STM32H750XB_RT-THREAD/44-MPU6050（包含程序+上位机）/程序/2.MPU6050基本数据读取_(硬件I2C)/User/main.c

/**
  ******************************************************************************
  * @file    main.c
  * @author  fire
  * @version V1.0
  * @date    2019-xx-xx
  * @brief   MPU6050 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶ<EFBFBD>
  ******************************************************************************
  * @attention
  *
  * ʵ<EFBFBD><EFBFBD>ƽ̨:Ұ<EFBFBD><EFBFBD>  STM32 H750 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  
  * <EFBFBD><EFBFBD>̳    :http://www.firebbs.cn
  * <EFBFBD>Ա<EFBFBD>    :http://firestm32.taobao.com
  *
  ******************************************************************************
  */
  
#include "stm32h7xx.h"
#include "./led/bsp_led.h"
#include "./usart/bsp_debug_usart.h"
#include <stdlib.h>
#include "main.h"
#include "./i2c/i2c.h"
#include "./mpu6050/mpu6050.h"
//<2F><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>ʹ<EFBFBD><CAB9>LCD<43><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>Ļ<EFBFBD><C4BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>
#define USE_LCD_DISPLAY

#ifdef USE_LCD_DISPLAY
 #include "./lcd/bsp_lcd.h"
#endif

/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*/
uint32_t Task_Delay[3]={0};
/**
  * @brief  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  * @param  <EFBFBD><EFBFBD>
  * @retval <EFBFBD><EFBFBD>
  */
int main(void)
{
	static short Acel[3];
	static short Gyro[3];
	static float Temp;
	
  /* ϵͳʱ<CDB3>ӳ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>480MHz */
  SystemClock_Config();
  
  /* Ĭ<>ϲ<EFBFBD><CFB2><EFBFBD><EFBFBD><EFBFBD> MPU<50><55><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><DCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU <20><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> 
   DMA ʱ<EFBFBD><EFBFBD>ע<EFBFBD><EFBFBD> Cache <EFBFBD><EFBFBD> <EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD><EFBFBD><EFBFBD><EFBFBD>⣬
   <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ע<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ο<EFBFBD><EFBFBD><EFBFBD><EFBFBD>׽̵̳<EFBFBD> MPU <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD> */
//  Board_MPU_Config(0, MPU_Normal_WT, 0xD0000000, MPU_32MB);
//  Board_MPU_Config(1, MPU_Normal_WT, 0x24000000, MPU_512KB);
  
  SCB_EnableICache();    // ʹ<><CAB9>ָ<EFBFBD><D6B8> Cache
//  SCB_EnableDCache();    // ʹ<><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Cache
  
    /* LED <20>˿ڳ<CBBF>ʼ<EFBFBD><CABC> */
    LED_GPIO_Config();
	
#ifdef USE_LCD_DISPLAY		
    /* LCD <20>˿ڳ<CBBF>ʼ<EFBFBD><CABC> */ 
    LCD_Init();
    /* LCD <20><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */ 
    LCD_LayerInit(0, LCD_FB_START_ADDRESS,ARGB8888);
	/* LCD <20>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC> */ 
    LCD_LayerInit(1, LCD_FB_START_ADDRESS+(LCD_GetXSize()*LCD_GetYSize()*4),ARGB8888);
    /* ʹ<><CAB9>LCD<43><44><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ 
    LCD_DisplayOn(); 

    /* ѡ<><D1A1>LCD<43><44>һ<EFBFBD><D2BB> */
    LCD_SelectLayer(0);

    /* <20><>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾȫ<CABE><C8AB> */ 
    LCD_Clear(LCD_COLOR_BLACK);  

    /* ѡ<><D1A1>LCD<43>ڶ<EFBFBD><DAB6><EFBFBD> */
    LCD_SelectLayer(1);

    /* <20>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ͸<CABE><CDB8> */ 
    LCD_Clear(LCD_COLOR_TRANSPARENT);

    /* <20><><EFBFBD>õ<EFBFBD>һ<EFBFBD>͵ڶ<CDB5><DAB6><EFBFBD><EFBFBD><EFBFBD>͸<EFBFBD><CDB8><EFBFBD><EFBFBD>,<2C><>СֵΪ0<CEAA><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵΪ255*/
    LCD_SetTransparency(0, 255);
    LCD_SetTransparency(1, 0);
	
	/* ѡ<><D1A1>LCD<43><44>һ<EFBFBD><D2BB> */
    LCD_SelectLayer(0);
	/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD>ɫ*/
	LCD_SetColors(LCD_COLOR_RED,LCD_COLOR_BLACK);	
#endif
  /*<2A><>ʼ<EFBFBD><CABC>USART1*/
	DEBUG_USART_Config(); 
		
