248 lines
6.8 KiB
C
248 lines
6.8 KiB
C
/**
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******************************************************************************
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* @file main.c
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* @author fire
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* @version V1.0
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* @date 2019-xx-xx
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* @brief MPU6050 基本数据读
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******************************************************************************
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* @attention
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*
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* 实验平台:野火 STM32 H750 开发板
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* 论坛 :http://www.firebbs.cn
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* 淘宝 :http://firestm32.taobao.com
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*
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******************************************************************************
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*/
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#include "stm32h7xx.h"
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#include "./led/bsp_led.h"
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#include "./usart/bsp_debug_usart.h"
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#include <stdlib.h>
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#include "main.h"
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#include "./i2c/i2c.h"
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#include "./mpu6050/mpu6050.h"
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//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
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#define USE_LCD_DISPLAY
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#ifdef USE_LCD_DISPLAY
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#include "./lcd/bsp_lcd.h"
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#endif
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/*简单任务管理*/
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uint32_t Task_Delay[3]={0};
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/**
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* @brief 主函数
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* @param 无
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* @retval 无
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*/
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int main(void)
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{
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static short Acel[3];
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static short Gyro[3];
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static float Temp;
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/* 系统时钟初始化成480MHz */
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SystemClock_Config();
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/* 默认不配置 MPU，若需要更高性能，当配置 MPU 后，使用
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DMA 时需注意 Cache 与 内存内容一致性的问题，
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具体注意事项请参考配套教程的 MPU 配置相关章节 */
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// Board_MPU_Config(0, MPU_Normal_WT, 0xD0000000, MPU_32MB);
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// Board_MPU_Config(1, MPU_Normal_WT, 0x24000000, MPU_512KB);
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SCB_EnableICache(); // 使能指令 Cache
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// SCB_EnableDCache(); // 使能数据 Cache
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/* LED 端口初始化 */
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LED_GPIO_Config();
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#ifdef USE_LCD_DISPLAY
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/* LCD 端口初始化 */
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LCD_Init();
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/* LCD 第一层初始化 */
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LCD_LayerInit(0, LCD_FB_START_ADDRESS,ARGB8888);
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/* LCD 第二层初始化 */
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LCD_LayerInit(1, LCD_FB_START_ADDRESS+(LCD_GetXSize()*LCD_GetYSize()*4),ARGB8888);
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/* 使能LCD，包括开背光 */
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LCD_DisplayOn();
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/* 选择LCD第一层 */
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LCD_SelectLayer(0);
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/* 第一层清屏，显示全黑 */
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LCD_Clear(LCD_COLOR_BLACK);
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/* 选择LCD第二层 */
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LCD_SelectLayer(1);
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/* 第二层清屏，显示透明 */
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LCD_Clear(LCD_COLOR_TRANSPARENT);
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/* 配置第一和第二层的透明度,最小值为0，最大值为255*/
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LCD_SetTransparency(0, 255);
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LCD_SetTransparency(1, 0);
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/* 选择LCD第一层 */
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LCD_SelectLayer(0);
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/*设置字体颜色及字体的背景颜色*/
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LCD_SetColors(LCD_COLOR_RED,LCD_COLOR_BLACK);
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#endif
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/*初始化USART1*/
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DEBUG_USART_Config();
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//初始化 I2C
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I2cMaster_Init();
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printf("\r\n 欢迎使用野火 STM32 H750 开发板。\r\n");
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printf("\r\n 这是一个I2C外设(MPU6050)读写测试例程 \r\n");
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//MPU6050初始化
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MPU6050_Init();
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//检测MPU6050
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if (MPU6050ReadID() == 1)
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{
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while(1)
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{
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//if(Task_Delay[0]==0)
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// {
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// LED2_TOGGLE;
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// Task_Delay[0]=1000;
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// }
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//if(Task_Delay[1]==0)
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{
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MPU6050ReadAcc(Acel);
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printf("加速度：%8d%8d%8d",Acel[0],Acel[1],Acel[2]);
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MPU6050ReadGyro(Gyro);
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printf(" 陀螺仪%8d%8d%8d",Gyro[0],Gyro[1],Gyro[2]);
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MPU6050_ReturnTemp(&Temp);
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printf(" 温度%8.2f\r\n",Temp);
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#ifdef USE_LCD_DISPLAY
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{
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char cStr [ 70 ];
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sprintf ( cStr, "Acceleration:%8d%8d%8d",Acel[0],Acel[1],Acel[2] ); //加速度原始数据
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LCD_DisplayStringLine(7,(uint8_t* )cStr);
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sprintf ( cStr, "Gyro :%8d%8d%8d",Gyro[0],Gyro[1],Gyro[2] ); //角原始数据
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LCD_DisplayStringLine(8,(uint8_t* )cStr);
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sprintf ( cStr, "Temperture :%8.2f",Temp ); //温度值
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LCD_DisplayStringLine(9,(uint8_t* )cStr);
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}
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#endif
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HAL_Delay(500);
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//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
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}
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//************************************* 下面是增加任务的格式************************************//
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// if(Task_Delay[i]==0)
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// {
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// Task(i);
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// Task_Delay[i]=;
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// }
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}
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}
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else
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{
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printf("\r\n没有检测到MPU6050传感器！\r\n");
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LED_RED;
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#ifdef USE_LCD_DISPLAY
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/*设置字体颜色及字体的背景颜色*/
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LCD_SetColors(LCD_COLOR_BLUE,LCD_COLOR_BLACK);
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LCD_DisplayStringLine(4,(uint8_t* )"No MPU6050 detected! "); //野火自带的17*24显示
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LCD_DisplayStringLine(5,(uint8_t* )"Please check the hardware connection! ");//野火自带的17*24显示
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#endif
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while(1);
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}
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}
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/**
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* @brief System Clock 配置
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* system Clock 配置如下:
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* System Clock source = PLL (HSE)
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* SYSCLK(Hz) = 480000000 (CPU Clock)
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* HCLK(Hz) = 240000000 (AXI and AHBs Clock)
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* AHB Prescaler = 2
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* D1 APB3 Prescaler = 2 (APB3 Clock 120MHz)
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* D2 APB1 Prescaler = 2 (APB1 Clock 120MHz)
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* D2 APB2 Prescaler = 2 (APB2 Clock 120MHz)
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* D3 APB4 Prescaler = 2 (APB4 Clock 120MHz)
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* HSE Frequency(Hz) = 25000000
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* PLL_M = 5
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* PLL_N = 192
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* PLL_P = 2
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* PLL_Q = 2
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* PLL_R = 2
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* VDD(V) = 3.3
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* Flash Latency(WS) = 4
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* @param None
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* @retval None
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*/
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/**
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* @brief System Clock Configuration
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Supply configuration update enable
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*/
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HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
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/** Configure the main internal regulator output voltage
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*/
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__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
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while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
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/** Initializes the CPU, AHB and APB busses clocks
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 5;
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RCC_OscInitStruct.PLL.PLLN = 192;
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RCC_OscInitStruct.PLL.PLLP = 2;
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RCC_OscInitStruct.PLL.PLLQ = 2;
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RCC_OscInitStruct.PLL.PLLR = 2;
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RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_2;
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RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
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RCC_OscInitStruct.PLL.PLLFRACN = 0;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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}
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/** Initializes the CPU, AHB and APB busses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
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|RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
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RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
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{
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}
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}
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/*********************************************END OF FILE**********************/
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