77 lines
1.7 KiB
C
77 lines
1.7 KiB
C
/******************** (C) COPYRIGHT 2020 GEEKIMU *******************************
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* File Name : main.c
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* Current Version : V2.0 & ST 3.5.0
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* Author : zhanli 719901725@qq.com & JustFeng.
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* Date of Issued : 2017.1.11 zhanli: Create
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* Comments : GeekIMUv2 STM32固件
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********************************************************************************/
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#include "hw_config.h"
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#include "usb_lib.h"
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#include "delay.h"
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#include "usart.h"
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#include "usb_pwr.h"
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#include "calibrate.h"
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#include "senddata.h"
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#include "gpio.h"
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#include "led.h"
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#include "calibrate.h"
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#include "mpu6500.h"
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#include "lis3mdl.h"
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#include "spi.h"
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#include "time.h"
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#define USING_UART_DEBUG 1
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#define NVIC_VectTab_FLASH1 0x8000000
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u8 status = 1;
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/**----------------------------------------------------------------------
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* Function : main()
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* Description : GeekIMU主函数
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* Author : zhanli&719901725@qq.com
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* Date : 2021/6/22 zhanli
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*---------------------------------------------------------------------**/
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int main(void)
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{
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// 完成STM32内部基础配置
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Set_System();
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#ifdef USING_UART_DEBUG
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uart_init(9600);
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#endif
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// 初始化GPIO口
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GPIO_Configuration();
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// IMU SPI IO口配置
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MEMS_SPI_Init();
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// STM32 USB配置
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USB_Interrupts_Config();
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Set_USBClock();
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USB_Init();
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// 延时200ms等待MPU6500稳定
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Delay_Ms(200);
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// IMU初始化
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status = MPU6500_Init();
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LIS3MDL_Init();
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Delay_Ms(100);
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// IMU 校准模块初始化
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Calibrate_Init();
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// 初始化定时器，使得USB自动发送数据
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TIM3_Int_Init(9,7199);
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while (1)
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{
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Get_Sensor_Data();
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if(status != 0x70){
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LED_On();
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Delay_Ms(500);
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LED_Off();
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Delay_Ms(500);
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}else{
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LED_On();
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Delay_Ms(1);
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}
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}
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}
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