main.c

#include "main.h"
#include "mokhw_MPU6050.h"

I2C_HandleTypeDef hi2c2;
TIM_HandleTypeDef htim3;

mpu6050 my_mpu6050; //구조체 별칭 mpu6050으로 변수 선언

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C2_Init(void);


int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_I2C2_Init();
  
  
  /*센서 세팅*/
  WHO_AM_I(&hi2c2); //MPU6050인지 확인
  wake_up(&hi2c2); //센서 작동 시작
  set_sample_rate(&hi2c2, 1000); //sample rate 1000Hz로 설정
  set_sensitivity(&hi2c2, &my_mpu6050, gyro_full_scale_range_250, accel_full_scale_range_2g); //센서의 측정 범위 설정
  

  while (1)
  {
    /*센서값 읽어서 저장*/
    read_gyro(&hi2c2, &my_mpu6050, deg_per_sec); //각속도 단위로 센서 값 저장
    read_accel(&hi2c2, &my_mpu6050, gravity_acceleration); //중력 가속도 단위로 센서 값 저장
   
	/*stm studio를 이용해서 센서 값을 확인했기 때문에 printf같은 함수 사용안함*/
  }

}



void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};


  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
  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_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}


static void MX_I2C2_Init(void)
{
  hi2c2.Instance = I2C2;
  hi2c2.Init.ClockSpeed = 100000;
  hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c2.Init.OwnAddress1 = 0;
  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c2.Init.OwnAddress2 = 0;
  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c2) != HAL_OK)
  {
    Error_Handler();
  }

  HAL_I2C_MspInit(&hi2c2);  //i2c핀 설정함수, stm32f1xx_hal_msp.c 에 정의 되어있음
}


static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);

  /*Configure GPIO pin : PA5 */
  GPIO_InitStruct.Pin = GPIO_PIN_5;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}



void Error_Handler(void)
{

}

#ifdef  USE_FULL_ASSERT

void assert_failed(uint8_t *file, uint32_t line)
{ 

}
#endif