first commit

Core/Src/main.c

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "tim.h"
+#include "usart.h"
+#include "gpio.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "stdio.h"
+#include "IIC.h"
+#include "mpu6050.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+#ifdef __GNUC__
+#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
+#else
+#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
+#endif
+PUTCHAR_PROTOTYPE
+{
+	HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
+	return ch;
+}
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+  /* USER CODE BEGIN 1 */
+	uint8_t t = 0;
+	float pitch, roll, yaw;
+	short aacx, aacy, aacz;
+	short gyrox, gyroy, gyroz;
+	short temp;
+  /* 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_USART1_UART_Init();
+  MX_TIM1_Init();
+  MX_TIM4_Init();
+  /* USER CODE BEGIN 2 */
+	MPU_Init();
+	while (mpu_dmp_init())
+	{
+		printf("MPU6050 Error!!!\r\n");
+		HAL_Delay(500);
+	}
+	printf("MPU6050 OK\r\n");
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1)
+  {
+		if (mpu_dmp_get_data(&pitch, &roll, &yaw) == 0)
+		{
+			temp = MPU_Get_Temperature();
+			MPU_Get_Accelerometer(&aacx, &aacy, &aacz);
+			MPU_Get_Gyroscope(&gyrox, &gyroy, &gyroz);
+			if (1)
+			{
+				if ((t % 10) == 0)
+				{
+//					if (temp < 0)
+//					{
+//						temp = -temp; // 转为正数
+//						printf(" Temp:  -%d.%dC\r\n", temp / 100, temp % 10);
+//					}
+//					else
+//						printf(" Temp:  %d.%dC\r\n", temp / 100, temp % 10);
+
+					// pitch�??????
+					temp = yaw * 10;
+					if (temp < 0)
+					{
+						temp = -temp; // 转为正数
+						printf("-%d.%d\r\n", temp / 10, temp % 10);
+					}
+					else
+						printf("%d.%d\r\n", temp / 10, temp % 10);
+
+//					// roll�??????
+//					temp = roll * 10;
+//					if (temp < 0)
+//					{
+//						temp = -temp; // 转为正数
+//						printf(" Roll:  -%d.%dC\r\n", temp / 10, temp % 10);
+//					}
+//					else
+//						printf(" Roll:  %d.%dC\r\n", temp / 10, temp % 10);
+//
+//					temp = yaw * 10;
+//					if (temp < 0)
+//					{
+//						temp = -temp; // 转为正数
+//						printf(" Yaw:  -%d.%dC\r\n", temp / 10, temp % 10);
+//					}
+//					else
+//						printf(" Yaw:   %d.%dC\r\n", temp / 10, temp % 10);
+//
+//					printf("\r\n");
+					t = 0;
+				}
+			}
+		}
+	}
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses 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_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  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 /* USE_FULL_ASSERT */

