1.I2C简介
两根通信线:SCL(串行时钟线)、SDA(串行数据线)
同步,半双工
带数据应答
支持总线挂载多设备(一主多从、多主多从)
所有I2C设备的SCL连在一起,SDA连在一起
设备的SCL和SDA均要配置成开漏输出模式
SCL和SDS各添加一个上拉电阻,阻值一般为4.7kΩ左右
2.I2C时序基本单元
起始条件:SCL高电平期间,SDA从高电平切换到低电平
终止条件:SCL高电平期间,SDA从低电平切换到高电平
发送一个字节:SCL低电平期间,主机将数据位依次放到SDA线上(高位先行),然后释放SCL,从机将在SCL高电平期间读取数据位,所以SCL高电平期间SDA不允许由数据变化,依次循环上述过程8次,即可发送一个字节
接收一个字节:SCL低电平期间,从机将数据位依次放到SDA线上(高位先行),然后释放SCL,主机将在SCL高电平期间读取数据位,所以SCL高电平期间SDA不允许有数据变化,依次循环上述过程8次,即可接收一个字节(主机在接收之前,需要释放SDA)
发送应答:主机在接受完一个字节之后,在下一个时钟发送一位数据,数据0表示应答,数据1表示非应答
接收应答:主机在发送完一个字节之后,在下一个时钟接收一位数据,判断从机是否应答,数据0表示应答,数据1表示非应答(主机在接收之前,需要释放SDA)
3.I2C时序
指定地址写
对于指定设备,在指定的地址下,写入指定数据
当前地址读
对于指定设备,在当前地址指针指示的地址下,读取从机数据
指定地址读
对于指定设备,在指定地址下,读取从机数据
4.I2C外设简介
STM32内部集成了硬件I2C收发电路,可以由硬件自动执行时钟生成、起始终止条件生成、应答位收发、数据收发等功能,减轻CPU的负担
支持多主机模型
支持7位/10位地址模式
支持不同的通讯速度,标准速度(高达100kHz),快速(高达400kHz)
支持DMA
兼容SMBus协议
5.I2C基本结构
6.I2C相关标准库函数简介
//恢复缺省配置
void I2C_DeInit(I2C_TypeDef* I2Cx);
//初始化
void I2C_Init(I2C_TypeDef* I2Cx, I2C_InitTypeDef* I2C_InitStruct);
//给结构体参数赋默认值
void I2C_StructInit(I2C_InitTypeDef* I2C_InitStruct);
//I2C使能
void I2C_Cmd(I2C_TypeDef* I2Cx, FunctionalState NewState);
//生成起始条件
void I2C_GenerateSTART(I2C_TypeDef* I2Cx, FunctionalState NewState);
//生成终止条件
void I2C_GenerateSTOP(I2C_TypeDef* I2Cx, FunctionalState NewState);
//配置CR1的ACK(应答使能)
void I2C_AcknowledgeConfig(I2C_TypeDef* I2Cx, FunctionalState NewState);
//发送数据
void I2C_SendData(I2C_TypeDef* I2Cx, uint8_t Data);
//接收数据
uint8_t I2C_ReceiveData(I2C_TypeDef* I2Cx);
//发送7位地址
void I2C_Send7bitAddress(I2C_TypeDef* I2Cx, uint8_t Address, uint8_t I2C_Direction);
7.案例
7.1软件I2C读写
#include "stm32f10x.h" // Device header
#include "Delay.h"
void MyI2C_W_SCL(uint8_t BitValue)
{
GPIO_WriteBit(GPIOB,GPIO_Pin_10,(BitAction)BitValue); //最后一位参数非0即1
Delay_us(10);
}
void MyI2C_W_SDA(uint8_t BitValue)
{
GPIO_WriteBit(GPIOB,GPIO_Pin_11,(BitAction)BitValue);
Delay_us(10);
}
uint8_t MyI2C_R_SDA(void)
{
uint8_t BitValue;
BitValue = GPIO_ReadInputDataBit(GPIOB,GPIO_Pin_11);
Delay_us(10);
return BitValue;
}
void MyI2C_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_SetBits(GPIOB,GPIO_Pin_10 | GPIO_Pin_11);
}
void MyI2C_Start(void)
{
MyI2C_W_SDA(1);
MyI2C_W_SCL(1);
MyI2C_W_SDA(0);
MyI2C_W_SCL(0);
}
void MyI2C_Stop(void)
{
MyI2C_W_SDA(0);
MyI2C_W_SCL(1);
MyI2C_W_SDA(1);
}
void MyI2C_SendByte(uint8_t Byte)
{
uint8_t i;
for(i = 0;i < 8;i++)
{
MyI2C_W_SDA(Byte & (0x80 >> i));
MyI2C_W_SCL(1);
MyI2C_W_SCL(0);
}
}
uint8_t MyI2C_ReceiveByte(void)
{
uint8_t i,Byte = 0x00;
MyI2C_W_SDA(1);
for (i = 0;i < 8;i++)
{
MyI2C_W_SCL(1);
if (MyI2C_R_SDA() == 1){Byte |= (0x80 >> i);}
MyI2C_W_SCL(0);
}
return Byte;
}
void MyI2C_SendAck(uint8_t AckBit)
{
MyI2C_W_SDA(AckBit);
MyI2C_W_SCL(1);
MyI2C_W_SCL(0);
}
uint8_t MyI2C_ReceiveAck(void)
{
uint8_t AckBit;
MyI2C_W_SDA(1);
MyI2C_W_SCL(1);
AckBit = MyI2C_R_SDA();
