/**
  ******************************************************************************
  * @file    Project/STM32F2xx_StdPeriph_Template/main.c 
  * @author  MCD Application Team
  * @version V1.1.0
  * @date    13-April-2012
  * @brief   Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT 2012 STMicroelectronics</center></h2>
  *
  * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
  * You may not use this file except in compliance with the License.
  * You may obtain a copy of the License at:
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
  * Unless required by applicable law or agreed to in writing, software 
  * distributed under the License is distributed on an "AS IS" BASIS, 
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
  ******************************************************************************
  */ 

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c_io.h"
#include "sys_delay.h"
#include "mpu6050.h"
#include "report_data.h"

void UART_Init(void);

#ifdef __GNUC__
  /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
     set to 'Yes') calls __io_putchar() */
  #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
  #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */


/**
* @brief  Main program.
* @param  None
* @retval None
*/
int main(void)
{
  float pitch,roll,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	
  
  GPIO_InitTypeDef  GPIO_Init_s;
  
  /* Enable the GPIO_LED Clock */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
  
  /* Configure the GPIO_LED pin */
  GPIO_Init_s.GPIO_Pin = GPIO_Pin_4;
  GPIO_Init_s.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_Init_s.GPIO_OType = GPIO_OType_PP;
  GPIO_Init_s.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init_s.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_Init(GPIOE, &GPIO_Init_s);
  
  MPU_Init();
  UART_Init();
  
  while(mpu_dmp_init())
  {
    printf("MPU6050 Error\r\n");
    while(1)
    {
      GPIO_SetBits(GPIOE,GPIO_Pin_4);//熄灭LED灯
      Sys_delay_ms(300);
      GPIO_ResetBits(GPIOE,GPIO_Pin_4);
      Sys_delay_ms(300);
    }
  } 
  
  while (1)
  {
    if(mpu_dmp_get_data(&pitch,&roll,&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
      
      mpu6050_send_data(aacx,aacy,aacz,gyrox,gyroy,gyroz);//用自定义帧发送加速度和陀螺仪原始数据
      usart1_report_imu(aacx,aacy,aacz,gyrox,gyroy,gyroz,(int)(roll*100),(int)(pitch*100),(int)(yaw*10));
    }
//    Sys_delay_ms(500);
  }
}
void UART_Init(void)
{
  USART_InitTypeDef USART_InitStructure;
  GPIO_InitTypeDef GPIO_InitStructure;

  /* Enable GPIO clock */
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
  /* Enable UART1 clock */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
  /* Connect PXx to USARTx_Tx*/
  GPIO_PinAFConfig(GPIOA, 9, GPIO_AF_USART1);
  
  /* Connect PXx to USARTx_Rx*/
  GPIO_PinAFConfig(GPIOA, 10, GPIO_AF_USART1);
  
  /* Configure USART Tx as alternate function  */
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
  
  /* Configure USART Rx as alternate function  */
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
  
  USART_InitStructure.USART_BaudRate = 115200;
  USART_InitStructure.USART_WordLength = USART_WordLength_8b;
  USART_InitStructure.USART_StopBits = USART_StopBits_1;
  USART_InitStructure.USART_Parity = USART_Parity_No;
  USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
  USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
  
  /* USART configuration */
  USART_Init(USART1, &USART_InitStructure);
  
  /* Enable USART */
  USART_Cmd(USART1, ENABLE);
}

/**
  * @brief  Retargets the C library printf function to the USART.
  * @param  None
  * @retval None
  */
PUTCHAR_PROTOTYPE
{
  /* Place your implementation of fputc here */
  /* e.g. write a character to the USART */
  USART_SendData(USART1, (uint8_t) ch);

  /* Loop until the end of transmission */
  while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET)
  {}

  return ch;
}
/**
  * @}
  */


/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/