Core/Src/mpu6050.c

+/*
+ * mpu6050.c
+ *
+ *  Created on: Jul 11, 2023
+ *      Author: zzy
+ */
+
+#include "mpu6050.h"
+
+// 初始化MPU6050
+// 返回值:0,成功
+//     其他,错误代码
+uint8_t MPU_Init(void)
+{
+    uint8_t res;
+
+    MPU_IIC_Init();                          // 初始化IIC总线
+    MPU_Write_Byte(MPU_PWR_MGMT1_REG, 0X80); // 复位MPU6050
+    delay_ms(100);
+    MPU_Write_Byte(MPU_PWR_MGMT1_REG, 0X00); // 唤醒MPU6050
+    MPU_Set_Gyro_Fsr(3);                     // 陀螺仪传感器,±2000dps
+    MPU_Set_Accel_Fsr(0);                    // 加速度传感器,±2g
+    MPU_Set_Rate(50);                        // 设置采样率50Hz
+    MPU_Write_Byte(MPU_INT_EN_REG, 0X00);    // 关闭所有中断
+    MPU_Write_Byte(MPU_USER_CTRL_REG, 0X00); // I2C主模式关闭
+    MPU_Write_Byte(MPU_FIFO_EN_REG, 0X00);   // 关闭FIFO
+    MPU_Write_Byte(MPU_INTBP_CFG_REG, 0X80); // INT引脚低电平有效
+    res = MPU_Read_Byte(MPU_DEVICE_ID_REG);
+    if (res == MPU_ADDR) // 器件ID正确
+    {
+        MPU_Write_Byte(MPU_PWR_MGMT1_REG, 0X01); // 设置CLKSEL,PLL X轴为参考
+        MPU_Write_Byte(MPU_PWR_MGMT2_REG, 0X00); // 加速度与陀螺仪都工作
+        MPU_Set_Rate(50);                        // 设置采样率为50Hz
+    }
+    else
+        return 1;
+    return 0;
+}
+
+// 设置MPU6050陀螺仪传感器满量程范围
+// fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
+// 返回值:0,设置成功
+//     其他,设置失败
+uint8_t MPU_Set_Gyro_Fsr(uint8_t fsr)
+{
+    return MPU_Write_Byte(MPU_GYRO_CFG_REG, fsr << 3); // 设置陀螺仪满量程范围
+}
+
+// 设置MPU6050加速度传感器满量程范围
+// fsr:0,±2g;1,±4g;2,±8g;3,±16g
+// 返回值:0,设置成功
+//     其他,设置失败
+uint8_t MPU_Set_Accel_Fsr(uint8_t fsr)
+{
+    return MPU_Write_Byte(MPU_ACCEL_CFG_REG, fsr << 3); // 设置加速度传感器满量程范围
+}
+
+// 设置MPU6050的数字低通滤波器
+// lpf:数字低通滤波频率(Hz)
+// 返回值:0,设置成功
+//     其他,设置失败
+uint8_t MPU_Set_LPF(uint16_t lpf)
+{
+    uint8_t data = 0;
+    if (lpf >= 188)
+        data = 1;
+    else if (lpf >= 98)
+        data = 2;
+    else if (lpf >= 42)
+        data = 3;
+    else if (lpf >= 20)
+        data = 4;
+    else if (lpf >= 10)
+        data = 5;
+    else
+        data = 6;
+    return MPU_Write_Byte(MPU_CFG_REG, data); // 设置数字低通滤波器
+}
+
+// 设置MPU6050的采样率(假定Fs=1KHz)
+// rate:4~1000(Hz)
+// 返回值:0,设置成功
+//     其他,设置失败
+uint8_t MPU_Set_Rate(uint16_t rate)
+{
+    uint8_t data;
+    if (rate > 1000)
+        rate = 1000;
+    if (rate < 4)
+        rate = 4;
+    data = 1000 / rate - 1;
+    data = MPU_Write_Byte(MPU_SAMPLE_RATE_REG, data); // 设置数字低通滤波器
+    return MPU_Set_LPF(rate / 2);                     // 自动设置LPF为采样率的一半
+}
+
+// 得到温度值
+// 返回值:温度值(扩大了100倍)
+short MPU_Get_Temperature(void)
+{
+    uint8_t buf[2];
+    short raw;
+    float temp;
+    MPU_Read_Len(MPU_ADDR, MPU_TEMP_OUTH_REG, 2, buf);
+    raw = ((uint16_t)buf[0] << 8) | buf[1];
+    temp = 36.53 + ((double)raw) / 340;
+    return temp * 100;
+    ;
+}
+
+// 得到陀螺仪值(原始值)
+// gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
+// 返回值:0,成功
+//     其他,错误代码
+uint8_t MPU_Get_Gyroscope(short *gx, short *gy, short *gz)
+{
+    uint8_t buf[6], res;
+    res = MPU_Read_Len(MPU_ADDR, MPU_GYRO_XOUTH_REG, 6, buf);
+    if (res == 0)
+    {
+        *gx = ((uint16_t)buf[0] << 8) | buf[1];
+        *gy = ((uint16_t)buf[2] << 8) | buf[3];
+        *gz = ((uint16_t)buf[4] << 8) | buf[5];
+    }
+    return res;