MyI2C_W_SCL(0);
return AckBit;
}
#include "stm32f10x.h" // Device header
#include "MyI2C.h"
#include "MPU6050_Reg.h"
#define MPU6050_ADDRESS 0xD0
void MPU6050_WriteReg(uint8_t RegAddress, uint8_t Data)
{
MyI2C_Start();
MyI2C_SendByte(MPU6050_ADDRESS);
MyI2C_ReceiveAck();
MyI2C_SendByte(RegAddress);
MyI2C_ReceiveAck();
MyI2C_SendByte(Data); //多个字节可循环遍历数组
MyI2C_ReceiveAck();
MyI2C_Stop();
}
uint8_t MPU6050_ReadReg(uint8_t RegAddress)
{
uint8_t Data;
MyI2C_Start();
MyI2C_SendByte(MPU6050_ADDRESS);
MyI2C_ReceiveAck();
MyI2C_SendByte(RegAddress);
MyI2C_ReceiveAck();
MyI2C_Start();
MyI2C_SendByte(MPU6050_ADDRESS | 0x01);
MyI2C_ReceiveAck();
Data = MyI2C_ReceiveByte();
MyI2C_SendAck(1); //想读多个字节 此处给0
MyI2C_Stop();
return Data;
}
void MPU6050_Init(void)
{
MyI2C_Init();
MPU6050_WriteReg(MPU6050_PWR_MGMT_1,0x01); //解除睡眠 选择陀螺仪内部时钟
MPU6050_WriteReg(MPU6050_PWR_MGMT_2,0x00); //6个轴均不待机
MPU6050_WriteReg(MPU6050_SMPLRT_DIV,0x09); //采样分频为10
MPU6050_WriteReg(MPU6050_CONFIG,0x06);
MPU6050_WriteReg(MPU6050_GYRO_CONFIG,0x18);
MPU6050_WriteReg(MPU6050_ACCEL_CONFIG,0x18);
}
uint8_t MPU6050_GetID(void)
{
return MPU6050_ReadReg(MPU6050_WHO_AM_I);
}
void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ,
int16_t *GyroX, int16_t *GyroY, int16_t *GyroZ)
{
uint8_t DataH, DataL;
DataH = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);
DataL = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);
*AccX = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);
DataL = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);
*AccY = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);
DataL = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);
*AccZ = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);
DataL = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);
*GyroX = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);
DataL = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);
*GyroY = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);
DataL = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);
*GyroZ = (DataH << 8) | DataL;
}
7.2硬件I2C读写
#include "stm32f10x.h" // Device header
#include "MPU6050_Reg.h"
#define MPU6050_ADDRESS 0xD0
void MPU6050_WaitEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT)
{
uint32_t Timeout = 10000;
while(I2C_CheckEvent(I2Cx,I2C_EVENT) != SUCCESS)
{
Timeout --;
if(Timeout == 0)
{
break;
}
}
}
void MPU6050_WriteReg(uint8_t RegAddress, uint8_t Data)
{
I2C_GenerateSTART(I2C2,ENABLE);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT);
I2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);
I2C_SendData(I2C2,RegAddress);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTING);
I2C_SendData(I2C2,Data);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED);
