mpu6050详细C语言程序

1、实用文档/* */陀螺仪MPU6050 IIC测试程序*/#include "stm32f10x_lib.h"#include <math.h> /Keil libraryGPIO_InitTypeDef GPIO_InitStructure;ErrorStatus HSEStartUpStatus;#define uchar unsigned char#define uint unsigned int/定义 MPU6050内部地址#define SMPLRT_DIV0x19陀螺仪采样率,典型值：0x07(125Hz)#define CONFIG0x1A 低通滤

2、波频率,典型值：0x06(5Hz)#define GYRO_CONFIG 0x1B陀螺仪自检及测量范围,典型值：0x18(不自检,2000deg/s)# define ACCEL_CONFIG 0x1C/加速计自检、测量范围及高通滤波频率,典型值：0x01(不自检,2G, 5Hz)# 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/#def

3、ine TEMP_OUT_H0x41/#define TEMP_OUT_L0x42/#define GYRO_XOUT_H0x43#define GYRO_XOUT_L0x44#define GYRO_YOUT_H0x45#define GYRO_YOUT_L0x46#define GYRO_ZOUT_H0x47#define PWR_MGMT_1/#define WHO_AM_I#define GYRO_ZOUT_L0x480x6B电源治理,典型值：0x00正常启用0x75 /IIC地址存放器默认数值0x68,只读文案大全实用文档*#define MPU6050_Addr 0xD0 定义器件

4、在IIC 总线中的从地址,根据 ALTADDRESS地址引脚不同修改unsigned char TX_DA TA4;显示据缓存区unsigned char BUF10;接收数据缓存区char test=0;/IIC 用到short T_X,T_Y,T_Z,T_T;X,Y,Z 轴,温度/模才II IIC端口输出输入定义#define SCL_H#define SCL_LGPIOB->BSRR = GPIO_Pin_6GPIOB->BRR = GPIO_Pin_6#define SDA_H#define SDA_L#define SCL_read#define SDA_readGPIO

5、B->BSRR = GPIO_Pin_7GPIOB->BRR = GPIO_Pin_7GPIOB->IDR & GPIO_Pin_6GPIOB->IDR & GPIO_Pin_7/*函数申明 */void RCC_Configuration(void);void GPIO_Configuration(void);void NVIC_Configuration(void);void USART1_Configuration(void);void WWDG_Configuration(void);void Delay(u32 nTime);void Dela

6、yms(vu32 m);/*变量定义*/*/void DATA_printf(uchar *s,short temp_data) if(temp_data<0)temp_data=-temp_data;*s='-'else *s=''*+s =temp_data/100+0x30;temp_data=temp_data%100;*+s =temp_data/10+0x30;temp_data=temp_data%10;取余运算取余运算文案大全实用文档*+s =temp_data+0x30; /*Function NameDescriptionInput O

7、utputReturn:I2C_GPIO_Config:Configration Simulation IIC GPIO:None:None:None*/void I2C_GPIO_Config(void)GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; GPIO_Init(GPIOB, &

8、;GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; GPIO_Init(GPIOB, &GPIO_InitStructure);/* *Function Name Description InputOutputReturn:I2C_delay:Simulation IIC Timing series delay:None:

9、None:None*/void I2C_delay(void) u8 i=30; 这里可以优化速度,经测试最低到5还能写入while(i)i-;文案大全实用文档void delay5ms(void) (int i=5000;while(i)(i-;)/* Function NameDescriptionInput Output Return:I2C_Start:Master Start Simulation IIC Communication:None:None:Wheather Start*/bool I2C_Start(void) (SDA_H;SCL_H;I2C_delay();if(!

10、SDA_read)return FALSE; /SDA 线为低电平那么总线忙 ,退出SDA_L;I2C_delay();if(SDA_read) return FALSE; /SDA 线为高电平那么总线出错 ,退出SDA_L;I2C_delay();return TRUE;/* Function NameDescriptionInput Output Return:I2C_Stop:Master Stop Simulation IIC Communication :None:None:None*/void I2C_Stop(void) (文案大全实用文档SCL_L;I2C_delay();SD

11、A_L;I2C_delay();SCL_H;I2C_delay();SDA_H;I2C_delay();)/* Function Name : I2C_Ack* Description : Master Send Acknowledge Single* Input: None* Output: None* Return: None* */void I2C_Ack(void)SCL_L;I2C_delay();SDA_L;I2C_delay();SCL_H;I2C_delay();SCL_L;I2C_delay();)/* Function Name : I2C_NoAck* Descripti

12、on : Master Send No Acknowledge Single* Input: None* Output: None* Return: None* */void I2C_NoAck(void) SCL_L;I2C_delay();SDA_H;I2C_delay();文案大全实用文档SCL_H;I2C_delay();SCL_L;I2C_delay();)/*Function NameDescriptionInputOutputReturn:I2C_WaitAck:Master Reserive Slave Acknowledge Single:None:None:Wheather