+    ;
+}
+
+// 得到加速度值(原始值)
+// gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
+// 返回值:0,成功
+//     其他,错误代码
+uint8_t MPU_Get_Accelerometer(short *ax, short *ay, short *az)
+{
+    uint8_t buf[6], res;
+    res = MPU_Read_Len(MPU_ADDR, MPU_ACCEL_XOUTH_REG, 6, buf);
+    if (res == 0)
+    {
+        *ax = ((uint16_t)buf[0] << 8) | buf[1];
+        *ay = ((uint16_t)buf[2] << 8) | buf[3];
+        *az = ((uint16_t)buf[4] << 8) | buf[5];
+    }
+    return res;
+    ;
+}
+
+// IIC连续写
+// addr:器件地址
+// reg:寄存器地址
+// len:写入长度
+// buf:数据区
+// 返回值:0,正常
+//     其他,错误代码
+uint8_t MPU_Write_Len(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
+{
+    uint8_t i;
+    MPU_IIC_Start();
+    MPU_IIC_Send_Byte((addr << 1) | 0); // 发送器件地址+写命令
+    if (MPU_IIC_Wait_Ack())             // 等待应答
+    {
+        MPU_IIC_Stop();
+        return 1;
+    }
+    MPU_IIC_Send_Byte(reg); // 写寄存器地址
+    MPU_IIC_Wait_Ack();     // 等待应答
+    for (i = 0; i < len; i++)
+    {
+        MPU_IIC_Send_Byte(buf[i]); // 发送数据
+        if (MPU_IIC_Wait_Ack())    // 等待ACK
+        {
+            MPU_IIC_Stop();
+            return 1;
+        }
+    }
+    MPU_IIC_Stop();
+    return 0;
+}
+
+// IIC连续读
+// addr:器件地址
+// reg:要读取的寄存器地址
+// len:要读取的长度
+// buf:读取到的数据存储区
+// 返回值:0,正常
+//     其他,错误代码
+uint8_t MPU_Read_Len(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
+{
+    MPU_IIC_Start();
+    MPU_IIC_Send_Byte((addr << 1) | 0); // 发送器件地址+写命令
+    if (MPU_IIC_Wait_Ack())             // 等待应答
+    {
+        MPU_IIC_Stop();
+        return 1;
+    }
+    MPU_IIC_Send_Byte(reg); // 写寄存器地址
+    MPU_IIC_Wait_Ack();     // 等待应答
+    MPU_IIC_Start();
+    MPU_IIC_Send_Byte((addr << 1) | 1); // 发送器件地址+读命令
+    MPU_IIC_Wait_Ack();                 // 等待应答
+    while (len)
+    {
+        if (len == 1)
+            *buf = MPU_IIC_Read_Byte(0); // 读数据,发送nACK
+        else
+            *buf = MPU_IIC_Read_Byte(1); // 读数据,发送ACK
+        len--;
+        buf++;
+    }
+    MPU_IIC_Stop(); // 产生一个停止条件
+    return 0;
+}
+
+// IIC写一个字节
+// reg:寄存器地址
+// data:数据
+// 返回值:0,正常
+//     其他,错误代码
+uint8_t MPU_Write_Byte(uint8_t reg, uint8_t data)
+{
+    MPU_IIC_Start();
+    MPU_IIC_Send_Byte((MPU_ADDR << 1) | 0); // 发送器件地址+写命令
+    if (MPU_IIC_Wait_Ack())                 // 等待应答
+    {
+        MPU_IIC_Stop();
+        return 1;
+    }
+    MPU_IIC_Send_Byte(reg);  // 写寄存器地址
+    MPU_IIC_Wait_Ack();      // 等待应答
+    MPU_IIC_Send_Byte(data); // 发送数据
+    if (MPU_IIC_Wait_Ack())  // 等待ACK
+    {
+        MPU_IIC_Stop();
+        return 1;
+    }
+    MPU_IIC_Stop();
+    return 0;
+}
+
+// IIC读一个字节
+// reg:寄存器地址
+// 返回值:读到的数据
+uint8_t MPU_Read_Byte(uint8_t reg)
+{
+    uint8_t res;
+    MPU_IIC_Start();
+    MPU_IIC_Send_Byte((MPU_ADDR << 1) | 0); // 发送器件地址+写命令
+    MPU_IIC_Wait_Ack();                     // 等待应答
+    MPU_IIC_Send_Byte(reg);                 // 写寄存器地址
+    MPU_IIC_Wait_Ack();                     // 等待应答
+    MPU_IIC_Start();
+    MPU_IIC_Send_Byte((MPU_ADDR << 1) | 1); // 发送器件地址+读命令
+    MPU_IIC_Wait_Ack();                     // 等待应答
+    res = MPU_IIC_Read_Byte(0);             // 读取数据,发送nACK
+    MPU_IIC_Stop();                         // 产生一个停止条件
+    return res;
+}
+

