1 #include "led.h"
2 #include "delay.h"
3 #include "key.h"
4 #include "sys.h"
5 #include "usart.h"
6 #include "mpu6050.h"
7 #include "inv_mpu.h"
8 #include "inv_mpu_dmp_motion_driver.h"
9 /************************************************
10 ALIENTEK精英STM32开发板
11 作者：唯恋殊雨
12 CSDN博客：https://blog.csdn.net/tichimi3375
13 SCL-PB6
14 SDA-PB7
15 ************************************************/
16 int main(void)
17 {
18 u8 t=0,report=1; //默认开启上报
19 u8 key;
20 float pitch,roll,yaw; //欧拉角
21 short aacx,aacy,aacz; //加速度传感器原始数据
22 short gyrox,gyroy,gyroz; //陀螺仪原始数据
23 short temp; //温度
24 SystemInit();
25 NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
26 uart_init(115200); //串口初始化为500000
27 delay_init(); //延时初始化
28 LED_Init(); //初始化与LED连接的硬件接口
29 KEY_Init(); //初始化按键
30 MPU_Init(); //初始化MPU6050
31 while(mpu_dmp_init())
32 {
33 printf("\n\rMPU6050 Error\n\r");
34 delay_ms(200);
35 }
36 while(1)
37 {
38 key=KEY_Scan(0);
39 if(key==KEY0_PRES)
40 {
41 report=!report;
42 if(report)printf("\n\rUPLOAD ON \n\r");
43 else printf("\n\rUPLOAD OFF\n\r");
44 }
45 if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
46 {
47 temp=MPU_Get_Temperature(); //得到温度值
48 MPU_Get_Accelerometer(&aacx,&aacy,&aacz); //得到加速度传感器数据
49 MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz); //得到陀螺仪数据
50 if(report)mpu6050_send_data(aacx,aacy,aacz,gyrox,gyroy,gyroz);//用自定义帧发送加速度和陀螺仪原始数据
51 if(report)usart1_report_imu(aacx,aacy,aacz,gyrox,gyroy,gyroz,(int)(roll*100),(int)(pitch*100),(int)(yaw*10));
52 if((t%10)==0)
53 {
54 printf("\n\rtemp:%f\n\r",temp/100.0);
55 printf("\n\rpitch:%f\n\r",pitch*10);
56 printf("\n\rroll:%f\n\r",roll*10);
57 printf("\n\ryaw:%f\n\r",yaw*10);
58 t=0;
59 }
60 }
61 t++;
62 }
63 }
