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(" MPU6050 Error "); 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(" UPLOAD ON "); 43 else printf(" UPLOAD OFF "); 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(" temp:%f ",temp/100.0); 55 printf(" pitch:%f ",pitch*10); 56 printf(" roll:%f ",roll*10); 57 printf(" yaw:%f ",yaw*10); 58 t=0; 59 } 60 } 61 t++; 62 } 63 }