用stm32cubemx编写的读取MPU9255程序使用HAL库 -

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"
#include "i2c.h"
#include "usart.h"
#include "gpio.h"
#include "mpu9255.h"
/* USER CODE BEGIN Includes */
#ifdef __GUNC__
#define PUTCHAR_PROTOTYPE int __io_putchr(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch,FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xFFFF);
return ch;
}
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
extern I2C_HandleTypeDef hi2c2;
extern int16_t g[3],a[3];
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
*
* @retval None
*/
int main(void)
{
/* USER CODE BEGIN 1 */
int16_t Re=3;
uint8_t Date = 0;
uint8_t date = 0x75;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C2_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_Delay(100);
MPU_Init();
//Re=MPU_Read_Byte(0x75);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
//Re=MPU_Get_Temperature();
if(HAL_I2C_Mem_Read(&hi2c2,MPU_9255_AddR,date,1,&Date,1,10) == HAL_OK)
{
printf("\r\n MPU9255 Test OK \r\n");
if(MPU_Get_Gyroscope()==0)
printf("\r\n 陀螺仪：GX:%8d,GY:%8d,GZ:%8d\r\n",g[0],g[1],g[2]);
else
printf("\r\n Gyro Read False\r\n");
if(MPU_Get_Accelerometer()==0)
printf("\r\n 加速度：AX:%8d,AY:%8d,AZ:%8d\r\n",a[0],a[1],a[2]);
else
printf("\r\n Acceleration Read False\r\n");
if ((Re=MPU_Get_Temperature())!=0)
printf("\r\n 温度：T:%8d\r\n",Re);
else
printf("\r\n Temperature Read False\r\n");
}
else
{
printf("\r\n MPU9255 Test False \r\n");
}
printf("\r\n \r\n \r\n \r\n");
HAL_Delay(500);
/* USER CODE END 3 */
}
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @param file: The file name as string.
* @param line: The line in file as a number.
* @retval None
*/
void _Error_Handler(char *file, int line)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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