STM32L0 HAL驱动串口 DMA,I2C读MPU6050 - STM32团队 ST意法半导体中文论坛

STM32L0 HAL驱动串口 DMA,I2C读MPU6050 精华

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党国特派员发布时间：2015-1-6 13:21

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拿到开发板有一段时间，看了下资料，使用mbed平台那简直是太简单了,但mbed封装的太严实，实在是不利于我们了解MCU内部运作机理，所以还是要使用ST的库（直接寄存器操作就免了，我不想回到石器时代），现在ST库除了F1系列已经改变，采用新的HAL Drivers的方式，这种方式更友好，更符合软件工程。使用STM32CubeMX把和MCU相关的代码已经生成的90%了，剩下和10%需要自己来完成，所有的中断基本上采用“伪回调”的方式，使用用户更专注于业务算法本身。废话不多说了，直接上代码：
-------------------------------------------------------------------------------传说中的分界线----------------------------------------------------------------------------
main.c
#include "stm32l0xx_hal.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "mpu6050.h"
#include "visualscope.h"

#include <string.h>
#include <math.h>

/* Private variables ---------------------------------------------------------*/
#define RXSIZE 8
#define TXSIZE 8
uint8_t rxBuffer[RXSIZE];
uint8_t txBuffer[TXSIZE];

float Angle_accel = 0;
float Angle_gyro = 0;
float Angle_comp = 0;
uint8_t outAngleData[10];
/* USER CODE BEGIN 0 */

/*---------------------------------------------------------------------------------------------------------*/
/*  重力加速度算出的角度                                                                                     */
/*---------------------------------------------------------------------------------------------------------*/
int32_t Calc_AngleAccel()
{
int32_t value = 0;

value = GetAccelValue('x');
if(value > 16384)
      Angle_accel = -(asin(1) * 180 / 3.1415296);
else
      Angle_accel = -(asin(value * 1.0 / 16384) * 180 / 3.1415296);

return value;
}

/*---------------------------------------------------------------------------------------------------------*/
/* 角速度算出来的角度（积分）                                                                                  */
/*---------------------------------------------------------------------------------------------------------*/
int32_t Calc_AngleGyro()
{
int32_t value = 0;

value = GetGyroValue('y');
Angle_gyro += (value / 16.384 * 0.01);

return value;
}

/*---------------------------------------------------------------------------------------------------------*/
/* 互补滤波求角度                                                                                  */
/*---------------------------------------------------------------------------------------------------------*/
float ComplementFilter(int32_t simpleGyro)
{
Angle_comp = 0.98 * (Angle_comp + -simpleGyro / 16.384 * 0.01) + 0.02 * Angle_accel;

return Angle_comp;
}

/*---------------------------------------------------------------------------------------------------------*/
/* 输出角度至上位机                                                                                  */
/*---------------------------------------------------------------------------------------------------------*/
void VisualScopeAngleOutput()
{
int AngleValue_Accel,AngleValue_Gyro,AngleValue_Comp;
uint16_t crcValue;

AngleValue_Accel = ceil(Angle_accel * 10 -0.5);
AngleValue_Gyro = ceil(Angle_gyro * 10 - 0.5);
AngleValue_Comp = ceil(Angle_comp * 10 - 0.5);

outAngleData[0] = AngleValue_Accel & 0xFF;
outAngleData[1] = AngleValue_Accel >> 8;
outAngleData[2] = AngleValue_Gyro & 0xFF;
outAngleData[3] = AngleValue_Gyro >> 8;
outAngleData[4] = AngleValue_Comp & 0xFF;
outAngleData[5] = AngleValue_Comp >> 8;
//计算CRC
crcValue =  CRC_CHECK(outAngleData,8);
outAngleData[8] = crcValue & 0xFF;
outAngleData[9] = crcValue >> 8;
//发送至上位机
HAL_UART_Transmit_DMA(&huart2,outAngleData,sizeof(outAngleData));
}
/* USER CODE END 0 */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);

硬件连接图：

波形图：

最后加一个视频：
STM32L053 演示

赞 1 收藏 17 评论75 发布时间：2015-1-6 13:21

75个回答

党国特派员回答时间：2015-1-6 13:22:04

I2C.C
#include "i2c.h"

#include "gpio.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

I2C_HandleTypeDef hi2cx;

