Stm32f407_MPU6050

[Kaya]

Cemre hocam merhabalar yapmış olduğunuz MPU6050 kodlarını kullandım. Kod parçalarını aşağıdaki gibi yerleştirdim ve warning yada error oluşmadı. StmCubeMx'de debug mode'dan verileri görmek istediğimde değer göremiyorum. External interrupt için PB5'e bir switch bağlamam gerekir mi yoksa kodda mı sorun var tam anlayamadım. Verileri debug modundan görmek için User Code Begin 0 kullanmam gerekiyormuş sanırım onuda denedim yine olmadı.
Yardımcı olursanız sevinirim, teşekkür ederim.

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_hal.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

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

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
uint8_t TxBuffer[2];
uint8_t RxBuffer[7];
uint8_t DataBuffer[14];
int16_t DataBuffer16[7];
uint8_t MPU6050_INT_State = 0;
int16_t gyro_x_temp, gyro_y_temp, gyro_z_temp, accel_x_temp, accel_y_temp, accel_z_temp, temp_raw;
float temp, gyro_x, gyro_y, gyro_z, accel_x, accel_y, accel_z;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C1_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
static void MPU6050_Extract_Readings(void);
/* USER CODE END PFP */

/* USER CODE BEGIN 0 */
#include "mpu6050_map (2).h"

/* USER CODE END 0 */

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();

  /* USER CODE BEGIN 2 */
TxBuffer[0] = 0x80;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 1, TxBuffer, 1, 1000);
HAL_Delay(200);

TxBuffer[0] = 0x00;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 1, TxBuffer, 1, 1000);
HAL_Delay(200);

TxBuffer[0] = 0xF8;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 1, TxBuffer, 1, 1000);
HAL_Delay(200);

TxBuffer[0] = 0x10;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_FIFO_EN, 1, TxBuffer, 1, 1000);
HAL_Delay(200);

HAL_I2C_Mem_Read(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, I2C_MEMADD_SIZE_8BIT, RxBuffer, 1, 1000);
HAL_Delay(200);
RxBuffer[0] |= 0x18;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 1, RxBuffer, 1, 1000);

HAL_I2C_Mem_Read(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_ENABLE, I2C_MEMADD_SIZE_8BIT, RxBuffer, 1, 1000);
HAL_Delay(200);
RxBuffer[0] |= 0x11;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_ENABLE, 1, RxBuffer, 1, 1000);

HAL_I2C_Mem_Read(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_PIN_CFG, I2C_MEMADD_SIZE_8BIT, RxBuffer, 1, 1000);
HAL_Delay(200);
RxBuffer[0] |= 0x30;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_INT_PIN_CFG, 1, RxBuffer, 1, 1000);

HAL_I2C_Mem_Read(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, I2C_MEMADD_SIZE_8BIT, RxBuffer, 1, 1000);
HAL_Delay(200);
RxBuffer[0] |= 0x06;
HAL_I2C_Mem_Write(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 1, RxBuffer, 1, 1000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  /* USER CODE END WHILE */

  /* USER CODE BEGIN 3 */
while(MPU6050_INT_State == 1)
{
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12, GPIO_PIN_SET);
//MPU6050_I2C_Mem_Read_Multi(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, DataBuffer, 14);
HAL_I2C_Mem_Read(&hi2c1, MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_XOUT_H, I2C_MEMADD_SIZE_8BIT, DataBuffer, 14, 10000);
for(int i=0;i<7;i++)
{
DataBuffer16[i] = (int16_t)(((uint16_t)DataBuffer[2*i]<<8) | DataBuffer[2*i + 1]);
}
MPU6050_Extract_Readings();
MPU6050_INT_State = 0;
}
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12, GPIO_PIN_RESET);
}
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

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

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  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 = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* I2C1 init function */
static void MX_I2C1_Init(void)
{

  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 400000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

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

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_RESET);

  /*Configure GPIO pins : PD12 PD13 PD14 PD15 */
  GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pin : MPU6050_INT_Pin */
  GPIO_InitStruct.Pin = MPU6050_INT_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(MPU6050_INT_GPIO_Port, &GPIO_InitStruct);

  /* EXTI interrupt init*/
  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 2, 0);
  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);

}

/* USER CODE BEGIN 4 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == GPIO_PIN_5)
{
MPU6050_INT_State = 1;
}
}
void MPU6050_Extract_Readings()
{
// Extract accel readings
accel_x_temp = DataBuffer16[0];
accel_x = (float)accel_x_temp / 2048.0F;
accel_y_temp = DataBuffer16[1];
accel_y = (float)accel_y_temp / 2048.0F;
accel_z_temp = DataBuffer16[2];
accel_z = (float)accel_z_temp / 2048.0F;

// Extract temperature readings
temp_raw = DataBuffer16[3];
temp = temp_raw / 340.0F;

// Extract gyro readings
gyro_x_temp = DataBuffer16[4];
gyro_x = (float)gyro_x_temp / 131.0F;
gyro_y_temp = DataBuffer16[5];
gyro_y = (float)gyro_y_temp / 131.0F;
gyro_z_temp = DataBuffer16[6];
gyro_z = (float)gyro_z_temp / 131.0F;

// Set accel offset
accel_x += Accelx_offset;
accel_y += Accely_offset;
accel_z += Accelz_offset;

// Set temp offset
temp += Temp_offset;

// Set gyro offset
gyro_x += Gyrox_offset;
gyro_y += Gyroy_offset;
gyro_z += Gyroz_offset;
}
/* USER CODE END 4 */

@Cemre.

[Cemre.]

