/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "i2c.h"
#include "quadspi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "MPU6050.h"

#include <stdio.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 ---------------------------------------------------------*/

/* USER CODE BEGIN PV */


 int a=0x68;
 int b=0xD1;
 int c=0xD0;
int t = 1;
//int a = 0x69;
//int b = 0xD3;
//int c = 0xD2;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

int fputc(int ch, FILE *f)
{
  HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xffff); // �����ض���
  return ch;
}

int fgetc(FILE *f)
{
  uint8_t ch = 0;
  HAL_UART_Receive(&huart2, &ch, 1, 0xffff); // �����ض���
  return ch;
}

/* 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_ADC1_Init();
  MX_I2C1_Init();
  MX_QUADSPI_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  MX_I2C2_Init();
  MX_I2C3_Init();
  /* USER CODE BEGIN 2 */
				a=0x69;
    		b=0xD3;
    		c=0XD2;
    		t=1;
				DMP_Init();
				a=0x68;
    		b=0xD1;
    		c=0XD0;
    		t=1;
				DMP_Init();
				a=0x68;
    		b=0xD1;
    		c=0XD0;
    		t=2;
				DMP_Init();
				a=0x69;
    		b=0xD3;
    		c=0XD2;
    		t=2;
				DMP_Init();
				a=0x69;
    		b=0xD3;
    		c=0XD2;
    		t=3;
				DMP_Init();
				a=0x68;
    		b=0xD1;
    		c=0XD0;
    		t=3;
				DMP_Init();

  HAL_QSPI_Init(&hqspi);
  int g = 1;
  float Pitch1, Roll1, Yaw1;
  float Pitch2, Roll2, Yaw2;
	float Pitch3, Roll3, Yaw3;
	float Pitch4, Roll4, Yaw4;
  float Pitch5, Roll5, Yaw5;
	float Pitch6, Roll6, Yaw6;
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

		
		//测试
//			a=0x68;
//			b=0xD1;
//			c=0XD0;
				a=0x69;
    		b=0xD3;
    		c=0XD2;
    		t=3;
    
    
    uint8_t ret = Read_DMP(&Pitch1, &Roll1, &Yaw1);
		a=0x68;
    		b=0xD1;
    		c=0XD0;
    		t=1;
    
    
    uint8_t ret1 = Read_DMP(&Pitch2, &Roll2, &Yaw2);
    printf("%f,%f,%f,%f,%f,%f\r\n",Pitch1,Roll1,Yaw1,Pitch2,Roll2,Yaw2);
		
		
//		
//		
//  	if(g==1){ //15
//    		
//			
//			a=0x69;
//    		b=0xD3;
//    		c=0XD2;
//    		t=1;
//    
//    // char buff[100]={0};
//       	  uint8_t ret = Read_DMP(&Pitch1, &Roll1, &Yaw1);
//    ////printf("%d,%f,%f,%f\r\n", g,Pitch1, Roll1, Yaw1);
//    ////printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch1, Roll1, Yaw1);
//    ////		sprintf(buff,"16:%f,%f,%f\r\n", Pitch, Roll, Yaw);
//    ////		HAL_QSPI_Transmit(&hqspi, buff, 100);
//    		g=2;
//    	}
//     else if(g==2){  //18
//    			 a=0x68;
//			b=0xD1;
//			c=0XD0;
//			t=1;
//	

//    // float Pitch2, Roll2, Yaw2;

//      	  uint8_t ret = Read_DMP(&Pitch2, &Roll2, &Yaw2);
//			
//    // printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch2, Roll2, Yaw2);
//    	g=3;
//    }
//     else if(g==3){ //16
//    		
//		
//		    a=0x68;
//    		b=0xD1;
//    		c=0XD0;
//    		t=2;
//    // float Pitch, Roll, Yaw;

//      	  uint8_t ret = Read_DMP(&Pitch3, &Roll3, &Yaw3);
//			 //printf("%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3);
//    // printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch3, Roll3, Yaw3);
//    		g=4;
//    	}

//     else if(g==4){ //13
//    a = 0x69;
//    b = 0xD3;
//    c = 0XD2;
//    t = 2;


//   uint8_t ret = Read_DMP(&Pitch4, &Roll4, &Yaw4);
//			//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
//		 //printf("%d,%f,%f,%f\r\n", g, Pitch4, Roll4, Yaw4);
//    ////printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch4, Roll4, Yaw4);
//    		g=5;
//    	}
//    	else if(g==5){ //17
//    		a=0x68;
//    		b=0xD1;
//    		c=0XD0;
//    		t=3;
//    ////float Pitch5, Roll5, Yaw5;

//      	  uint8_t ret = Read_DMP(&Pitch5, &Roll5, &Yaw5);
//    ////		printf("%d,%f,%f,%f\r\n", g,Pitch5, Roll5, Yaw5);
//    //printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch5, Roll5, Yaw5);
//    		g=6;
//    	}
//    	else if(g==6){ //14
//    		a=0x69;
//    		b=0xD3;
//    		c=0XD2;
//    	t=3;
//     
//      uint8_t ret = Read_DMP(&Pitch6, &Roll6, &Yaw6);
//    		//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
//      	 
//     //printf("com:imu:%d:ang:%f:%f:%f\r\n", g,Pitch, Roll, Yaw);
//    		g=1;
//    	}
    //
	//printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",Pitch1, Roll1, Yaw1,Pitch2, Roll2, Yaw2,Pitch3, Roll3, Yaw3,Pitch4, Roll4, Yaw4,Pitch5, Roll5, Yaw5,Pitch6, Roll6, Yaw6);
    //		HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,0);
    //		HAL_Delay(10);
    HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, 1);
    //		HAL_Delay(10);
    //

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Supply configuration update enable
  */
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

  /** 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_DIV1;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 50;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  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_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* 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 */
  __disable_irq();
  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 /* USE_FULL_ASSERT */
