STM32F103C8T6读取维特jy61p陀螺仪

链接: https://pan.baidu.com/s/1YoBRkn7s77zyUKNqScT4LQ?pwd=63us 提取码: 63us 复制这段内容后打开百度网盘手机App，操作更方便哦

//#include "xunji.h"
#include "OLED.h"
#include "PWM.h"
//#include "SERVO.h"
#include "delay.h"
#include "stm32f10x.h"
#include "myusart.h"
#include "led.h""
//#include "bluetooth.h"
//#include  "ENCODER.h"
//#include "PID.h"
#include "wit_c_sdk.h"


int fputc(int ch, FILE *f)
{
  /* 发送一个字节数据到调试串口 */
  USART_SendData(USART3, (uint8_t) ch);
 
  /* 等待串口数据发送完毕 */
  while (USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);		
 
  return (ch);
}
 
/**
  * 函数功能: 重定向c库函数getchar,scanf到USARTx
  */
int fgetc(FILE *f)
{
  /* 等待串口输入数据 */
  while (USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == RESET);
 
  return (int)USART_ReceiveData(USART3);
}
uint32_t uiBuad = 115200;
uint8_t ucRxData ;
void USART1_IRQHandler(void) {
    if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) {
        // 从接收数据寄存器读取一个字节
        uint8_t data = USART_ReceiveData(USART1);
        
        // 处理接收到的数据
        WitSerialDataIn(data);

        // 重新启动接收中断
//        UART_Start_Receive_IT();

        // 清除USART1接收中断
        USART_ClearITPendingBit(USART1, USART_IT_RXNE);
    }
}


#define ACC_UPDATE		0x01
#define GYRO_UPDATE		0x02
#define ANGLE_UPDATE	0x04
#define MAG_UPDATE		0x08
#define READ_UPDATE		0x80
static char s_cDataUpdate = 0;
static void AutoScanSensor(void);
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize);
static void CopeSensorData(uint32_t uiReg, uint32_t uiRegNum);
#define speed 20 //速度就是占空比，0-100
#define tar_psoition    1000
#define tar_psoition1    1000//位置式pid的目标位置
#define tar_speed       30 //位置式共同目标速度
#define tar_speed1    30
uint8_t time,key;
int16_t now_speed,now_position,now_speed1,now_position1;
float pwm,pwm1;
uint8_t i;
void USART3_IRQHandler(void);//二维码中断

int main(void)
{
	OLED_Init();
	LED_Init();
	My_USART1_Init();
	My_USART3_Init();
	//motor_int();//俩电机初始化

	//Encoder_Init();//A6,7
	//Encoder1_Init();//A8,9
	//xunji_gpio();
	//pwm_motor();
	OLED_ShowString(1, 1, "start");
	OLED_ShowString(2, 1, "speed");
	float fAcc[3], fGyro[3], fAngle[3], fYaw;
	int i;
	WitInit(WIT_PROTOCOL_NORMAL, 0x50);
	WitSerialWriteRegister(SensorUartSend);
	WitRegisterCallBack(CopeSensorData);
    
	printf("\r\n********************** wit-motion normal example  ************************\r\n");
	AutoScanSensor();

	Delay_ms(500);

	while(1)
	{
		GPIO_WriteBit(GPIOC, GPIO_Pin_13,1);
		Delay_ms(1000);
		GPIO_WriteBit(GPIOC, GPIO_Pin_13,0);
		OLED_ShowSignedNum(2, 1, now_speed, 3);
		Delay_ms(1000);
		

	if(s_cDataUpdate)
		{
			for(i = 0; i < 3; i++)
			{
				fAngle[i] = sReg[Roll+i] / 32768.0f * 180.0f;
			}
			if(s_cDataUpdate & ANGLE_UPDATE)
			{
        fYaw = (float)((unsigned short)sReg[Yaw]) / 32768 * 180.0;
				printf("angle:%.3f %.3f %.3f(%.3f)\r\n", fAngle[0], fAngle[1], fAngle[2], fYaw);
				s_cDataUpdate &= ~ANGLE_UPDATE;
			}
            s_cDataUpdate = 0;
		}
//		calculatePID(fAngle[2],90);
	}
}

//void USART1_IRQHandler()
//{
//  if(USART_GetITStatus(USART1,USART_IT_RXNE)!=RESET)
//  {
//    WitSerialDataIn(ucRxData);
//		ucRxData=USART_ReceiveData(USART1);
//		//UART_Start_Receive_IT(huart, &ucRxData, 1);
//  }
//}

void USART3_IRQHandler()
{
	u8 res;
	if(USART_GetITStatus(USART3,USART_IT_RXNE)!=RESET)
	{
		res= USART_ReceiveData(USART3);
		if(res=='1')
		{
			//forward(speed);
			OLED_ShowString(1, 1, "buletooth1 ");
			GPIO_WriteBit(GPIOC, GPIO_Pin_13,1);
			//Delay_ms(1500);
			//stop();
		}
		else if(res=='2')
		{
//      left_2(speed);
			OLED_ShowString(1, 1, "buletooth2");
			GPIO_WriteBit(GPIOC, GPIO_Pin_13,0);

		}
	}
}

void TIM2_IRQHandler(void)//定时器2中断->给编码器
{
	if (TIM_GetITStatus(TIM2, TIM_IT_Update) == SET)
	{
        time++;
        
		TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
	}
}


static void SensorUartSend(uint8_t *p_data, uint32_t uiSize) {
    for (uint32_t i = 0; i < uiSize; i++) {
        // 发送一个字节
        USART_SendData(USART1, p_data[i]);
        
        // 等待发送完成
        while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET) {
        }
    }
}

static void CopeSensorData(uint32_t uiReg, uint32_t uiRegNum)
{
	int i;
    for(i = 0; i < uiRegNum; i++)
    {
        switch(uiReg)
        {
            case AZ:
				s_cDataUpdate |= ACC_UPDATE;
            break;
            case GZ:
				s_cDataUpdate |= GYRO_UPDATE;
            break;
            case HZ:
				s_cDataUpdate |= MAG_UPDATE;
            break;
            case Yaw:
				s_cDataUpdate |= ANGLE_UPDATE;
            break;
            default:
				s_cDataUpdate |= READ_UPDATE;
			break;
        }
		uiReg++;
    }
}

static void AutoScanSensor(void)
{
	const uint32_t c_uiBaud[9] = {4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600};
	int i, iRetry;
	
	for(i = 0; i < 9; i++)
	{
        uiBuad = c_uiBaud[i];
				My_USART1_Init();
		iRetry = 2;
		do
		{
			s_cDataUpdate = 0;
			WitReadReg(AX, 3);
			Delay_ms(100);
			if(s_cDataUpdate != 0)
			{
				printf("%d baud find sensor\r\n\r\n", c_uiBaud[i]);
				return ;
			}
			iRetry--;
		}while(iRetry);		
	}
	printf("can not find sensor\r\n");
	printf("please check your connection\r\n");
}

 我在串口三上连接了蓝牙模块，串口一上连了jy61p陀螺仪，手机连接并获取数据