Core/Src/stm32f1xx_hal_msp.c

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file         stm32f1xx_hal_msp.c
+  * @brief        This file provides code for the MSP Initialization
+  *               and de-Initialization codes.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN Define */
+
+/* USER CODE END Define */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN Macro */
+
+/* USER CODE END Macro */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* External functions --------------------------------------------------------*/
+/* USER CODE BEGIN ExternalFunctions */
+
+/* USER CODE END ExternalFunctions */
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+/**
+  * Initializes the Global MSP.
+  */
+void HAL_MspInit(void)
+{
+  /* USER CODE BEGIN MspInit 0 */
+
+  /* USER CODE END MspInit 0 */
+
+  __HAL_RCC_AFIO_CLK_ENABLE();
+  __HAL_RCC_PWR_CLK_ENABLE();
+
+  /* System interrupt init*/
+
+  /** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
+  */
+  __HAL_AFIO_REMAP_SWJ_NOJTAG();
+
+  /* USER CODE BEGIN MspInit 1 */
+
+  /* USER CODE END MspInit 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Core/Src/stm32f1xx_it.c

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f1xx_it.c
+  * @brief   Interrupt Service Routines.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2023 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "stm32f1xx_it.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/* External variables --------------------------------------------------------*/
+
+/* USER CODE BEGIN EV */
+
+/* USER CODE END EV */
+
+/******************************************************************************/
+/*           Cortex-M3 Processor Interruption and Exception Handlers          */
+/******************************************************************************/
+/**
+  * @brief This function handles Non maskable interrupt.
+  */
+void NMI_Handler(void)
+{
+  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+
+  /* USER CODE END NonMaskableInt_IRQn 0 */
+  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+  while (1)
+  {
+  }
+  /* USER CODE END NonMaskableInt_IRQn 1 */
+}
+
+/**
+  * @brief This function handles Hard fault interrupt.
+  */
+void HardFault_Handler(void)
+{
+  /* USER CODE BEGIN HardFault_IRQn 0 */
+
+  /* USER CODE END HardFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+    /* USER CODE END W1_HardFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Memory management fault.
+  */
+void MemManage_Handler(void)
+{
+  /* USER CODE BEGIN MemoryManagement_IRQn 0 */
+
+  /* USER CODE END MemoryManagement_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
+    /* USER CODE END W1_MemoryManagement_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Prefetch fault, memory access fault.
+  */
+void BusFault_Handler(void)
+{
+  /* USER CODE BEGIN BusFault_IRQn 0 */
+
+  /* USER CODE END BusFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
+    /* USER CODE END W1_BusFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Undefined instruction or illegal state.
+  */
+void UsageFault_Handler(void)
+{
+  /* USER CODE BEGIN UsageFault_IRQn 0 */
+
+  /* USER CODE END UsageFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
+    /* USER CODE END W1_UsageFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles System service call via SWI instruction.
+  */
+void SVC_Handler(void)
+{
+  /* USER CODE BEGIN SVCall_IRQn 0 */
+
+  /* USER CODE END SVCall_IRQn 0 */
+  /* USER CODE BEGIN SVCall_IRQn 1 */
+
+  /* USER CODE END SVCall_IRQn 1 */
+}
+
+/**
