STM32 MPU6050 제어

유진신·2024년 9월 4일

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I2C는 1982년 Philips Semiconductir에서 개발한 통신버스 프로토콜이다.
비교적 느리지만 단순성, 견고성으로 인해 널리 사용됨.

I2C 통신 구성

  • 마스터와 슬레이브로 나뉨
  • 하ㅏㄴ의 마스터에 다수의 슬레이브가 연결될 수 있음
    -구별을 위해 각 슬레이브마다 고유한 주소값을 가짐
    -슬레이브의 주소값을 이용해 마스터는 한번에 하나의 슬레이브와 통신 수행
장점단점
1.2개의 입출력핀을 이용한 반 이중통신데이터 전송 센서가 비교적 저속 모드
2동작중에도 I2C통신버스에 새 장치 추가 및 제거 가능반 이중 통신으로 마스터와 슬레이브가 동시에 데이터 전송 불가
슬레이브의 주소값이 7bit로 최대 128개까지 연결 가능

STM32 I2C 버스

타이머 설정

RCC 설정

NVIC 설정

I2C

USART2

Clock configuration

main.c code

코드를 입력/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "i2c.h"
#include "MPU9250_2.h"
#include "mpu9250.h"
#include <stdio.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

TIM_HandleTypeDef htim7;

UART_HandleTypeDef huart2;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);
static void MX_TIM7_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
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();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_TIM7_Init();
  MX_USART2_UART_Init();

  /* Initialize interrupts */
  MX_NVIC_Init();
  /* USER CODE BEGIN 2 */
  MPU9250_t mpu9250;
  MPU9250_Init(&hi2c1);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	  MPU9250_Read_All(&hi2c1, &mpu9250);
	 	  HAL_Delay(500);
	 	  printf("pitch: %lf roll: %lf yaw: %lf \r\n", mpu9250.KalmanAngleX, mpu9250.KalmanAngleY, mpu9250.KalmanAngleZ);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 50;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  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_1) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief NVIC Configuration.
  * @retval None
  */
static void MX_NVIC_Init(void)
{
  /* TIM7_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(TIM7_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(TIM7_IRQn);
  /* I2C1_ER_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(I2C1_ER_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(I2C1_ER_IRQn);
  /* I2C1_EV_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(I2C1_EV_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(I2C1_EV_IRQn);
  /* USART2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(USART2_IRQn);
}

/**
  * @brief I2C1 Initialization Function
  * @param None
  * @retval None
  */


/**
  * @brief TIM7 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM7_Init(void)
{

  /* USER CODE BEGIN TIM7_Init 0 */

  /* USER CODE END TIM7_Init 0 */

  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM7_Init 1 */

  /* USER CODE END TIM7_Init 1 */
  htim7.Instance = TIM7;
  htim7.Init.Prescaler = 9000;
  htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim7.Init.Period = 300;
  htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_Base_Init(&htim7) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim7, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM7_Init 2 */

  /* USER CODE END TIM7_Init 2 */

}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void)
{

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  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;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

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

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  if (htim == &htim7) {
    HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_13);
  }
}

int __io_putchar (int ch)
{
  (void)HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 100);
  return ch;
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#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 /* USE_FULL_ASSERT */하세요

핀 연결


SDA -> PB7
SCL -> PB6

RX -> PA2
TX -> PA3

  • SCL(Serial Clock) : 통신의 동기를 맞추기 위한 클럭 신호를 마스터에서 슬레이브로 전송함.
  • SDA(Serial Data) : SCL의 클럭 신호에 맞춰 마스터와 슬레이브 간에 데이터를 송수신함.

TX(Transmit)와 RX(Receive)를 반대로 연결하는 이유
데이터 전송 방향에 따른 신호 흐름을 맞추기 위해서

  1. TX와 RX의 역할:
    TX (Transmit): 데이터 송신을 담당하는 핀으로, 데이터를 외부로 보내는 역할을 함
    RX (Receive): 데이터 수신을 담당하는 핀으로, 외부에서 들어오는 데이터를 받는 역할을 함

  2. 반대 연결의 이유:
    TX는 데이터를 송신, RX핀은 데이터를 수신함. 그러나 두 장치가 서로 통신하기 위해서는 한 장치의 TX에서 보내는 데이터가 상대방의 RX에, 상대방의 TX에서 보내는 데이터가 RX로 들어와야 하기 때문. 이를 크로스 연결이라고도 한다.

결과

pitch, roll,yaw 값이 도출되는것을 확인함.

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