	//<2F><>ʼ<EFBFBD><CABC> I2C
	I2cMaster_Init(); 

	printf("\r\n <20><>ӭʹ<D3AD><CAB9>Ұ<EFBFBD><D2B0>  STM32 H750 <20><><EFBFBD><EFBFBD><EFBFBD>塣\r\n");		 

	printf("\r\n <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>I2C<32><43><EFBFBD><EFBFBD>(MPU6050)<29><>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> \r\n");

 	//MPU6050<35><30>ʼ<EFBFBD><CABC>
	MPU6050_Init();
	
	//<2F><><EFBFBD><EFBFBD>MPU6050
	if (MPU6050ReadID() == 1)
	{	
		while(1)
		{
			//if(Task_Delay[0]==0)
//			{
//				LED2_TOGGLE;
//				Task_Delay[0]=1000;
//			}
			
			//if(Task_Delay[1]==0)
			{
				MPU6050ReadAcc(Acel);
				printf("<EFBFBD><EFBFBD><EFBFBD>ٶȣ<EFBFBD>%8d%8d%8d",Acel[0],Acel[1],Acel[2]);
				MPU6050ReadGyro(Gyro);
				printf("    <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>%8d%8d%8d",Gyro[0],Gyro[1],Gyro[2]);
				MPU6050_ReturnTemp(&Temp);
				printf("    <20>¶<EFBFBD>%8.2f\r\n",Temp);				
				
				
				#ifdef USE_LCD_DISPLAY	
					{
						char cStr [ 70 ];
						sprintf ( cStr, "Acceleration:%8d%8d%8d",Acel[0],Acel[1],Acel[2] );	//<2F><><EFBFBD>ٶ<EFBFBD>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD>


						LCD_DisplayStringLine(7,(uint8_t* )cStr);			

						sprintf ( cStr, "Gyro        :%8d%8d%8d",Gyro[0],Gyro[1],Gyro[2] );	//<2F><>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD>

						LCD_DisplayStringLine(8,(uint8_t* )cStr);			

						sprintf ( cStr, "Temperture  :%8.2f",Temp );	//<2F>¶<EFBFBD>ֵ
						LCD_DisplayStringLine(9,(uint8_t* )cStr);			

					}
				#endif
				HAL_Delay(500);
				//Task_Delay[1]=500; //<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3>ɸ<EFBFBD><C9B8><EFBFBD><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߲<EFBFBD><DFB2><EFBFBD>Ƶ<EFBFBD>ʣ<EFBFBD><CAA3><EFBFBD>100ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
				
			}

			//*************************************	<09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĸ<EFBFBD>ʽ************************************//
	//		if(Task_Delay[i]==0)
	//		{
	//			Task(i);
	//			Task_Delay[i]=;
	//		}

		}

	}
	else
	{
			printf("\r\nû<EFBFBD>м<EFBFBD><EFBFBD>⵽MPU6050<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\r\n");
			LED_RED; 
			#ifdef USE_LCD_DISPLAY			
				/*<2A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD>ɫ*/
				LCD_SetColors(LCD_COLOR_BLUE,LCD_COLOR_BLACK);	

				LCD_DisplayStringLine(4,(uint8_t* )"No MPU6050 detected! ");			//Ұ<><D2B0><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>17*24<32><34>ʾ
				LCD_DisplayStringLine(5,(uint8_t* )"Please check the hardware connection! ");//Ұ<><D2B0><EFBFBD>Դ<EFBFBD><D4B4><EFBFBD>17*24<32><34>ʾ

			#endif
		while(1);	
	}
}

/**
  * @brief  System Clock <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  *         system Clock <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>: 
	*            System Clock source  = PLL (HSE)
	*            SYSCLK(Hz)           = 480000000 (CPU Clock)
	*            HCLK(Hz)             = 240000000 (AXI and AHBs Clock)
	*            AHB Prescaler        = 2
	*            D1 APB3 Prescaler    = 2 (APB3 Clock  120MHz)
	*            D2 APB1 Prescaler    = 2 (APB1 Clock  120MHz)
	*            D2 APB2 Prescaler    = 2 (APB2 Clock  120MHz)
	*            D3 APB4 Prescaler    = 2 (APB4 Clock  120MHz)
	*            HSE Frequency(Hz)    = 25000000
	*            PLL_M                = 5
	*            PLL_N                = 192
	*            PLL_P                = 2
	*            PLL_Q                = 2
	*            PLL_R                = 2
	*            VDD(V)               = 3.3
	*            Flash Latency(WS)    = 4
  * @param  None
  * @retval None
  */
/**
  * @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_SCALE0);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 5;
  RCC_OscInitStruct.PLL.PLLN = 192;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_2;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
  }
  /** Initializes the CPU, AHB and APB busses 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_4) != HAL_OK)
  {
  }
}
/*********************************************END OF FILE**********************/