51单片机：YF-S201+MPU6050+LCD12864显示流量和加速度

#include"mpu6050.h" #include"LCD12864.h" #include <math.h> #include <INTRINS.H> #include <stdio.h> void I2C_Start() { SDA = 1; SCL = 1; delay_us(1); SDA = 0; delay_us(1); SCL = 0; } void I2C_Stop() { SDA = 0; SCL = 1; delay_us(1); SDA = 1; delay_us(1); } void I2C_SendACK(bit ack) { SDA = ack; SCL = 1; delay_us(1); SCL = 0; delay_us(1); } bit I2C_RecvACK() { SCL = 1; delay_us(1); CY = SDA; SCL = 0; delay_us(1); return CY; } void I2C_SendByte(uchar dat) { uchar i; for (i=0; i<8; i++) { dat <<= 1; SDA = CY; SCL = 1; delay_us(1); SCL = 0; delay_us(1); } I2C_RecvACK(); } uchar I2C_RecvByte() { uchar i; uchar dat = 0; SDA = 1; for (i=0; i<8; i++ ) { dat <<= 1; SCL = 1; delay_us(1); dat |= SDA; SCL = 0; delay_us(1); } return dat; } void Single_WriteI2C(uchar REG_Address,uchar REG_data) { I2C_Start(); I2C_SendByte(SlaveAddress); I2C_SendByte(REG_Address); I2C_SendByte(REG_data); I2C_Stop(); } uchar Single_ReadI2C(uchar REG_Address) { uchar REG_data; I2C_Start(); I2C_SendByte(SlaveAddress); I2C_SendByte(REG_Address); I2C_Start(); I2C_SendByte(SlaveAddress+1); REG_data=I2C_RecvByte(); I2C_SendACK(1); I2C_Stop(); return REG_data; } void InitMPU6050() { 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); } int GetData(uchar REG_Address) { uchar H,L; H=Single_ReadI2C(REG_Address); L=Single_ReadI2C(REG_Address+1); return (H<<8)+L; } void lcd_printf(uchar *s,int temp_data) { if(temp_data<0) { temp_data=-temp_data; *s='-'; } else *s=' '; *++s =temp_data/100+0x30; temp_data=temp_data%100; //取余运算 *++s =temp_data/10+0x30; temp_data=temp_data%10; //取余运算 *++s =temp_data+0x30; } //void Display10BitData(int value,uchar x,uchar y) //{ // uchar dis[3]; //显示数字(-511至512)的字符数组 // value/=64; //转换为10位数据 // lcd_printf(dis, value); //转换数据显示 // LcdDdram_Display(x,y,dis); //启始列，行，显示数组，显示长度 //} void Display10BitData(int value,uchar x,uchar y) { uchar dis[3]; //显示数字(-511至512)的字符数组 value/=64; //转换为10位数据 //lcd_printf(dis, value); //转换数据显示 LCD_ShowNum( x,y,value,3); } void DisplaySignedData(int value,uchar x,uchar y) { uchar dis[2]; //显示数字(-511至512)的字符数组 value/=64; //转换为10位数据 //lcd_printf(dis, value); //转换数据显示 LCD_ShowSignNum( x,y,value,3); } //void IMUupdate(void) //{ // //uint q0 = 1, q1 = 0, q2 = 0, q3 = 0; //uint exInt = 0, eyInt = 0, ezInt = 0; // //uint Yaw ; //uint Roll ; //uint Pitch ; // // //float norm; //float vx, vy, vz; //float ex, ey, ez; //float ax,ay,az; //float gx,gy,gz; // //ax = GetData(ACCEL_XOUT_H); //ay = GetData(ACCEL_YOUT_H); //az = GetData(ACCEL_ZOUT_H); // //gx = GetData(GYRO_XOUT_H); //gy = GetData(GYRO_YOUT_H); //gz = GetData(GYRO_ZOUT_H); // //norm = sqrt(ax*ax + ay*ay + az*az); //ax = ax / norm; //ay = ay / norm; //az = az / norm; // //vx = 2*(q1*q3 - q0*q2); //vy = 2*(q0*q1 - q2*q3); //vz = q0*q0 - q1*q1 - q2*q2 + q3*q3; // //ex = (ay*vz - az*vy); //ey = (az*vx - ax*vz); //ez = (ax*vy - ay*vx); // //exInt = exInt + ex*0.002; //eyInt = eyInt + ey*0.002; //ezInt = ezInt + ez*0.002; // // //gx = gx + 100.0*ex + exInt; //gy = gy + 100.0*ey + eyInt; //gz = gz + 100.0*ez + ezInt; // // //q0 = q0 + (-q1*gx - q2*gy - q3*gz)*0.001; //q1 = q1 + (q0*gx + q2*gz - q3*gy)*0.001; //q2 = q2 + (q0*gy - q1*gz + q3*gx)*0.001; //q3 = q3 + (q0*gz + q1*gy - q2*gx)*0.001; // //norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3); ////Display10BitData(norm); // //q0 = q0 / norm; //q1 = q1 / norm; //q2 = q2 / norm; //q3 = q3 / norm; //Yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3)* 57.3; //Pitch = asin(-2*q1*q3+2*q0*q2)*57.3; //Roll = atan2(2 * q2 * q3 + 2*q0*q1,-2*q1*q1-2*q2*q2+1)*57.3; // /// }