Merhaba,

External Interrupt MPU6050'den gelecektir. INT pini ile MCU EXTI giriş pininizi irtibatlandırırsanız çalışması gerekiyor...

[yldzelektronik]

@Kaya  biliyorsunuzdur da ben yine de söyleyeyim. Belki birine lazım olur.

   
• Debuga girin.
• View menüsüne tıklayın
• En altta "Periodic Window Update" kısmının işaretlenmiş olduğuna emin olun.L

Kısaca "Periodic Window Update" nedir.

Edit: İmla

[Kaya]

@Cemre. Hocam verdiğiniz bilgiler için teşekkür ederim sensör üzerindeki pini bağlamak sonradan aklıma geldi ve sorunsuz çalıştı
Çok faydalı bilgiler olmuş elinize sağlık, bana göre Mpu6050 ve I2C haberleşmesi konusunda gördüğüm en güzel örnektir
Son olarak bir şey daha sormak istiyorum, kodların büyük kısmının mantığını anladım sadece ham veriyi işleme kısmında biraz sıkıntı yaşıyorum.
Alttaki kod kısmında define satırlarını tanımlarken bu offset değerleri datasheet'ten mi aldınız? Register map ve datasheet'te aradım ama nerede olduğunu bulamadım.

// Gyro offset
#define Gyrox_offset  3.3F
#define Gyroy_offset  0.0F
#define Gyroz_offset  0.0F

// Accel offset
#define Accelx_offset -0.07F
#define Accely_offset 0.02F
#define Accelz_offset 0.2F

Zaman ayırdığınız için teşekkür ederim @Cemre. @yldzelektronik

[Cemre.]

Tekrar merhaba,

Öncelikle teşekkürler. Faydalı olduysa ne mutlu.

Offset değerleri LibStock'daki bir kütüphaneden alınmıştı ancak kalibrasyon işlemleri sonrasında hesaplanması gereken değerlerdir. Kalibrasyon ile ilgili bir çalışmam olmamıştı.

Bu değerleri Processing ile görselleştirmek de eğlenceli bir çalışma oluyor. Tavsiye ederim

[Kaya]

@Cemre.  Teşekkür ederim, görselleştirmeyi denemeyi düşünüyordum. Gördüğüm bir kaç videoda güzel oyunlar yapılmış

[şeriban]

#include "main.h"
#include "stm32f4xx_hal.h"

/* USER CODE BEGIN Includes */
uint8_t i2cBuf[8];
uint8_t i2cBufRx[8];
int16_t ax,ay,az;
float Xaccel,Yaccel,Zaccel;

#define mpu6050Address 0x68
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c2;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_I2C2_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

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_I2C2_Init();

  /* USER CODE BEGIN 2 */

 if(HAL_I2C_IsDeviceReady(&hi2c2, mpu6050Address, 3, 100)!= HAL_OK)
 { 
 HAL_GPIO_TogglePin(GPIOD ,GPIO_PIN_13 );
 } 
 
 i2cBuf[0]=0x1A; //  MPU-6050 çalistirildi * /
 i2cBuf[1]=0x00 ; // slave // ??'ye bir bayt yazarak sifir (MPU-6050'yi uyandirir)
  HAL_I2C_Master_Transmit(&hi2c2 ,mpu6050Address , i2cBuf , 2 , 10);
 
 

 i2cBuf[0]=0x1B; // GYRO_CONFIG 
  i2cBuf[1]=0x00 ;
 HAL_I2C_Master_Transmit(&hi2c2 ,mpu6050Address , i2cBuf , 2 , 10);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  /* USER CODE END WHILE */
i2cBuf[0]= 0x43;
 HAL_I2C_Master_Transmit(&hi2c2 ,mpu6050Address , &i2cBuf[0] , 1 , 10);
 
 if (HAL_I2C_GetError(&hi2c2) != HAL_I2C_ERROR_AF)
    {
      Error_Handler();
 HAL_GPIO_TogglePin(GPIOD ,GPIO_PIN_14 );
    }
 
 
   i2cBuf[1]=0x00 ;
 HAL_I2C_Master_Receive(&hi2c2 , mpu6050Address, &i2cBuf[1] , 1 , 10);
    
   if (HAL_I2C_GetError(&hi2c2) != HAL_I2C_ERROR_AF)
    { Error_Handler();
 HAL_GPIO_TogglePin(GPIOD ,GPIO_PIN_15);
    }
 
 
    ax = i2cBuf[1];
  /* USER CODE BEGIN 3 */

  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

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

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /**Initializes the CPU, AHB and APB busses clocks 
    */
  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 = 25;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Initializes the CPU, AHB and APB busses 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time 
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick 
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* I2C2 init function */
static void MX_I2C2_Init(void)
{

  hi2c2.Instance = I2C2;
  hi2c2.Init.ClockSpeed = 100000;
  hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c2.Init.OwnAddress1 = 0;
  hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c2.Init.OwnAddress2 = 0;
  hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c2) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
static void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

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

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_RESET);

  /*Configure GPIO pins : PD12 PD13 PD14 PD15 */
  GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void _Error_Handler(char * file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  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

/**
  * @}
  */ 

/**
  * @}
*/ 

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

[sarikayamusa]

Merhaba,

External Interrupt MPU6050'den gelecektir. INT pini ile MCU EXTI giriş pininizi irtibatlandırırsanız çalışması gerekiyor...

Burada MPU6050'den hangi kesme kaynağı kullanıldı da bu kesme MCU da external interrupt oluşturuyor? Stm kodlarını bilmediğimden tam anlayamadım.
MPU6050'de dört kesme (Fifo taşma, data gönderim hazır, i2c hata, i2c slave 4) bunlardan hangisi kullanıldı acaba?