虚拟现实远端消防机器人组进度贴：STM32F746用模拟I2C（二）--读取MPU6050

天天好心情亲 · 2015-12-14 09:21 上传

虚拟现实远端消防机器人组进度贴：STM32F746用模拟I2C（二）--读取MPU6050 [复制链接]

本帖最后由天天好心情亲于 2015-12-14 09:27 编辑

上次用F7的模拟I2C读取了电子罗盘的数据，但是无法读取MPU6050的数据，经过稍稍的改动现在成功读取了MPU6050的数据源码和图片如下

/*********I2C*********************/
uint32_t I2CStep;
void I2C1_Delay(void)
{
I2CStep=50;
while(I2CStep--);
}
uint8_t I2C1_Start(void)
{
I2C_SDA_OUT();
I2C1_SDA_H;
I2C1_SCL_H;
I2C1_Delay();
I2C1_SDA_L;
I2C1_Delay();
I2C1_SCL_L;
}
void I2C1_Stop(void)
{
I2C_SDA_OUT();
I2C1_SCL_L;
I2C1_SDA_L;
I2C1_SCL_H;
I2C1_Delay();
I2C1_SDA_H;
I2C1_Delay();
}
void I2C1_Ack(void)
{
I2C1_SCL_L;
I2C_SDA_OUT();
I2C1_SDA_L;
I2C1_Delay();
I2C1_SCL_H;
I2C1_Delay();
I2C1_SCL_L;
}
void I2C1_NAck(void)
{
I2C1_SCL_L;
I2C_SDA_OUT();
I2C1_SDA_H;
I2C1_Delay();
I2C1_SCL_H;
I2C1_Delay();
I2C1_SCL_L;
}
uint8_t I2C1_WaitAck(void)
{
uint8_t tempTime=0;
I2C_SDA_IN();
I2C1_SDA_H;
I2C1_Delay();
I2C1_SCL_H;
I2C1_Delay();
while(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_9))
{
tempTime++;
if(tempTime>250)
{
I2C1_Stop();
return 1;
}
}
I2C1_SCL_L;
return 0;
}
uint8_t I2C1_SendByte(uint8_t SendByte) //
{
uint8_t i=0;
I2C_SDA_OUT();
I2C1_SCL_L;//拉低时钟开始数据传输
for(i=0;i<8;i++)
{
if((SendByte&0x80)>0) //0x80 1000 0000
I2C1_SDA_H;
else
I2C1_SDA_L;
SendByte<<=1;
I2C1_SCL_H;
I2C1_Delay(); //发送数据
I2C1_SCL_L;
I2C1_Delay();
}
}
uint8_t I2C1_ReceiveByte(void) //
{
uint8_t i,Dat = 0;
I2C1_SDA_H;
I2C1_SCL_L;
Dat=0;
for(i=0;i<8;i++)
{
I2C1_SCL_H;//???????[???],????????
I2C1_Delay();
I2C1_Delay();
I2C1_Delay();
Dat<<=1;
if(I2C1_SDA) //?????
{
Dat|=0x01;
}
I2C1_SCL_L;//?????????
I2C1_Delay();
I2C1_Delay();
I2C1_Delay();//???????
}
return Dat;
}
//读1个字节，ack=1时，发送ACK，ack=0，发送nACK
uint8_t I2C1_Read_Byte(unsigned char ack)
{
uint8_t i=0,receive=0;
I2C_SDA_IN();
for(i=0;i<8;i++)
{
I2C1_SCL_L;
I2C1_Delay();
I2C1_SCL_H;
receive<<=1;
if(HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_9))
receive++;
I2C1_Delay();
}
if(ack==0)
I2C1_NAck();
else
I2C1_Ack();
return receive;
}
/*******MPU6050****************/
void PMU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat)
{
I2C1_Start();
I2C1_SendByte(MPU6050_SLAVE_ADDRESS);
I2C1_WaitAck();
I2C1_SendByte(reg_add);
I2C1_WaitAck();
I2C1_SendByte(reg_dat);
I2C1_WaitAck();
I2C1_Stop();
}
void PMU6050_ReadData(uint8_t reg_add,unsigned char*Read,uint8_t num)
{
unsigned char i;
I2C1_Start();
I2C1_SendByte(MPU6050_SLAVE_ADDRESS);
I2C1_WaitAck();
I2C1_SendByte(reg_add);
I2C1_WaitAck();
I2C1_Start();
I2C1_SendByte(MPU6050_SLAVE_ADDRESS+1);
I2C1_WaitAck();
for(i=0;i<(num-1);i++){
*Read=I2C1_Read_Byte(1);
Read++;
}
*Read=I2C1_Read_Byte(0);
I2C1_Stop();
}
void MPU6050_Init(void)
{
I2C1_Delay();
I2C1_Delay();
I2C1_Delay();
// MPU6050_PWR_MGMT_1_INIT();
PMU6050_WriteReg(MPU6050_RA_PWR_MGMT_1, 0x00); //解除休眠状态
PMU6050_WriteReg(MPU6050_RA_SMPLRT_DIV , 0x07); //陀螺仪采样率
PMU6050_WriteReg(MPU6050_RA_CONFIG , 0x06);
PMU6050_WriteReg(MPU6050_RA_ACCEL_CONFIG , 0x01); //配置加速度传感器工作在16G模式
PMU6050_WriteReg(MPU6050_RA_GYRO_CONFIG, 0x18); //陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
}
void MPU6050ReadID(void)
{
unsigned char Re = 0;
PMU6050_ReadData(MPU6050_RA_WHO_AM_I,&Re,1); //读器件地址
// printf("%d\r\n",Re);
}
void MPU6050ReadAcc(short *accData)
{
uint8_t buf[6];
PMU6050_ReadData(MPU6050_ACC_OUT, buf, 6);
accData[0] = (buf[0] << 8) | buf[1];
accData[1] = (buf[2] << 8) | buf[3];
accData[2] = (buf[4] << 8) | buf[5];
printf("AccX = %d ",accData[0]);
printf("AccY = %d ",accData[1]);
printf("AccZ = %d ",accData[2]);
}
void MPU6050ReadGyro(short *gyroData)
{
uint8_t buf[6];
PMU6050_ReadData(MPU6050_GYRO_OUT,buf,6);
gyroData[0] = (buf[0] << 8) | buf[1];
gyroData[1] = (buf[2] << 8) | buf[3];
gyroData[2] = (buf[4] << 8) | buf[5];
printf("GYROX = %d ",gyroData[0]);
printf("GYROY = %d ",gyroData[1]);
printf("GYROZ = %d\r\n",gyroData[2]);
}
void MPU6050ReadTemp(short *tempData)
{
uint8_t buf[2];
PMU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2); //读取温度值
*tempData = (buf[0] << 8) | buf[1];
}
void MPU6050_ReturnTemp(short*Temperature)
{
short temp3;
uint8_t buf[2];
PMU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2); //读取温度值
temp3= (buf[0] << 8) | buf[1];
*Temperature=(((double) (temp3 + 13200)) / 280)-13;
}