/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * *

© Copyright (c) 2020 STMicroelectronics. * All rights reserved.

* * This software component is licensed by ST under BSD 3-Clause license, * the "License"; You may not use this file except in compliance with the * License. You may obtain a copy of the License at: * opensource.org/licenses/BSD-3-Clause * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* 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 ---------------------------------------------------------*/ I2C_HandleTypeDef hi2c1; UART_HandleTypeDef huart2; /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_USART2_UART_Init(void); static void MX_I2C1_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ #define MPU6050_ADDR 0xD0 /* Note that in Arduino, you use 0x68 as the address it's "pure" I2C address is 0b110100x (which is 0x68 or 0x69 depending on the state of the AD0 pin, we will assume it's '0' for simplicity here) that means that the value you will clock out for the I2C address will be 0xd0 or 0xd1, depending on whether you want to start an I2C write or read */ #define GYRO_CONFIG_REG 0x1B #define ACCEL_CONFIG_REG 0x1C #define ACCEL_XOUT_H_REG 0x3B #define GYRO_XOUT_H_REG 0x43 #define PWR_MGMT_1_REG 0x6B int16_t Accel_X_RAW = 0; int16_t Accel_Y_RAW = 0; int16_t Accel_Z_RAW = 0; int16_t Gyro_X_RAW = 0; int16_t Gyro_Y_RAW = 0; int16_t Gyro_Z_RAW = 0; float Ax, Ay, Az, Gx, Gy, Gz; void MPU6050_Init (void) { uint8_t Data; Data=0x00; HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, PWR_MGMT_1_REG, 1, &Data, 1, 1000); Data=0x08; HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, GYRO_CONFIG_REG, 1, &Data, 1, 1000); Data=0x08; HAL_I2C_Mem_Write(&hi2c1, MPU6050_ADDR, ACCEL_CONFIG_REG, 1, &Data, 1, 1000); } void MPU6050_Read_Accel(void) { uint8_t Rec_Data[6]; HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, ACCEL_XOUT_H_REG, 1, Rec_Data, 6, 1000); Accel_X_RAW = (int16_t) (Rec_Data[0] << 8 | Rec_Data[1]); Accel_Y_RAW = (int16_t) (Rec_Data[2] << 8 | Rec_Data[3]); Accel_Z_RAW = (int16_t) (Rec_Data[4] << 8 | Rec_Data[5]); Ax=Accel_X_RAW/8192.0; Ay=Accel_Y_RAW/8192.0; Az=Accel_Z_RAW/8192.0; } /* 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_USART2_UART_Init(); MX_I2C1_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ MPU6050_Init(); char buf[14]; // fixed width integer, 2's complement for negative values /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { MPU6050_Read_Accel(); sprintf(buf, "Ax = %.2f \r\n", Ax); HAL_UART_Transmit(&huart2, buf, sizeof(buf), HAL_MAX_DELAY); sprintf(buf, "Ay = %.2f \r\n", Ay); HAL_UART_Transmit(&huart2, buf, sizeof(buf), HAL_MAX_DELAY); sprintf(buf, "Az = %.2f \r\n", Az); HAL_UART_Transmit(&huart2, buf, sizeof(buf), HAL_MAX_DELAY); HAL_Delay(500); /* 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}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2); /** Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = 16; RCC_OscInitStruct.PLL.PLLN = 336; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4; RCC_OscInitStruct.PLL.PLLQ = 7; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** 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(); } } /** * @brief I2C1 Initialization Function * @param None * @retval None */ static void MX_I2C1_Init(void) { /* USER CODE BEGIN I2C1_Init 0 */ /* USER CODE END I2C1_Init 0 */ /* USER CODE BEGIN I2C1_Init 1 */ /* USER CODE END I2C1_Init 1 */ hi2c1.Instance = I2C1; hi2c1.Init.ClockSpeed = 100000; hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2; hi2c1.Init.OwnAddress1 = 0; hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c1.Init.OwnAddress2 = 0; hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; if (HAL_I2C_Init(&hi2c1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN I2C1_Init 2 */ /* USER CODE END I2C1_Init 2 */ } /** * @brief USART2 Initialization Function * @param None * @retval None */ static void MX_USART2_UART_Init(void) { /* USER CODE BEGIN USART2_Init 0 */ /* USER CODE END USART2_Init 0 */ /* USER CODE BEGIN USART2_Init 1 */ /* USER CODE END USART2_Init 1 */ huart2.Instance = USART2; huart2.Init.BaudRate = 115200; huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Mode = UART_MODE_TX_RX; huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart2.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART2_Init 2 */ /* USER CODE END USART2_Init 2 */ } /** * @brief GPIO Initialization Function * @param None * @retval None */ static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET); /*Configure GPIO pin : B1_Pin */ GPIO_InitStruct.Pin = B1_Pin; GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : LD2_Pin */ GPIO_InitStruct.Pin = LD2_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct); } /* 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 */ /* 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****/