单片机源程序如下:
- #include "ht32.h"
- #include "ht32_board.h"
- #include "usart_int.h"
- #include <string.h>
- #include "usart.h"
- #include "./IMU901/ringbuffer.h"
- #include "./IMU901/imu901.h"
- #include "delay.h"
- #include "motor.h"
- #include "NRF24L01.h"
- #include "usart1.h"
- #include "ANO_DT.h"
- #include "pid.h"
- #include "mpu9250.h"
- #include "inv_mpu.h"
- #include "inv_mpu_dmp_motion_driver.h"
- #include "stdio.h"
- /*
- 1号电机 30解锁 31-40 占空比 372-480
- 3号电机 30解锁 31-40 占空比 372-480
- 2号电机 18解锁 19-34 占空比 228-408
- 4号电机 18解锁 21-39 占空比 252-468
-
- */
- u8 tmp_buf[33]= "hello";
- u8 k;
- float mpu_pitch,mpu_roll,mpu_yaw; //欧拉角
- short aacx,aacy,aacz; //加速度传感器原始数据
- short gyrox,gyroy,gyroz;//陀螺仪原始数据
- short temp; //温度
- #define Key1 1<<8 //Key1=PA8
- #define Key2 1<<13 //Key2=PC13
- #define Key1_DIR { HT_GPIOA->INER |= HT_GPIOA->PUR |= Key1;} //Key1块の矗ど筿
- #define Key2_DIR { HT_GPIOC->INER |= HT_GPIOC->PUR |= Key2;} //Key2块の矗ど筿
- #define Key1_0 !(HT_GPIOA->DINR & Key1) //浪琩琌龄Key1=0
- #define Key1_1 HT_GPIOA->DINR & Key1 //浪琩琌龄Key1=1
- #define Key2_0 !(HT_GPIOC->DINR & Key2) //浪琩琌龄Key2=0
- #define Key2_1 HT_GPIOC->DINR & Key2 //浪琩琌龄Key2=1
- void Key_Init(void)
- {
- HT_CKCU->AHBCCR |= 1<<16;
- HT_CKCU->AHBCCR |= 1<<18;
- Key1_DIR
- Key2_DIR
- }
- int main(void)
- {
- static u8 t =23;
- // u8 buff[20];
-
- //NRF24L01_Init();
- USART0_Configuration(256000); //USART0的初始化,波特率为460800
- // printf("OK\n");
- //// ringbuffer_init(&usart0RxFifo, (uint8_t*)buff, 256); //FIFO结构体的初始化
- UART0_Configuration(115200);
- // PWM_Init();
- // Key_Init();
- //// unlocked();
- //// delay_ms(500);
- //// delay_ms(500);
- //// delay_ms(500);
- //// delay_ms(500);
- MPU_Init(); //初始化MPU9250
- // if(NRF24L01_Check()==0)
- // {
- // }
- if(mpu_dmp_init())
- {
- }
-
- // NRF24L01_TX_Mode();
- while (1)
- {
- // Data_Send_To_PC();
- delay_ms(5);
- // Angle_PWM(attitude.pitch,attitude.roll,attitude.yaw);
- Angle_PWM(mpu_pitch,mpu_roll,mpu_yaw);
- t++;
- if(t == 100)
- {
- // HT32F_DVB_LEDToggle(HT_LED1);
- // HT32F_DVB_LEDToggle(HT_LED2);
-
- }
- if(mpu_mpl_get_data(&mpu_pitch,&mpu_roll,&mpu_yaw)==0)
- {
-
- temp=MPU_Get_Temperature(); //得到温度值
- MPU_Get_Accelerometer(&aacx,&aacy,&aacz); //得到加速度传感器数据
- MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz); //得到陀螺仪数据
- printf("x:%f,y:%f,z:%f\n",mpu_pitch,mpu_roll,mpu_yaw);
- HT32F_DVB_LEDInit(HT_LED2);
- HT32F_DVB_LEDOn(HT_LED2);
- }
- }
- }
所有代码51hei提供下载:
MPU9250DMP.7z
(611.51 KB, 下载次数: 12)
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