/* 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 /* 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; int gx1,gy1,gz1; short gx2,gy2,gz2; short gx3,gy3,gz3; short gx4,gy4,gz4; short gx5,gy5,gz5; short gx6,gy6,gz6; /* 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); MPU_Get_Gyroscope(&gx1,&gy1,&gz1); printf("%d,%d,%d",gx1,gy1,gz1); 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,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("%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,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,%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("%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("%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("%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,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("%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 */