/** ****************************************************************************** * @file main.c * @author fire * @version V1.0 * @date 2019-xx-xx * @brief MPU6050 基本数据读 ****************************************************************************** * @attention * * 实验平台:野火 STM32 H750 开发板 * 论坛 :http://www.firebbs.cn * 淘宝 :http://firestm32.taobao.com * ****************************************************************************** */ #include "stm32h7xx.h" #include "./led/bsp_led.h" #include "./usart/bsp_debug_usart.h" #include #include "main.h" #include "./i2c/i2c.h" #include "./mpu6050/mpu6050.h" //设置是否使用LCD进行显示，不需要的话把这个宏注释掉即可 #define USE_LCD_DISPLAY #ifdef USE_LCD_DISPLAY #include "./lcd/bsp_lcd.h" #endif /*简单任务管理*/ uint32_t Task_Delay[3]={0}; /** * @brief 主函数 * @param 无 * @retval 无 */ int main(void) { static short Acel[3]; static short Gyro[3]; static float Temp; /* 系统时钟初始化成480MHz */ SystemClock_Config(); /* 默认不配置 MPU，若需要更高性能，当配置 MPU 后，使用 DMA 时需注意 Cache 与 内存内容一致性的问题， 具体注意事项请参考配套教程的 MPU 配置相关章节 */ // Board_MPU_Config(0, MPU_Normal_WT, 0xD0000000, MPU_32MB); // Board_MPU_Config(1, MPU_Normal_WT, 0x24000000, MPU_512KB); SCB_EnableICache(); // 使能指令 Cache // SCB_EnableDCache(); // 使能数据 Cache /* LED 端口初始化 */ LED_GPIO_Config(); #ifdef USE_LCD_DISPLAY /* LCD 端口初始化 */ LCD_Init(); /* LCD 第一层初始化 */ LCD_LayerInit(0, LCD_FB_START_ADDRESS,ARGB8888); /* LCD 第二层初始化 */ LCD_LayerInit(1, LCD_FB_START_ADDRESS+(LCD_GetXSize()*LCD_GetYSize()*4),ARGB8888); /* 使能LCD，包括开背光 */ LCD_DisplayOn(); /* 选择LCD第一层 */ LCD_SelectLayer(0); /* 第一层清屏，显示全黑 */ LCD_Clear(LCD_COLOR_BLACK); /* 选择LCD第二层 */ LCD_SelectLayer(1); /* 第二层清屏，显示透明 */ LCD_Clear(LCD_COLOR_TRANSPARENT); /* 配置第一和第二层的透明度,最小值为0，最大值为255*/ LCD_SetTransparency(0, 255); LCD_SetTransparency(1, 0); /* 选择LCD第一层 */ LCD_SelectLayer(0); /*设置字体颜色及字体的背景颜色*/ LCD_SetColors(LCD_COLOR_RED,LCD_COLOR_BLACK); #endif /*初始化USART1*/ DEBUG_USART_Config(); //初始化 I2C I2cMaster_Init(); printf("\r\n 欢迎使用野火 STM32 H750 开发板。\r\n"); printf("\r\n 这是一个I2C外设(MPU6050)读写测试例程 \r\n"); //MPU6050初始化 MPU6050_Init(); //检测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("加速度：%8d%8d%8d",Acel[0],Acel[1],Acel[2]); MPU6050ReadGyro(Gyro); printf(" 陀螺仪%8d%8d%8d",Gyro[0],Gyro[1],Gyro[2]); MPU6050_ReturnTemp(&Temp); printf(" 温度%8.2f\r\n",Temp); #ifdef USE_LCD_DISPLAY { char cStr [ 70 ]; sprintf ( cStr, "Acceleration:%8d%8d%8d",Acel[0],Acel[1],Acel[2] ); //加速度原始数据 LCD_DisplayStringLine(7,(uint8_t* )cStr); sprintf ( cStr, "Gyro :%8d%8d%8d",Gyro[0],Gyro[1],Gyro[2] ); //角原始数据 LCD_DisplayStringLine(8,(uint8_t* )cStr); sprintf ( cStr, "Temperture :%8.2f",Temp ); //温度值 LCD_DisplayStringLine(9,(uint8_t* )cStr); } #endif HAL_Delay(500); //Task_Delay[1]=500; //更新一次数据，可根据自己的需求，提高采样频率，如100ms采样一次 } //************************************* 下面是增加任务的格式************************************// // if(Task_Delay[i]==0) // { // Task(i); // Task_Delay[i]=; // } } } else { printf("\r\n没有检测到MPU6050传感器！\r\n"); LED_RED; #ifdef USE_LCD_DISPLAY /*设置字体颜色及字体的背景颜色*/ LCD_SetColors(LCD_COLOR_BLUE,LCD_COLOR_BLACK); LCD_DisplayStringLine(4,(uint8_t* )"No MPU6050 detected! "); //野火自带的17*24显示 LCD_DisplayStringLine(5,(uint8_t* )"Please check the hardware connection! ");//野火自带的17*24显示 #endif while(1); } } /** * @brief System Clock 配置 * system Clock 配置如下: * 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**********************/