MPU60500开发源码(周期更新欧拉角通过USB实时传输至PC)stm32源码 -

/***********************************************
标题: mian.c
作者: 秋阳电子
日期: 2017/03/15
版本：v1.0
MDK-ARM 版本: v4.12
ST 库版本：v3.50
功能: 周期更新欧拉角通过USB实时传输至PC
说明：
*************************************************/
#include "stm32f10x.h"
#include "iic.h"
#include "timer.h"
#include "mpu6050.h"
#include "hmc5883l.h"
#include "ahrs.h"
#include "usb_lib.h"
#include "usb_desc.h"
#include "usb_istr.h"
#include "hw_config.h"
#include "usb_pwr.h"
#include "usb_pwr.h"
#include <math.h>
#define USB
u8 flg_get_senor_data;
u8 out[35] ={0x5f, 0x60, 0};
s16 gx, gy, gz, ax ,ay, az, mx, my, mz, temperature;
s16 gx_offset, gy_offset, gz_offset, ax_offset, ay_offset, az_offset, mx_offset, my_offset, mz_offset;
float pitch, roll, yaw;
float f_gx, f_gy, f_gz;
s16 temp;
/******************************************************************************/
void delay(u32 count)
{
for(; count != 0; count--);
}
/***************************************************************************/
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
u16 j, i, k;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_SetBits(GPIOA,GPIO_Pin_5); // blue led
#ifdef USB
usb_system_init();
#else
usart_init();
#endif
delay(0x80000);
iic_init();
timer_init();
mpu6050_init();
hmc5883l_init();
while (1)
{
if(flg_get_senor_data)
{
flg_get_senor_data = 0;
#ifdef USB
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
mpu6050_get_data(&gx, &gy, &gz, &ax, &ay, &az, &temperature);
hmc5883l_get_data(&mx, &my ,&mz);
#ifdef USB
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
gx -= gx_offset;
gy -= gy_offset;
gz -= gz_offset;
ax -= ax_offset;
ay -= ay_offset;
az -= az_offset;
mx -= mx_offset;
my -= my_offset;
mz -= mz_offset;
f_gx = gx * GYRO_SCALE;
f_gy = gy * GYRO_SCALE;
f_gz = gz * GYRO_SCALE;
get_euler_angle(f_gx, f_gy, f_gz, ax, ay, az, mx, my, mz, &pitch, &roll, &yaw);
out[2] = (u8)(gx >> 8);
out[3] = (u8)(gx);
out[4] = (u8)(gy >> 8);
out[5] = (u8)(gy);
out[6] = (u8)(gz >> 8);
out[7] = (u8)(gz);
out[8] = (u8)(ax >> 8);
out[9] = (u8)(ax);
out[10] = (u8)(ay >> 8);
out[11] = (u8)(ay);
out[12] = (u8)(az >> 8);
out[13] = (u8)(az);
out[14] = (u8)(mx >> 8);
out[15] = (u8)(mx);
out[16] = (u8)(my >> 8);
out[17] = (u8)(my);
out[18] = (u8)(mz >> 8);
out[19] = (u8)(mz);
temp = (s16)(pitch * 100);
out[20] = (u8)(temp >> 8);
out[21] = (u8)(temp);
temp = (s16)(roll * 100);
out[22] = (u8)(temp >> 8);
out[23] = (u8)(temp);
temp = (s16)(yaw * 100);
out[24] = (u8)(temp >> 8);
out[25] = (u8)(temp);
if(k++ > 5)
{
k=0;
#ifdef USB
USART_To_USB_Send_Data(&out[0], 26);
#else
for(j = 0; j < 26; j++)
{
USART_SendData(USART1, out[j]);
while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET);
}
#endif
}
if(i++ >= 50)
{
i = 0;
GPIOA->ODR ^= (1 << 5);
}
} // end if
} // end while
}
/*************************************************************************************************/
void USB_LP_CAN1_RX0_IRQHandler(void)
{
USB_Istr();
}
/************************END OF FILE************************************************************/

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