STM32F103VCT6 for MPU-9250 자이로 센서 StartUp

[STM32F103VCT6 MPU9250 Gryo start up]

MPU9250 제품 사양

1. 3-axis gyroscope (3축 자이로스코프) + 3-axis acceleromete (3축 가속도계)

2. 공급전압 : 3~5V

3. 자이로스코프 범위 : ±250, ±500, ±1000, and ±2000dps

4. 가속도계 범위 : ±2g, ±4g, ±8g, and ±16g

5. 자기장 범위 : ±4800uT

6. 표준 IIC, SPI 통신 프로토콜 선택 지원

7. 16비트 ADC 출력 지원

8. 2.54mm 핀 피치

Schematic

MPU-9250

MPU-9250 spec download : 

MPU-9250-Register-Map.pdf

STM32CubeMx 설정

- I2C1 통신 활성화

- I2C1 통신 설정

- STM32CubeMx 에서 생성된 코드

/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2016 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "stm32f1xx_hal.h"
 
/* USER CODE BEGIN Includes */
 
/* USER CODE END Includes */
 
/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;
 
UART_HandleTypeDef huart1;
 
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
#define MPU9250_ADDRESS     (0x68 << 1)
/* USER CODE END PV */
 
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_USART1_UART_Init(void);
 
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
 
/* USER CODE END PFP */
 
/* USER CODE BEGIN 0 */
uint8_t data[2] = {0,};
uint8_t recvData[1] = {0,};
 
/* USER CODE END 0 */
 
int main(void)
{
 
  /* USER CODE BEGIN 1 */
  uint8_t uartData[5] = {0,};  
 
  /* USER CODE END 1 */
 
  /* MCU Configuration----------------------------------------------------------*/
 
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();
 
  /* Configure the system clock */
  SystemClock_Config();
 
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_USART1_UART_Init();
 
  /* USER CODE END 2 */
 
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {   
    data[0] = 0x75;
    data[1] = 0x0;
    HAL_I2C_Master_Transmit(&hi2c1, MPU9250_ADDRESS, &data[0], 1, 50);
    HAL_I2C_Master_Receive(&hi2c1, MPU9250_ADDRESS, recvData, 1, 50);
    
    HAL_GPIO_WritePin(GPIOD, RLED_Pin, GPIO_PIN_RESET);    
    sprintf((char *)uartData, "0x%x\n", recvData[0]);
    HAL_UART_Transmit(&huart1, uartData, 5, 50);
    HAL_Delay(1000);
  /* USER CODE END WHILE */
 
  /* USER CODE BEGIN 3 */
 
  }
  /* USER CODE END 3 */
 
}
 
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
 
  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;
 
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
 
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSE;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
 
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
 
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 
  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
 
/* I2C1 init function */
static void MX_I2C1_Init(void)
{
 
  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 400000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 208;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
 
}
 
/* USART1 init function */
static void MX_USART1_UART_Init(void)
{
 
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 115200;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
 
}
 
/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{
 
  GPIO_InitTypeDef GPIO_InitStruct;
 
  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();
 
  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, RLED_Pin|GLED_Pin|BLED_Pin, GPIO_PIN_SET);
 
  /*Configure GPIO pins : RLED_Pin GLED_Pin BLED_Pin */
  GPIO_InitStruct.Pin = RLED_Pin|GLED_Pin|BLED_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
}
 
/* USER CODE BEGIN 4 */
 
/* USER CODE END 4 */
 
/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler */
  /* User can add his own implementation to report the HAL error return state */
  while(1) 
  {
  }
  /* USER CODE END Error_Handler */ 
}
 
#ifdef USE_FULL_ASSERT
 
/**
   * @brief Reports the name of the source file and the source line number
   * where the assert_param error has occurred.
   * @param file: pointer to the source file name
   * @param line: assert_param error line source number
   * @retval None
   */
void assert_failed(uint8_t* file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
 
}
 
#endif
 
/**
  * @}
  */ 
 
/**
  * @}
*/ 
 
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
 

- MPU-9250 spec 9page 3. Register Map for Gyroscope and Accelerometer

- MPU-9250 spec 44page Register 117-Who Am I

코드 95번 줄에서 0x75를 넣어 HAL_I2C_Master_Transmit(&hi2c1, MPU9250_ADDRESS, &data[0], 1, 50);

전송하면 0x71 이라는 응답이 온다.

<실행결과>