t)data_x;
     gyro_y |= (uint16_t)data_y;
     gyro_z |= (uint16_t)data_z;
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @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,
          ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  /* USER CODE END 6 */

}

#endif

/**
  * @}
  */


/**
  * @}
*/


/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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