/* I2C1 init function */
void MX_I2C1_Init(void)
{

  hi2cx.Instance = I2C1;
  hi2cx.Init.Timing = 0x20D22930;
  hi2cx.Init.OwnAddress1 = 0;
  hi2cx.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2cx.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
  hi2cx.Init.OwnAddress2 = 0;
  hi2cx.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
  hi2cx.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
  hi2cx.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
  HAL_I2C_Init(&hi2cx);

/**Configure Analogue filter
*/
  HAL_I2CEx_AnalogFilter_Config(&hi2cx, I2C_ANALOGFILTER_ENABLED);

}

void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(hi2c->Instance==I2C1)
  {
/* Peripheral clock enable */
__I2C1_CLK_ENABLE();

/**I2C1 GPIO Configuration
PB6    ------> I2C1_SCL
PB7    ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF1_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  }
}

void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
{

  if(hi2c->Instance==I2C1)
  {
/* Peripheral clock disable */
__I2C1_CLK_DISABLE();

/**I2C1 GPIO Configuration
PB6    ------> I2C1_SCL
PB7    ------> I2C1_SDA
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6|GPIO_PIN_7);

  }
}
------------------------------------------------------------------------------- 传说中的分界线 ----------------------------------------------------------------------------
usart.c
#include "usart.h"

#include "gpio.h"
#include "dma.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

UART_HandleTypeDef huart2;
DMA_HandleTypeDef hdma_usart2_rx;
DMA_HandleTypeDef hdma_usart2_tx;

/* USART2 init function */

void MX_USART2_UART_Init(void)
{

  huart2.Instance = USART2;
  huart2.Init.BaudRate = 9600;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONEBIT_SAMPLING_DISABLED;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  HAL_UART_Init(&huart2);

}

void HAL_UART_MspInit(UART_HandleTypeDef* huart)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(huart->Instance==USART2)
  {
/* Peripheral clock enable */
__USART2_CLK_ENABLE();

/**USART2 GPIO Configuration
PA2    ------> USART2_TX
PA3    ------> USART2_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF4_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

GPIO_InitStruct.Pin = GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

/* Peripheral DMA init*/

hdma_usart2_rx.Instance = DMA1_Channel5;
hdma_usart2_rx.Init.Request = DMA_REQUEST_4;
hdma_usart2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_usart2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_rx.Init.Mode = DMA_NORMAL;
hdma_usart2_rx.Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(&hdma_usart2_rx);

__HAL_LINKDMA(huart,hdmarx,hdma_usart2_rx);

hdma_usart2_tx.Instance = DMA1_Channel4;
hdma_usart2_tx.Init.Request = DMA_REQUEST_4;
hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_usart2_tx.Init.Mode = DMA_NORMAL;
hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(&hdma_usart2_tx);

__HAL_LINKDMA(huart,hdmatx,hdma_usart2_tx);

  }
}

void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
{

  if(huart->Instance==USART2)
  {
/* Peripheral clock disable */
__USART2_CLK_DISABLE();

/**USART2 GPIO Configuration
PA2    ------> USART2_TX
PA3    ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);

/* Peripheral DMA DeInit*/
HAL_DMA_DeInit(huart->hdmarx);
HAL_DMA_DeInit(huart->hdmatx);
  }
}
------------------------------------------------------------------------------- 传说中的分界线 ----------------------------------------------------------------------------
mpu6050.c
#include "stm32l0xx_hal.h"
#include "MPU6050.h"

//各坐标轴上静止偏差（重力，角速度）
int16_t offsetAccelX = -195;
int16_t offsetAccelY = 560;
int16_t offsetAccelZ = -169;

int16_t offsetGyroX = 12;
int16_t offsetGyroY = 33;
int16_t offsetGyroZ = 4;

extern I2C_HandleTypeDef hi2cx;

