int main(void)
{
/* Init */
TIM_Config();
PWM_Config();
ENC_Config();
UART_DMA_CONFIG(txbuffer,txsize,rxbuffer,rxsize,57600);
USART_config ();
/* MPU 1 */
MPU6050_Status = TM_MPU6050_Init(&MPU6050_Data0, TM_MPU6050_Device_0, TM_MPU6050_Accelerometer_2G, TM_MPU6050_Gyroscope_250s);
Delay (200);
/* MPU2 */
//I2C_Config();
//MPU_Config(MPU_Adress);
//MPU_Wake(MPU_Adress);
if (SysTick_Config(SystemCoreClock / 1000))
{/* Capture error */ while (1);}
while (1);
}
int main(void) {
/* Init system clock for maximum system speed */
TM_RCC_InitSystem();
/* Init HAL layer */
HAL_Init();
/* Init leds */
TM_DISCO_LedInit();
/* Init button */
TM_DISCO_ButtonInit();
/* For pinouts, check TM_MPU6050 library */
/* Try to init MPU6050, device address is 0xD0, AD0 pin is set to low */
if (TM_MPU6050_Init(&MPU6050, TM_MPU6050_Device_0, TM_MPU6050_Accelerometer_8G, TM_MPU6050_Gyroscope_250s) == TM_MPU6050_Result_Ok) {
/* Green LED on */
TM_DISCO_LedOn(LED_GREEN);
}
while (1) {
/* Read everything from device */
TM_MPU6050_ReadAll(&MPU6050);
/* Raw data are available for use as needed */
//MPU6050.Accelerometer_X;
//MPU6050.Accelerometer_Y;
//MPU6050.Accelerometer_Z;
//MPU6050.Gyroscope_X;
//MPU6050.Gyroscope_Y;
//MPU6050.Gyroscope_Z;
//MPU6050.Temperature;
/* Delay a little */
Delayms(1);
}
}
int main(void) {
TM_MPU6050_t MPU6050_Data0;
TM_MPU6050_t MPU6050_Data1;
uint8_t sensor1 = 0, sensor2 = 0;
char str[120];
/* Initialize system */
SystemInit();
/* Initialize delay */
TM_DELAY_Init();
/* Initialize USART, TX: PB6 */
TM_USART_Init(USART1, TM_USART_PinsPack_2, 115200);
/* Initialize MPU6050 sensor 0, address = 0xD0, AD0 pin on sensor is low */
if (TM_MPU6050_Init(&MPU6050_Data0, TM_MPU6050_Device_0, TM_MPU6050_Accelerometer_8G, TM_MPU6050_Gyroscope_250s) == TM_MPU6050_Result_Ok) {
/* Display message to user */
TM_USART_Puts(USART1, "MPU6050 sensor 0 is ready to use!\n");
/* Sensor 1 OK */
sensor1 = 1;
}
/* Initialize MPU6050 sensor 1, address = 0xD2, AD0 pin on sensor is high */
if (TM_MPU6050_Init(&MPU6050_Data1, TM_MPU6050_Device_1, TM_MPU6050_Accelerometer_8G, TM_MPU6050_Gyroscope_250s) == TM_MPU6050_Result_Ok) {
/* Display message to user */
TM_USART_Puts(USART1, "MPU6050 sensor 1 is ready to use!\n");
/* Sensor 2 OK */
sensor2 = 1;
}
while (1) {
/* Every 500ms */
if (TM_DELAY_Time() >= 500) {
/* Reset time */
TM_DELAY_SetTime(0);
/* If sensor 1 is connected */
if (sensor1) {
/* Read all data from sensor 1 */
TM_MPU6050_ReadAll(&MPU6050_Data0);
/* Format data */
sprintf(str, "1. Accelerometer\n- X:%d\n- Y:%d\n- Z:%d\nGyroscope\n- X:%d\n- Y:%d\n- Z:%d\nTemperature\n- %3.4f\n\n\n",
MPU6050_Data0.Accelerometer_X,
MPU6050_Data0.Accelerometer_Y,
MPU6050_Data0.Accelerometer_Z,
MPU6050_Data0.Gyroscope_X,
MPU6050_Data0.Gyroscope_Y,
MPU6050_Data0.Gyroscope_Z,
MPU6050_Data0.Temperature
);
/* Show to usart */
TM_USART_Puts(USART1, str);
}
/* If sensor 2 is connected */
if (sensor2) {
/* Read all data from sensor 1 */
TM_MPU6050_ReadAll(&MPU6050_Data1);
/* Format data */
sprintf(str, "2. Accelerometer\n- X:%d\n- Y:%d\n- Z:%d\nGyroscope\n- X:%d\n- Y:%d\n- Z:%d\nTemperature\n- %3.4f\n\n\n",
MPU6050_Data1.Accelerometer_X,
MPU6050_Data1.Accelerometer_Y,
MPU6050_Data1.Accelerometer_Z,
MPU6050_Data1.Gyroscope_X,
MPU6050_Data1.Gyroscope_Y,
MPU6050_Data1.Gyroscope_Z,
MPU6050_Data1.Temperature
);
/* Show to usart */
TM_USART_Puts(USART1, str);
}
}
}
}
