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#include "stm32f10x.h"
#include "stdio.h"
#include "UART1.h"
#include "systick.h"
// mpu9250 include files
#include "sys.h"
#include "mpu9250.h"
#include "mpuiic.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
float Q0,Q1,Q2,Q3; // 歐拉角
u32 status2=0;
void printf_init() //printf初始化
{
GPIO_InitTypeDef GPIO_InitStructure; //聲明一個結構體變量，用來初始化GPIO
NVIC_InitTypeDef NVIC_InitStrue;//定義中斷相關結構體
USART_InitTypeDef USART_InitStructure; //串口結構體定義
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_USART1|RCC_APB2Periph_AFIO,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);//使能USART2時鐘
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_2;//TX
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
GPIO_Init(GPIOA,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3;//RX
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA,&GPIO_InitStructure);
USART_InitStructure.USART_BaudRate=115200; //波特率設置為9600
USART_InitStructure.USART_WordLength=USART_WordLength_8b;
USART_InitStructure.USART_StopBits=USART_StopBits_1;
USART_InitStructure.USART_Parity=USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode=USART_Mode_Rx|USART_Mode_Tx;
USART_Init(USART2,&USART_InitStructure);
USART_Cmd(USART2, ENABLE);
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);//使能或者失能指定的USART中斷接收中斷
USART_ClearFlag(USART2,USART_FLAG_TC);//清除USARTx的待處理標志位
NVIC_InitStrue.NVIC_IRQChannel=USART2_IRQn;//定義中斷通道
NVIC_InitStrue.NVIC_IRQChannelCmd=ENABLE;//開啟中斷通道
NVIC_InitStrue.NVIC_IRQChannelPreemptionPriority=1;//設定搶占優(yōu)先級為1
NVIC_InitStrue.NVIC_IRQChannelSubPriority=1;//設定子優(yōu)先級為1
NVIC_Init(&NVIC_InitStrue);//中斷初始化
}
void USART2_IRQHandler(void)//編寫中斷處理函數
{
u8 res;//無符號字符res
if(USART_GetITStatus(USART2,USART_IT_RXNE))//接收數據進入中斷，判斷串口1接收緩存器非空使能為1與否
{
res= USART_ReceiveData(USART2); //為1，則將串口1的數據給變量
if(res==0x10)//等待
{
USART_SendData(USART2,'1');
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
USART_SendData(USART2,'0');
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
EXTI->IMR |= EXTI_Line0;//使能外部中斷4
EXTI->IMR |= EXTI_Line3;//使能外部中斷4
EXTI->IMR |= EXTI_Line4;//使能外部中斷4
EXTI->IMR |= EXTI_Line5;//使能外部中斷4
status2=0;
}
else if(res==0x11)//小孩
{
EXTI->IMR &= ~(EXTI_Line0);// 屏蔽外部中斷0
EXTI->IMR &= ~(EXTI_Line3);// 屏蔽外部中斷3
EXTI->IMR &= ~(EXTI_Line4);// 屏蔽外部中斷4
EXTI->IMR &= ~(EXTI_Line5);// 屏蔽外部中斷5
status2=1;
}
else if(res==0x13)//校準
{
mpu_dmp_init();
if(mpu_dmp_init()==0)
printf("13");
while(mpu_dmp_init())
{
mpu_dmp_init();
if(mpu_dmp_init()==0)
printf("13");
}
}
}
}
void Led_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE|RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; //PE5接
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //設為推挽輸出模式
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOE, &GPIO_InitStructure); //初始化外設GPIO
GPIO_SetBits(GPIOE,GPIO_Pin_5);
}
int main(void)
{
u8 status;
float pitch_dmp,roll_dmp,yaw_dmp; // 歐拉角
delay_ms(1000);
delay_ms(1000);
Initial_UART1(115200);
Led_Configuration();
printf_init();
delay_ms(1000);
// MPU9250姿態(tài)傳感器初始化
do{
status = mpu_dmp_init();
if(status)
{
printf("Initialization--MPU9250 Error!!!\r\n");
}
}while(status);
printf("Initialization--MPU9250 OK!!!\r\n");
while(1)
{ status= mpu_mpl_get_data(&pitch_dmp,&roll_dmp,&yaw_dmp);
//status=mpu_dmp_get_data(&pitch_dmp,&roll_dmp,&yaw_dmp);
if(!status)
{
if(status2==1)
{ //printf("pitch:\t\t%8.2f\r\n roll:\t\t%8.2f\r\n yaw:\t\t%8.2f\r\n",pitch_dmp,roll_dmp,yaw_dmp);
printf("%.3f|%.3f|%.3f|%.3f|%.1d\n",Q0,Q1,Q2,Q3,GPIO_ReadInputDataBit(GPIOC,GPIO_Pin_2));//四元數
//GPIO_WriteBit(GPIOE, GPIO_Pin_5, (BitAction)(1 - GPIO_ReadOutputDataBit(GPIOE, GPIO_Pin_5))); //引腳取反
//delay_ms(10);
}
else
{
// printf("### Get Eulerian angle failed! ###\r\n");
delay_ms(10);
}
}
}
}
int fputc(int ch,FILE *p)
{
USART_SendData(USART2,(u8)ch);
while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
return ch;
}

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