/*====================================================================================================*/
void System_Init( void )
{
MPU_InitTypeDef MPU_InitStruct;
CLOCK_SourceXTAL(NRF_CLOCK_XTALFREQ_16MHz);
CLOCK_SourceLFCLK(NRF_CLOCK_LF_SRC_RC);
CLOCK_CmdHFCLK(ENABLE);
CLOCK_CmdLFCLK(ENABLE);
GPIO_Config();
Serial_Config();
MPU9250_Config();
Delay_100ms(1);
printf("\r\nHello World!\r\n\r\n");
MPU_InitStruct.MPU_Gyr_FullScale = MPU_GyrFS_2000dps;
MPU_InitStruct.MPU_Gyr_LowPassFilter = MPU_GyrLPS_41Hz;
MPU_InitStruct.MPU_Acc_FullScale = MPU_AccFS_4g;
MPU_InitStruct.MPU_Acc_LowPassFilter = MPU_AccLPS_41Hz;
printf("MPU9250 Init ...");
if(MPU9250_Init(&MPU_InitStruct) != SUCCESS) {
printf("ERROR\r\n");
while(1) {
LED2_Toggle();
Delay_100ms(1);
}
}
printf("SUCCESS\r\n");
LED2_Set();
Delay_100ms(1);
}
/*====================================================================================================*/
void Sensor_Init( void )
{
MPU_InitTypeDef MPU_InitStruct;
Acc.X = 0;
Acc.Y = 0;
Acc.Z = 0;
Acc.OffsetX = 0;
Acc.OffsetY = 0;
Acc.OffsetZ = 0;
Acc.TrueX = 0.0f;
Acc.TrueY = 0.0f;
Acc.TrueZ = 0.0f;
Gyr.X = 0;
Gyr.Y = 0;
Gyr.Z = 0;
Gyr.OffsetX = 0;
Gyr.OffsetY = 0;
Gyr.OffsetZ = 0;
Gyr.TrueX = 0.0f;
Gyr.TrueY = 0.0f;
Gyr.TrueZ = 0.0f;
#ifdef USE_SENSOR_MAG
Mag.X = 0;
Mag.Y = 0;
Mag.Z = 0;
Mag.AdjustX = 0;
Mag.AdjustY = 0;
Mag.AdjustZ = 0;
Mag.TrueX = 0.0f;
Mag.TrueY = 0.0f;
Mag.TrueZ = 0.0f;
#endif
Temp.T = 0;
Temp.OffsetT = TEMP_OFFSET;
Temp.TrueT = 0.0f;
#ifdef USE_SENSOR_BARO
Baro.Temp = 0.0f;
Baro.Press = 0.0f;
Baro.Height = 0.0f;
#endif
MPU_InitStruct.MPU_Gyr_FullScale = MPU_GyrFS_2000dps;
MPU_InitStruct.MPU_Gyr_LowPassFilter = MPU_GyrLPS_250Hz;
MPU_InitStruct.MPU_Acc_FullScale = MPU_AccFS_4g;
MPU_InitStruct.MPU_Acc_LowPassFilter = MPU_AccLPS_184Hz;
MPU9250_Init(&MPU_InitStruct);
#ifdef USE_SENSOR_BARO
MS5611_Init();
#endif
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
uint8_t initSuccess;
uint8_t mpuData[14];
initSuccess = 0;
NVIC_Config();
STM_EVAL_COMInit();
USART_Configuration(9600);
USART_ITConfig(USART1,USART_IT_RXNE, ENABLE);
initSuccess = MPU9250_Init();
while (initSuccess)
{
MPU9250_ReadValue(mpuData);
USART_SendDataArray(USART1,mpuData);
Delay(0xFFFF);
}
}
