STM32驱动_MPU6050

MPU6050.c

  MPU6050.c如下：

#include "myiic.h"
#include "MPU6050.h"
#include "delay.h"

static void Single_WriteI2C ( uchar REG_Address, uchar REG_data ) {
    
    
    IIC_Start();
    IIC_Send_Byte ( SlaveAddress );
    IIC_Send_Byte ( REG_Address );
    IIC_Send_Byte ( REG_data );
    IIC_Stop();
}

static uchar Single_ReadI2C ( uchar REG_Address ) {
    
    
    uchar REG_data;
    IIC_Start();
    IIC_Send_Byte ( SlaveAddress );
    IIC_Send_Byte ( REG_Address );
    IIC_Start();
    IIC_Send_Byte ( SlaveAddress + 1 );
    REG_data = IIC_Read_Byte ( 0 );
    IIC_Stop();
    return REG_data;
}

void InitMPU6050 ( void ) {
    
    
    IIC_Init();
    delay_ms ( 200 );
    Single_WriteI2C ( PWR_MGMT_1,   0x00 );
    Single_WriteI2C ( SMPLRT_DIV,   0x07 );
    Single_WriteI2C ( CONFIG,       0x06 );
    Single_WriteI2C ( GYRO_CONFIG,  0x18 );
    Single_WriteI2C ( ACCEL_CONFIG, 0x01 );
    delay_ms ( 200 );
}

int GetData ( uchar REG_Address ) {
    
    
    uchar H, L;
    H = Single_ReadI2C ( REG_Address );
    L = Single_ReadI2C ( REG_Address + 1 );
    return ( H << 8 ) + L;
}

MPU6050.h

  MPU6050.h如下：

#ifndef MPU6050
#define MPU6050

typedef unsigned char  uchar;
typedef unsigned short ushort;
typedef unsigned int   uint;

#define SMPLRT_DIV   0x19 /* 陀螺仪采样率 */
#define CONFIG       0x1A /* 低通滤波频率 */
#define GYRO_CONFIG  0x1B /* 陀螺仪自检及测量范围 */
#define ACCEL_CONFIG 0x1C /* 加速计自检、测量范围及高通滤波频率 */
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H   0x41
#define TEMP_OUT_L   0x42
#define GYRO_XOUT_H  0x43
#define GYRO_XOUT_L  0x44
#define GYRO_YOUT_H  0x45
#define GYRO_YOUT_L  0x46
#define GYRO_ZOUT_H  0x47
#define GYRO_ZOUT_L  0x48
#define PWR_MGMT_1   0x6B /* 电源管理 */
#define WHO_AM_I     0x75 /* IIC地址寄存器 */

#define SlaveAddress 0xD0

void InitMPU6050 ( void );
int GetData ( uchar REG_Address );
#endif

myiic.c

  myiic.c如下：

#include "myiic.h"
#include "delay.h"

void IIC_Init ( void ) {
    
    
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd ( RCC_APB2Periph_GPIOC, ENABLE );
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP ;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init ( GPIOC, &GPIO_InitStructure );
    IIC_SCL = 1;
    IIC_SDA = 1;
}

void IIC_Start ( void ) {
    
    
    SDA_OUT();
    IIC_SDA = 1;
    IIC_SCL = 1;
    delay_us ( 4 );
    IIC_SDA = 0;
    delay_us ( 4 );
    IIC_SCL = 0;
}

void IIC_Stop ( void ) {
    
    
    SDA_OUT();
    IIC_SCL = 0;
    IIC_SDA = 0;
    delay_us ( 4 );
    IIC_SCL = 1;
    IIC_SDA = 1;
    delay_us ( 4 );
}

u8 IIC_Wait_Ack ( void ) {
    
    
    u8 ucErrTime = 0;
    SDA_IN();
    IIC_SDA = 1;
    delay_us ( 1 );
    IIC_SCL = 1;
    delay_us ( 1 );

    while ( READ_SDA ) {
    
    
        ucErrTime++;

        if ( ucErrTime > 250 ) {
    
    
            IIC_Stop();
            return 1;
        }
    }

    IIC_SCL = 0;
    return 0;
}

void IIC_Ack ( void ) {
    
    
    IIC_SCL = 0;
    SDA_OUT();
    IIC_SDA = 0;
    delay_us ( 2 );
    IIC_SCL = 1;
    delay_us ( 2 );
    IIC_SCL = 0;
}

void IIC_NAck ( void ) {
    
    
    IIC_SCL = 0;
    SDA_OUT();
    IIC_SDA = 1;
    delay_us ( 2 );
    IIC_SCL = 1;
    delay_us ( 2 );
    IIC_SCL = 0;
}

void IIC_Send_Byte ( u8 txd ) {
    
    
    u8 t;
    SDA_OUT();
    IIC_SCL = 0;

    for ( t = 0; t < 8; t++ ) {
    
    
        IIC_SDA = ( txd & 0x80 ) >> 7;
        txd <<= 1;
        delay_us ( 2 );
        IIC_SCL = 1;
        delay_us ( 2 );
        IIC_SCL = 0;
        delay_us ( 2 );
    }

    IIC_Wait_Ack();
}

u8 IIC_Read_Byte ( unsigned char ack ) {
    
    
    unsigned char i, receive = 0;
    SDA_IN();

    for ( i = 0; i < 8; i++ ) {
    
    
        IIC_SCL = 0;
        delay_us ( 2 );
        IIC_SCL = 1;
        receive <<= 1;

        if ( READ_SDA ) {
    
    
            receive++;
        }

        delay_us ( 1 );
    }

    if ( !ack ) {
    
    
        IIC_NAck();
    } else {
    
    
        IIC_Ack();
    }

    return receive;
}

myiic.h

  myiic.h如下：

#ifndef __MYIIC_H
#define __MYIIC_H
#include "sys.h"

#define SDA_IN()  {
      
      GPIOC->CRH &= 0XFFFF0FFF; GPIOC->CRH |= 8 << 12;}
#define SDA_OUT() {
      
      GPIOC->CRH &= 0XFFFF0FFF; GPIOC->CRH |= 3 << 12;}

#define IIC_SCL  PCout(12)
#define IIC_SDA  PCout(11)
#define READ_SDA PCin(11)

void IIC_Init ( void );
void IIC_Start ( void );
void IIC_Stop ( void );
void IIC_Send_Byte ( u8 txd );
u8 IIC_Read_Byte ( unsigned char ack );
u8 IIC_Wait_Ack ( void );
void IIC_Ack ( void );
void IIC_NAck ( void );
void IIC_Write_One_Byte ( u8 daddr, u8 addr, u8 data );
u8 IIC_Read_One_Byte ( u8 daddr, u8 addr );
#endif

main.c

  main.c如下：

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "MPU6050.h"

int main ( void ) {
    
    
    SystemInit();
    delay_init ( 72 );
    NVIC_Configuration();
    uart_init ( 9600 );
    LED_Init();
    InitMPU6050();

    while ( 1 ) {
    
    
        printf ( "%d %d %d\r\n", GetData ( ACCEL_XOUT_H ), GetData ( ACCEL_YOUT_H ), GetData ( ACCEL_ZOUT_H ) );
        delay_ms ( 500 );
        LED1 = !LED1;
    }
}