+  * @brief This function handles Debug monitor.
+  */
+void DebugMon_Handler(void)
+{
+  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+
+  /* USER CODE END DebugMonitor_IRQn 0 */
+  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+
+  /* USER CODE END DebugMonitor_IRQn 1 */
+}
+
+/**
+  * @brief This function handles Pendable request for system service.
+  */
+void PendSV_Handler(void)
+{
+  /* USER CODE BEGIN PendSV_IRQn 0 */
+
+  /* USER CODE END PendSV_IRQn 0 */
+  /* USER CODE BEGIN PendSV_IRQn 1 */
+
+  /* USER CODE END PendSV_IRQn 1 */
+}
+
+/**
+  * @brief This function handles System tick timer.
+  */
+void SysTick_Handler(void)
+{
+  /* USER CODE BEGIN SysTick_IRQn 0 */
+
+  /* USER CODE END SysTick_IRQn 0 */
+  HAL_IncTick();
+  /* USER CODE BEGIN SysTick_IRQn 1 */
+
+  /* USER CODE END SysTick_IRQn 1 */
+}
+
+/******************************************************************************/
+/* STM32F1xx Peripheral Interrupt Handlers                                    */
+/* Add here the Interrupt Handlers for the used peripherals.                  */
+/* For the available peripheral interrupt handler names,                      */
+/* please refer to the startup file (startup_stm32f1xx.s).                    */
+/******************************************************************************/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Core/Src/syscalls.c

+/**
+ ******************************************************************************
+ * @file      syscalls.c
+ * @author    Auto-generated by STM32CubeIDE
+ * @brief     STM32CubeIDE Minimal System calls file
+ *
+ *            For more information about which c-functions
+ *            need which of these lowlevel functions
+ *            please consult the Newlib libc-manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2022 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+#include <signal.h>
+#include <time.h>
+#include <sys/time.h>
+#include <sys/times.h>
+
+
+/* Variables */
+extern int __io_putchar(int ch) __attribute__((weak));
+extern int __io_getchar(void) __attribute__((weak));
+
+
+char *__env[1] = { 0 };
+char **environ = __env;
+
+
+/* Functions */
+void initialise_monitor_handles()
+{
+}
+
+int _getpid(void)
+{
+	return 1;
+}
+
+int _kill(int pid, int sig)
+{
+	errno = EINVAL;
+	return -1;
+}
+
+void _exit (int status)
+{
+	_kill(status, -1);
+	while (1) {}		/* Make sure we hang here */
+}
+
+__attribute__((weak)) int _read(int file, char *ptr, int len)
+{
+	int DataIdx;
+
+	for (DataIdx = 0; DataIdx < len; DataIdx++)
+	{
+		*ptr++ = __io_getchar();
+	}
+
+return len;
+}
+
+__attribute__((weak)) int _write(int file, char *ptr, int len)
+{
+	int DataIdx;
+
+	for (DataIdx = 0; DataIdx < len; DataIdx++)
+	{
+		__io_putchar(*ptr++);
+	}
+	return len;
+}
+
+int _close(int file)
+{
+	return -1;
+}
+
+
+int _fstat(int file, struct stat *st)
+{
+	st->st_mode = S_IFCHR;
+	return 0;
+}
+
+int _isatty(int file)
+{
+	return 1;
+}
+
+int _lseek(int file, int ptr, int dir)
+{
+	return 0;
+}
+
+int _open(char *path, int flags, ...)
+{
+	/* Pretend like we always fail */
+	return -1;
+}
+
+int _wait(int *status)
+{
+	errno = ECHILD;
+	return -1;
+}
+
+int _unlink(char *name)
+{
+	errno = ENOENT;
+	return -1;
+}
+
+int _times(struct tms *buf)
+{
+	return -1;
+}
+
+int _stat(char *file, struct stat *st)
+{
+	st->st_mode = S_IFCHR;
+	return 0;
+}
+
+int _link(char *old, char *new)
+{
+	errno = EMLINK;
+	return -1;
+}
+
+int _fork(void)
+{
+	errno = EAGAIN;
+	return -1;
+}
+
+int _execve(char *name, char **argv, char **env)
+{
+	errno = ENOMEM;
+	return -1;
+}