//**************************************
//向I2C设备写入一个字节数据
//**************************************
void Single_WriteI2C(uint8_t REG_Address,uint8_t REG_data)
{
uint8_t rxData[2] = {REG_Address,REG_data};
while(HAL_I2C_Master_Transmit(&hi2cx,SlaveAddress,rxData,2,5000) != HAL_OK)
{
      if(HAL_I2C_GetError(&hi2cx) != HAL_I2C_ERROR_AF)
      {}
}
}
//**************************************
//从I2C设备读取一个字节数据
//**************************************
uint8_t Single_ReadI2C(uint8_t REG_Address)
{
uint8_t REG_data;
while(HAL_I2C_Master_Transmit(&hi2cx,SlaveAddress,®_Address,1,5000) != HAL_OK)
{
      if(HAL_I2C_GetError(&hi2cx) != HAL_I2C_ERROR_AF)
      {}
}

if(HAL_I2C_Master_Receive(&hi2cx,SlaveAddress+1,®_data,1,5000) != HAL_OK)
{
      if(HAL_I2C_GetError(&hi2cx) != HAL_I2C_ERROR_AF)
      {}
}
return REG_data;
}
//**************************************
//初始化MPU6050
//**************************************
void InitMPU6050()
{
Single_WriteI2C(PWR_MGMT_1, 0x00); //解除休眠状态

Single_WriteI2C(SMPLRT_DIV, 0x07);

Single_WriteI2C(CONFIG, 0x06);

Single_WriteI2C(GYRO_CONFIG, 0x18);

Single_WriteI2C(ACCEL_CONFIG, 0x01);
}
//**************************************
//合成数据
//**************************************
int16_t GetMPUOutValue(uint8_t REG_Address)
{
int16_t result;
uint8_t H,L;
H=Single_ReadI2C(REG_Address);
L=Single_ReadI2C(REG_Address+1);
result = (H<<8)+L;
return result; //合成数据
}

//**************************************
//取某一轴上的加速度数据
//**************************************
int16_t GetAccelValue(char axis)
{
int16_t result = 0;
switch(axis)
{
      case 'x':
      case 'X':
      {
         result = GetMPUOutValue(ACCEL_XOUT_H) - offsetAccelX;
      }
      break;
      case 'y':
      case 'Y':
      {
         result = GetMPUOutValue(ACCEL_YOUT_H) - offsetAccelY;
      }
      break;
      case 'z':
      case 'Z':
      {
         result = GetMPUOutValue(ACCEL_ZOUT_H) - offsetAccelZ;
      }
      break;
}
return result;
}

//**************************************
//取某一轴上的角速度数据
//**************************************
int16_t GetGyroValue(char axis)
{
int16_t result = 0;
switch(axis)
{
      case 'x':
      case 'X':
      {
         result = GetMPUOutValue(GYRO_XOUT_H) - offsetGyroX;
      }
      break;
      case 'y':
      case 'Y':
      {
         result = GetMPUOutValue(GYRO_YOUT_H) - offsetGyroY;
      }
      break;
      case 'z':
      case 'Z':
      {
         result = GetMPUOutValue(GYRO_ZOUT_H) - offsetGyroZ;
      }
      break;
}
return result;
}

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党国特派员回答时间：2015-1-6 13:21:49

int main(void)
{

  /* USER CODE BEGIN 1 */

  /* 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();

  /* System interrupt init*/
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
MX_I2C1_Init();
MX_TIM2_Init();
  MX_USART2_UART_Init();
InitMPU6050();

  /* USER CODE BEGIN 2 */
HAL_UART_Receive_DMA(&huart2,rxBuffer,RXSIZE);
HAL_TIM_Base_Start_IT(&htim2);
  /* USER CODE END 2 */

  /* USER CODE BEGIN 3 */
  /* Infinite loop */
  while (1)
  {
      HAL_GPIO_TogglePin(GPIOA,GPIO_PIN_5);
      VisualScopeAngleOutput();
      HAL_Delay(100);
  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_ClkInitTypeDef RCC_ClkInitStruct;
  RCC_PeriphCLKInitTypeDef PeriphClkInit;
  RCC_OscInitTypeDef RCC_OscInitStruct;

  __PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = 16;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLLMUL_6;
  RCC_OscInitStruct.PLL.PLLDIV = RCC_PLLDIV_3;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1);

  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
  PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
  HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit);

  __SYSCFG_CLK_ENABLE();

}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance == USART2)
{
      memcpy(txBuffer,rxBuffer,RXSIZE);
      HAL_UART_Receive_DMA(huart,rxBuffer,RXSIZE);
      HAL_UART_Transmit_DMA(huart,txBuffer,TXSIZE);
}
}

void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{

}

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
int32_t GyroValue;

Calc_AngleAccel();
GyroValue = Calc_AngleGyro();
ComplementFilter(GyroValue);
}