Arduino for STM32

Code: Select all

#include<Wire.h>
 
const int MPU_addr=0x68;

int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
 
int minVal=265;
int maxVal=402;
 
double x;
double y;
double z;
 
void setup(){
Wire.begin();
//Wire.setClock(400000);
Wire.beginTransmission(MPU_addr);
Wire.write(0x6B);
Wire.write(0);
Wire.endTransmission(true);
Serial.begin(9600);
}
void loop(){
Wire.beginTransmission(MPU_addr);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU_addr,14,true);

AcX=Wire.read()<<8|Wire.read();
AcY=Wire.read()<<8|Wire.read();
AcZ=Wire.read()<<8|Wire.read();

int xAng = map(AcX,minVal,maxVal,-90,90);
int yAng = map(AcY,minVal,maxVal,-90,90);
int zAng = map(AcZ,minVal,maxVal,-90,90);
 
x= RAD_TO_DEG * (atan2(-yAng, -zAng)+PI);
y= RAD_TO_DEG * (atan2(-xAng, -zAng)+PI);
z= RAD_TO_DEG * (atan2(-yAng, -xAng)+PI);
 
Serial.print("AngleX= ");
Serial.println(x);
 
//Serial.print("  AngleY= ");
//Serial.println(y);
// 
//Serial.print("AngleZ= ");
//Serial.println(z);
//Serial.println("-----------------------------------------");
delay(100);
}

Code: Select all

#include <Wire.h>
TwoWire HWire (2, I2C_FAST_MODE);  

Code: Select all

#include <SoftWire.h>
SoftWire HWire(PB10, PB11, I2C_FAST_MODE);