MPU9259(JY901模块)的开发

JY901是一款网上能很方便买到的模块，价格亲民，方便操作，适合个人学习购买练手。

以下是原创操作代码

void USART2_IRQHandler(void)
{
  //unsigned char data;
  if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET)
  {   
            g_usart2_recebuf[g_usart2_count]=USART_ReceiveData(USART2);            
        if(0==g_usart2_count)
        {
            if(0x55==g_usart2_recebuf[0])
            {
                    g_usart2_count++;    
            }    
            
        }
        else
        {
            
            g_usart2_count++;
        }                                                                                                                                                       
        
        if(10==g_usart2_count)    
        {
            USART_ITConfig(USART2, USART_IT_RXNE, DISABLE);
            TIM_Cmd(TIM3,ENABLE);
            TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
        }    
    }
    
    else
    {
    USART_ReceiveData(USART2);//如果接收没有处理，放弃接收的数据
    }
            
    if(USART_GetFlagStatus(USART1,USART_FLAG_ORE)!=RESET)
    {
        USART_ClearFlag(USART1,USART_FLAG_ORE);    //清溢出位
        USART_ReceiveData(USART1);                //读DR
    }
}

void TIM3_IRQHandler( void )
{
     //TIM3中断处理函数
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)
        {
            USART_ITConfig(USART2, USART_IT_RXNE, DISABLE);
            TIM_ITConfig(TIM3, TIM_IT_Update, DISABLE);
            TIM_Cmd(TIM3,DISABLE);
            TIM_SetCounter(TIM3,0);
            //判断是否是TIM3中断
            g_usart2_count=0;
            USART2_CheckReceived();//接收串口数据完成，打开标志位函数        
            //g_usart2_count=0;    
        }
            //此处写入用户自己的处理程序
            TIM_ClearITPendingBit(TIM3, TIM_IT_Update);   
}

/*******************************************读取加速度

void Mpu_Getveloc(void)
{
    if(0x55==g_usart2_recebuf[0])
    {
            if(g_usart2_recebuf[1]==0x51)
            {    
                g_acc_x[0]=(int16_t)(g_usart2_recebuf[2]|g_usart2_recebuf[3]<<8)*3920/65535;
                g_acc_y[0]=(int16_t)(g_usart2_recebuf[4]|g_usart2_recebuf[5]<<8)*3920/65535;
                g_acc_z[0]=(int16_t)(g_usart2_recebuf[6]|g_usart2_recebuf[7]<<8)*3920/65535;
                //printf("acc_x  =  %d ,acc_y  = %d  ,acc_z  = %d ************* \n",g_acc_x[0],g_acc_y[0],g_acc_z[0]);
                }
            
    }
}

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