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89 lines
2.3 KiB
89 lines
2.3 KiB
#include "stm32f10x.h"
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#include "inv_mpu.h"
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#include "inv_mpu_dmp_motion_driver.h"
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#include "mpu6050.h"
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#include "lcd.h"
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#include "led.h"
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#include "MpuDisplay.h"
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float pitch,roll,yaw; //欧拉角
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short accx,accy,accz; //加速度传感器原始数据
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short gyrox,gyroy,gyroz; //陀螺仪原始数据
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short temp; //温度
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short num;
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void MpuDisplay(void)
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{
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if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
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{
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temp=MPU_Get_Temperature(); //得到温度值
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MPU_Get_Accelerometer(&accx,&accy,&accz); //得到加速度传感器数据
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MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz); //得到陀螺仪数据
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if(temp<0)
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{
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LCD_ShowChar(30+48,140,'-',16,0); //显示负号
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temp=-temp; //转为正数
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}else LCD_ShowChar(30+48,140,' ',16,0); //去掉负号
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LCD_ShowNum(30+48+8,140,temp/100,3,16); //显示整数部分
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LCD_ShowNum(30+48+40,140,temp%10,1,16); //显示小数部分
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accx=accx*0.598; // mm/s^2
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if(accx<0)
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{
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LCD_ShowChar(30+48,160,'-',16,0);
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accx=-accx;
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}else LCD_ShowChar(30+48,160,' ',16,0);
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LCD_ShowNum(30+48+8,160,accx/100,3,16);
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LCD_ShowNum(30+48+40,160,accx%10,1,16);
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accy=accy*0.598; // mm/s^2
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if(accy<0)
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{
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LCD_ShowChar(30+48,180,'-',16,0);
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accy=-accy;
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}else LCD_ShowChar(30+48,180,' ',16,0);
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LCD_ShowNum(30+48+8,180,accy/100,3,16);
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LCD_ShowNum(30+48+40,180,accy%10,1,16);
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gyroz=gyroz/16.4;
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if(gyroz<0)
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{
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LCD_ShowChar(30+48,200,'-',16,0);
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gyroz=-gyroz;
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}else LCD_ShowChar(30+48,200,' ',16,0);
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LCD_ShowNum(30+48+8,200,gyroz/100,3,16);
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LCD_ShowNum(30+48+40,200,gyroz%10,1,16);
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num=pitch*10;
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if(num<0)
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{
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LCD_ShowChar(30+48,220,'-',16,0);
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num=-num;
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}else LCD_ShowChar(30+48,220,' ',16,0);
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LCD_ShowNum(30+48+8,220,num/10,3,16);
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LCD_ShowNum(30+48+40,220,num%10,1,16);
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num=roll*10;
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if(num<0)
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{
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LCD_ShowChar(30+48,240,'-',16,0);
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num=-num;
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}else LCD_ShowChar(30+48,240,' ',16,0);
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LCD_ShowNum(30+48+8,240,num/10,3,16);
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LCD_ShowNum(30+48+40,240,num%10,1,16);
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num=yaw*10;
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if(num<0)
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{
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LCD_ShowChar(30+48,260,'-',16,0);
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num=-num;
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}else LCD_ShowChar(30+48,260,' ',16,0);
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LCD_ShowNum(30+48+8,260,num/10,3,16);
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LCD_ShowNum(30+48+40,260,num%10,1,16);
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LED0=!LED0;//LED闪烁
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}
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}
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