main.c File Reference

#include "fw_hal.h"
#include "mpu6050.h"
#include <stdio.h>

Go to the source code of this file.

Functions
void	I2C_Init (void)
void	GPIO_Init (void)
int	main (void)

Function Documentation

GPIO_Init()

void GPIO_Init

(

void

)

Definition at line 45 of file main.c.

{
    // SDA
    GPIO_P3_SetMode(GPIO_Pin_3, GPIO_Mode_InOut_QBD);
    // SCL
    GPIO_P3_SetMode(GPIO_Pin_2, GPIO_Mode_Output_PP);
}

I2C_Init()

void I2C_Init

(

void

)

I2C clock = FOSC / 2 / (prescaler * 2 + 4) MPU6050 works with i2c clock up to 400KHz

44.2368 / 2 / (26 * 2 + 4) = 0.39 MHz

Definition at line 28 of file main.c.

{
    // Master mode
    I2C_SetWorkMode(I2C_WorkMode_Master);
    I2C_SetClockPrescaler(0x1A);
    // Switch alternative port
    I2C_SetPort(I2C_AlterPort_P32_P33);
    // Start I2C
    I2C_SetEnabled(HAL_State_ON);
}

main()

int main

(

void

)

Definition at line 53 of file main.c.

{
    uint8_t i;
    uint16_t buf[7];
 
    SYS_SetClock();
    GPIO_Init();
    UART1_Config8bitUart(UART1_BaudSource_Timer1, HAL_State_ON, 115200);
    I2C_Init();
    MPU6050_Init();
 
    while(1)
    {
        for (i = 0; i < 100; i++)
        {
            if (i == 0)
            {
                MPU6050_EnableLowPowerMode(MPU6050_Wakeup_Freq_1p25Hz);
            }
            else if (i == 50)
            {
                MPU6050_DisableLowPowerMode();
            }
            MPU6050_ReadAll(buf);
            printf("ax:%6d, ay:%6d, az:%6d, tp:%6d, gx:%6d, gy:%6d, gz:%6d\r\n", 
                buf[0], buf[1], buf[2], (int16_t)buf[3] / 34 + 365, buf[4], buf[5], buf[6]);
            SYS_Delay(100);
        }
    }
}