I2C_GenerateSTOP(I2C2,ENABLE);
}
uint8_t MPU6050_ReadReg(uint8_t RegAddress)
{
uint8_t Data;
I2C_GenerateSTART(I2C2,ENABLE);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT);
I2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Transmitter);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);
I2C_SendData(I2C2,RegAddress);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_BYTE_TRANSMITTED);
I2C_GenerateSTART(I2C2,ENABLE);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_MODE_SELECT);
I2C_Send7bitAddress(I2C2,MPU6050_ADDRESS,I2C_Direction_Receiver);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED);
I2C_AcknowledgeConfig(I2C2,DISABLE);
I2C_GenerateSTOP(I2C2,ENABLE);
MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED);
Data = I2C_ReceiveData(I2C2);
I2C_AcknowledgeConfig(I2C2,ENABLE);
return Data;
}
void MPU6050_Init(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure);
I2C_InitTypeDef I2C_InitStructure;
//模式选择
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
//时钟速度,数值越大,SCL频率越高,数据传输越快
I2C_InitStructure.I2C_ClockSpeed = 50000;
//时钟占空比,只有在时钟频率大于100kHz才有用,小于该值,固定约为1:1,即低电平时间:高电平时间
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
//应答位配置
I2C_InitStructure.I2C_Ack = ENABLE;
//指定STM32作为从机可以响应几位的从机地址,只有当STM32作为从机时才会用到
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
//自身地址1,也是只有当STM32作为从机时才会用到
I2C_InitStructure.I2C_OwnAddress1 = 0x00;
I2C_Init(I2C2,&I2C_InitStructure);
I2C_Cmd(I2C2,ENABLE);
MPU6050_WriteReg(MPU6050_PWR_MGMT_1,0x01); //解除睡眠 选择陀螺仪内部时钟
MPU6050_WriteReg(MPU6050_PWR_MGMT_2,0x00); //6个轴均不待机
MPU6050_WriteReg(MPU6050_SMPLRT_DIV,0x09); //采样分频为10
MPU6050_WriteReg(MPU6050_CONFIG,0x06);
MPU6050_WriteReg(MPU6050_GYRO_CONFIG,0x18);
MPU6050_WriteReg(MPU6050_ACCEL_CONFIG,0x18);
}
uint8_t MPU6050_GetID(void)
{
return MPU6050_ReadReg(MPU6050_WHO_AM_I);
}
void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ,
int16_t *GyroX, int16_t *GyroY, int16_t *GyroZ)
{
uint8_t DataH, DataL;
DataH = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);
DataL = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);
*AccX = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);
DataL = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);
*AccY = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);
DataL = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);
*AccZ = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);
DataL = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);
*GyroX = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);
DataL = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);
*GyroY = (DataH << 8) | DataL;
DataH = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);
DataL = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);
*GyroZ = (DataH << 8) | DataL;
}