Core/Src/sysmem.c

+/**
+ ******************************************************************************
+ * @file      sysmem.c
+ * @author    Generated by STM32CubeIDE
+ * @brief     STM32CubeIDE System Memory calls file
+ *
+ *            For more information about which C functions
+ *            need which of these lowlevel functions
+ *            please consult the newlib libc manual
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2022 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+
+/* Includes */
+#include <errno.h>
+#include <stdint.h>
+
+/**
+ * Pointer to the current high watermark of the heap usage
+ */
+static uint8_t *__sbrk_heap_end = NULL;
+
+/**
+ * @brief _sbrk() allocates memory to the newlib heap and is used by malloc
+ *        and others from the C library
+ *
+ * @verbatim
+ * ############################################################################
+ * #  .data  #  .bss  #       newlib heap       #          MSP stack          #
+ * #         #        #                         # Reserved by _Min_Stack_Size #
+ * ############################################################################
+ * ^-- RAM start      ^-- _end                             _estack, RAM end --^
+ * @endverbatim
+ *
+ * This implementation starts allocating at the '_end' linker symbol
+ * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack
+ * The implementation considers '_estack' linker symbol to be RAM end
+ * NOTE: If the MSP stack, at any point during execution, grows larger than the
+ * reserved size, please increase the '_Min_Stack_Size'.
+ *
+ * @param incr Memory size
+ * @return Pointer to allocated memory
+ */
+void *_sbrk(ptrdiff_t incr)
+{
+  extern uint8_t _end; /* Symbol defined in the linker script */
+  extern uint8_t _estack; /* Symbol defined in the linker script */
+  extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */
+  const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size;
+  const uint8_t *max_heap = (uint8_t *)stack_limit;
+  uint8_t *prev_heap_end;
+
+  /* Initialize heap end at first call */
+  if (NULL == __sbrk_heap_end)
+  {
+    __sbrk_heap_end = &_end;
+  }
+
+  /* Protect heap from growing into the reserved MSP stack */
+  if (__sbrk_heap_end + incr > max_heap)
+  {
+    errno = ENOMEM;
+    return (void *)-1;
+  }
+
+  prev_heap_end = __sbrk_heap_end;
+  __sbrk_heap_end += incr;
+
+  return (void *)prev_heap_end;
+}

Debug/Core/Src/IIC.su

+../Core/Src/IIC.c:46:13:IIC_Delay	16	static
+../Core/Src/IIC.c:71:6:IIC_Start	8	static
+../Core/Src/IIC.c:91:6:IIC_Stop	8	static
+../Core/Src/IIC.c:108:6:IIC_Send_Byte	24	static
+../Core/Src/IIC.c:144:9:IIC_Read_Byte	24	static
+../Core/Src/IIC.c:178:9:IIC_Wait_Ack	16	static
+../Core/Src/IIC.c:207:6:IIC_Ack	8	static
+../Core/Src/IIC.c:226:6:IIC_NAck	8	static
+../Core/Src/IIC.c:244:6:IIC_GPIO_Init	32	static
+../Core/Src/IIC.c:276:9:IIC_CheckDevice	24	static

Debug/Core/Src/gpio.su

+../Core/Src/gpio.c:42:6:MX_GPIO_Init	40	static