MPU9250 (GY-91) driver for STM32 with HAL using SPI (spi1 by default).
Define GY_CS pin in STM32CubeMX that will be used as Chip Select for the device, or pick the one you need in the MPU9250_Config.h.
Use MPU9250_Init() to initialize the device.
Then use this to retireve the raw data:
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
float AccData[3];
float MagData[3];
float GyroData[3];
float TempData;
/* 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();
MX_USART1_UART_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
HAL_Delay(1000);
MPU9250_Init();
MPU9250_SetAccelRange(ACCEL_RANGE_8G);
MPU9250_SetGyroRange(GYRO_RANGE_500DPS);
MPU9250_setDlpfBandwidth(DLPF_BANDWIDTH_41HZ);
MPU9250_setSrd(0);
MPU9250_calibrateGyro();
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, 200);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
MPU9250_GetData(AccData, MagData, GyroData, &TempData);
sprintf(data, "%.2f \t", AccData[0]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t", AccData[1]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t", AccData[2]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t", GyroData[0]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t", GyroData[1]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t", GyroData[2]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t", MagData[0]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t", MagData[1]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t", MagData[2]);
HAL_UART_Transmit (&huart1, (uint8_t*)data, 8, 10);
sprintf(data, "%.2f \t\n", TempData);
HAL_UART_Transmit (&huart1, (uint8_t*)data,8, 10);
HAL_Delay(1);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}