MPU.zip_3336594.com_IIC通信协议读取MPU6050原始数据_MPU6050_mpu6050iic协议_mp

#include "stm32f10x.h" #include "stm32f10x_it.h" #include <stdio.h> #define MPU6050_SLAVE_ADDRESS 0xd0 #define I2C_Speed 400000 #define I2C2_SLAVE_ADDRESS7 0xA0 /*??????????*/ typedef struct{ short accData_x; short accData_y; short accData_z; }AccData; /*??????????*/ typedef struct{ short gyroData_x; short gyroData_y; short gyroData_z; }GyroData; /*????*/ void GPIO_Config(void); void USART_Config(void); void IIC_Config(void); void I2C_EE_ByteWrite(uint8_t pBuffer,uint8_t WriteAddr); void I2C_EE_BufferRead(uint8_t* pBuffer,uint8_t ReadAddr,uint16_t NumByteToRead); void MPU6050_Init(void); void MPU6050ReadAcc(AccData* accData); void MPU6050ReadGyro(GyroData* gyroData); void MPU6050_ReturnTemp(double* temperature); //??????,??printf?? #if 1 #pragma import(__use_no_semihosting) //?????????? struct __FILE { int handle; }; FILE __stdout; //??_sys_exit()?????????? void _sys_exit(int x) { x = x; } //???fputc?? int fputc(int ch, FILE *f) { USART_SendData(USART1,(uint8_t) ch); while(USART_GetFlagStatus(USART1,USART_FLAG_TC)==RESET) {} return ch; } #endif void delay(int time) { int j,k; for(j = 0;j < time;j++) for(k = 0;k < 1500;k++); } int main(void) { AccData accData; GyroData gyroData; double temperature;//?????? USART_Config(); IIC_Config(); MPU6050_Init(); while (1) { MPU6050ReadAcc(&accData); printf("AccData:%8d %8d %8d",accData.accData_x,accData.accData_y,accData.accData_z); MPU6050ReadGyro(&gyroData); printf("GyroData:%8d %8d %8d",gyroData.gyroData_x,gyroData.gyroData_y,gyroData.gyroData_z); MPU6050_ReturnTemp(&temperature); printf(" temperature: %.2f?\r\n",temperature); //delay(1000); } } void USART_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; /*????,?????I/O?????????*/ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_USART1|RCC_APB2Periph_AFIO, ENABLE); /*??PA9 USART1_Tx???????*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA,&GPIO_InitStructure); /*??PA10 USART1_Rx?????*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//????-RX GPIO_Init(GPIOA, &GPIO_InitStructure); USART_InitStructure.USART_BaudRate = 9600; //??????9600 /* 8????,1????,?????*/ USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No; USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None; /*????????*/ USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; USART_Init(USART1, &USART_InitStructure); USART_Cmd(USART1, ENABLE); //??USART } void IIC_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; I2C_InitTypeDef I2C_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);//??IO??? RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2,ENABLE);//??I2C?? GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;//?????? GPIO_Init(GPIOB,&GPIO_InitStructure); I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;//??I2C?? I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;//SCL???????2:1 I2C_InitStructure.I2C_ClockSpeed = I2C_Speed; I2C_InitStructure.I2C_OwnAddress1=I2C2_SLAVE_ADDRESS7; I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;//??ACK?? I2C_InitStructure.I2C_AcknowledgedAddress=I2C_AcknowledgedAddress_7bit; //7????? I2C_Init(I2C2,&I2C_InitStructure);//I2C??? I2C_Cmd(I2C2,ENABLE);//??I2C } void I2C_EE_ByteWrite(uint8_t pBuffer,uint8_t WriteAddr) { I2C_GenerateSTART(I2C2,ENABLE);//??IIC???? while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT)); I2C_Send7bitAddress(I2C2,MPU6050_SLAVE_ADDRESS,I2C_Direction_Transmitter); while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)); I2C_SendData(I2C2,WriteAddr); while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED)); I2C_SendData(I2C2,pBuffer); while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED)); I2C_GenerateSTOP(I2C2,ENABLE);//??IIC???? } void I2C_EE_BufferRead(uint8_t* pBuffer,uint8_t ReadAddr,uint16_t NumByteToRead) { while(I2C_GetFlagStatus(I2C2,I2C_FLAG_BUSY));//??IIC????,?????????? I2C_GenerateSTART(I2C2,ENABLE);//??IIC???? while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT));//??????IIC?????? I2C_Send7bitAddress(I2C2,MPU6050_SLAVE_ADDRESS,I2C_Direction_Transmitter); while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)); //??????IIC?????? I2C_Cmd(I2C2,ENABLE); I2C_SendData(I2C2,ReadAddr); while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED));//??????IIC?????? I2C_GenerateSTART(I2C2,ENABLE); while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT));//??????IIC?????? I2C_Send7bitAddress(I2C2,MPU6050_SLAVE_ADDRESS,I2C_Direction_Receiver); while(!I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)); //??????IIC?????? while(NumByteToRead) { if(NumByteToRead==1) { I2C_AcknowledgeConfig(I2C2,DISABLE);//???ACK?? I2C_GenerateSTOP(I2C2,ENABLE);//IIC???? } if(I2C_CheckEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED)) { *pBuffer = I2C_ReceiveData(I2C2); pBuffer++; NumByteToRead--; } } I2C_AcknowledgeConfig(I2C2,ENABLE); //??ACK?????????? } void MPU6050_Init(void) { int i=0,j=0; //?????????????,?????,?????????????? for(i=0;i<1000;i++) for(j=0;j<1000;j++); I2C_EE_ByteWrite(0x01,0x6B);//???????1:0x6B ?????? X???? I2C_EE_ByteWrite(0x18,0x1B);//????????:0x1B ?????????????��2000��/s I2C_EE_ByteWrite(0x18,0x1C);//???????????:0x1C ???????????16G?? I2C_EE_ByteWrite(0x13,0x19);//???????????:0x19 ??????50Hz I2C_EE_ByteWrite(0x06,0x1A);//?????:0x1A ????????5Hz ????????5Hz I2C_EE_ByteWrite(0x00,0X6C);//?????????? } void MPU6050ReadAcc(AccData* accData) { u8 buf[6]; I2C_EE_BufferRead(buf,0x3B,6);//??????????0x3B~0x40?? accData->accData_x = (buf[0] << 8) | buf[1]; accData->accData_y = (buf[2] << 8) | buf[3]; accData->accData_z = (buf[4] << 8) | buf[5]; } void MPU6050ReadGyro(GyroData* gyroData) { u8 buf[6]; I2C_EE_BufferRead(buf,0x43,6);//???????????0x43~0x48?? gyroData->gyroData_x = (buf[0] << 8) | buf[1]; gyroData->gyroData_y = (buf[2] << 8) | buf[3]; gyroData->gyroData_z = (buf[4] << 8) | buf[5]; } void MPU6050_ReturnTemp(double* temperature) { short temp; u8 buf[2]; I2C_EE_BufferRead(buf,0x41,2);//???????0x41~0x42?? temp = (buf[0] << 8) | buf[1]; *temperature = 36.53 + temp/340.0; }