13、 Reserive Slave Acknowledge Single*/bool I2C_WaitAck(void)返回为:=1有ACK,=0无ACKSCL_L;I2C_delay();SDA_H;I2C_delay();SCL_H;I2C_delay(); if(SDA_read) SCL_L;I2C_delay(); return FALSE;)SCL_L;I2C_delay(); return TRUE;/*Function NameDescriptionInputOutputReturn:I2C_SendByte:Master Send a Byte to Slave:Will Sen

14、d Date:None:None*/void I2C_SendByte(u8 SendByte) / 数据从高位到低位 / u8 i=8;文案大全实用文档while(i-)(SCL_L;I2C_delay();if(SendByte&0x80)SDA_H;elseSDA_L;SendByte<<=1;I2C_delay();SCL_H;I2C_delay();SCL_L;/* Function Name:I2C_RadeByte* Description* Input* Output* Return:Master Reserive a Byte From Slave:Non

15、e:None:Date From Slave*/unsigned char I2C_RadeByte(void)数据从高位到低位 /(u8 i=8;u8 ReceiveByte=0;SDA_H;while(i-)(ReceiveByte<<=1;SCL_L;I2C_delay();SCL_H;I2C_delay();if(SDA_read)(ReceiveByte|=0x01;SCL_L;return ReceiveByte;文案大全实用文档/ZRX/单字节写入 * bool Single_Write(unsigned char SlaveAddress,unsigned char

16、 REG_Address,unsigned char/voidREG_data) if(!I2C_Start()return FALSE;I2C_SendByte(SlaveAddress);发送设备地址 + 写信号 /I2C_SendByte(REG_Address& 0x0700) >>7) | SlaveAddress & 0xFFFE);/ 设置高起始地址 + 器件地址if(!I2C_WaitAck()I2C_Stop(); return FALSE;I2C_SendByte(REG_Address );设置低起始地址I2C_WaitAck();I2C_Se

17、ndByte(REG_data);I2C_WaitAck();I2C_Stop();delay5ms();return TRUE; /单字节读取 *unsigned char Single_Read(unsigned char SlaveAddress,unsigned char REG_Address) unsigned char REG_data;if(!I2C_Start()return FALSE;I2C_SendByte(SlaveAddress); /I2C_SendByte(REG_Address &0x0700)>>7)|REG_Address &

18、0xFFFE);/设置高起始地址 +器件地址if(!I2C_WaitAck()I2C_Stop();test=1; return FALSE;I2C_SendByte(u8) REG_Address);设置低起始地址I2C_WaitAck();I2C_Start();I2C_SendByte(SlaveAddress+1);I2C_WaitAck();REG_data= I2C_RadeByte();I2C_NoAck();I2C_Stop();/return TRUE;return REG_data;/*文案大全实用文档*函数名称RCC_Configuration(void)*函数功能时钟初

19、始化*输入无*输出无*返回无*/void RCC_Configuration(void)(/* RCC system reset(for debug purpose) */ RCC_DeInit();/* Enable HSE */RCC_HSEConfig(RCC_HSE_ON);/* Wait till HSE is ready */HSEStartUpStatus = RCC_WaitForHSEStartUp();if(HSEStartUpStatus = SUCCESS)(/* HCLK = SYSCLK */RCC_HCLKConfig(RCC_SYSCLK_Div1);/* PC

20、LK2 = HCLK */RCC_PCLK2Config(RCC_HCLK_Div1);/* PCLK1 = HCLK/2 */RCC_PCLK1Config(RCC_HCLK_Div2);/* Flash 2 wait state */FLASH_SetLatency(FLASH_Latency_2);/* Enable Prefetch Buffer */FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);/* PLLCLK = 8MHz * 9 = 72 MHz */RCC_PLLConfig(RCC_PLLSource_HSE_Di

21、v1, RCC_PLLMul_9);/* Enable PLL */RCC_PLLCmd(ENABLE);/* Wait till PLL is ready */while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) = RESET)(文案大全实用文档)/* Select PLL as system clock source */RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);/* Wait till PLL is used as system clock source */ while(RCC_GetSYSCLKSource()

22、!= 0x08) )/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG and AFIO clocks */| RCC_APB2Periph_GPIOB| RCC_APB2Periph_GPIOD| RCC_APB2Periph_GPIOF| RCC_APB2Periph_AFIORCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC ENABLE);RCC_APB2PeriphClockCmd(

23、RCC_APB2Periph_GPIOE ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG ENABLE);/* * 函数名称：GPIO_Configuration(void)* *函数功能：端口初始化* *输入：无* *输出：无* *返回：无* */ void GPIO_Configuration(void)GPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOBRCC_APB2Periph

24、_GPIOC | RCC_APB2Periph_GPIOD, ENABLE );/选中管脚9/复用推挽输出/最高输出速率50MHz/选才A A端口/* Configure USART1 Tx (PA.09) as alternate function push-pull */GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPI

25、O_InitStructure);/* Configure USART1 Rx (PA.10) as input floating */文案大全实用文档GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;/ 选中管脚 10GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; 浮空输入GPIO_Init(GPIOA, &GPIO_InitStructure);/选择 A 端口 /* * 函数名称：USART1_Configuration(void)* *函数功能：串口 1初始化* *输入：无* *输出：

26、无* *返回：无*/void USART1_Configuration(void) USART_InitTypeDef USART_InitStructure;USART_ClockInitTypeDef USART_ClockInitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1|RCC_APB2Periph_USART1,ENABLE );USART_ClockInitStructure.USART_Clock = USART_Clock_Disable; 平活动USART_ClockInitStructure.USART_CPOL

27、 = USART_CPOL_Low; 平USART_ClockInitStructure.USART_CPHA = USART_CPHA_2Edge; 第二个边沿进行数据捕获USART_ClockInitStructure.USART_LastBit = USART_LastBit_Disable; 的时钟脉冲不从SCLK输出/* Configure the USART1 synchronous paramters */USART_ClockInit(USART1, &USART_ClockInitStructure);初始化设置USART_InitStructure.USART_Ba

28、udRate =9600;USART_InitStructure.USART_WordLength = USART_WordLength_8b;USART_InitStructure.USART_StopBits = USART_StopBits_1;输1个停止位USART_InitStructure.USART_Parity = USART_Parity_No ;/时钟低电/时钟低电/时钟/最后一位数据/时钟参数/波特率为：115200/ 8位数据/在帧结尾传/奇偶失能USART_InitStructure.USART_HardwareFlowControl = USART_Hardware

29、FlowControl_None;文案大全实用文档/硬件流限制失能USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;/ 发送使能+接收使能/* Configure USART1 basic and asynchronous paramters */USART_Init(USART1, &USART_InitStructure);/* Enable USART1 */USART_ClearFlag(USART1, USART_IT_RXNE);清中断,以免一启用中断后立即产生中断USART_ITConfig(US

30、ART1,USART_IT_RXNE, ENABLE);使能 USART1 中断源USART_Cmd(USART1, ENABLE);/USART1 总开关：开启/*函数名称NVIC_Configuration(void)*函数功能中断初始化*输 入无*输 出无*返回无*/void NVIC_Configuration(void)NVIC_InitTypeDef NVIC_InitStructure;NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);NVIC_InitStructure.NVIC_IRQChannel = WWDG_IRQChanne

31、l;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_Init(&NVIC_InitStructure);/* * 函数名称：WWDG_Configuration(void)* *函数功能：看门狗初始化* *输入：无* *输出：无文案大全实用文档* *返 回：无* /void WWDG_Configuration(void)(RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG , ENABLE);WWDG_SetPrescaler(WWDG_Prescaler_8);/ WWD

32、G clock counter =(PCLK1/4096)/8 = 244 Hz (4 ms)WWDG_SetWindowValue(0x41);/ Set Window value to 0x41WWDG_Enable(0x50);/ Enable WWDG and set counter value to 0x7F,WWDG timeout = 4 ms * 64 = 262 ms WWDG_ClearFlag();/ Clear EWI flagWWDG_EnableIT();/ Enable EW interrupt /*函数名称Delay(vu32 nCount)*函数功能延时函数*

33、输 入无*输 出无*返回无* */void Delay(vu32 nCount)(for(; nCount != 0; nCount-);/*函数名称void Delayms(vu32 m)*函数功能长延时函数m=1,延时1ms*输 入无*输 出无*返回无*/void Delayms(vu32 m)文案大全实用文档(u32 i;for(; m != 0; m-)for (i=0; i<50000; i+);)/*函数名称WWDG_IRQHandler(void)*函数功能窗口提前唤醒中断*输 入无*输 出无*返回无* */void WWDG_IRQHandler(void)(/* Upd

34、ate WWDG counter */WWDG_SetCounter(0x50);/* Clear EWI flag */ WWDG_ClearFlag();)/*void USART1_SendData(uchar SendData) (USART_SendData(USART1, SendData);Delayms；)初始化MPU6050 ,根据需要请参考 pdf进行彳改*void Init_MPU6050(void) (Single_Write(MPU6050_Addr,PWR_MGMT_1,0x00);解除休眠状态Single_Write(MPU6050_Addr,SMPLRT_DIV

35、, 0x07);Single_Write(MPU6050_Addr,CONFIG , 0x06);Single_Write(MPU6050_Addr,GYRO_CONFIG , 0x18);Single_Write(MPU6050_Addr,ACCEL_CONFIG , 0x01);)文案大全实用文档/* 读取 MPU6050 数据* void READ_MPU6050(void)(BUF0=Single_Read(MPU6050_Addr,GYRO_XOUT_L);BUF1=Single_Read(MPU6050_Addr,GYRO_XOUT_H);T_X= (BUF1<<8)|BUF0;T_X/=16.4;/读取at算X轴数据BUF2=Single_Read(MPU6050_Addr,G