首先,硬件I2C的引脚是不能任意指定的,需要查询引脚定义表来规划,如果用I2C1,要接到PB6/PB7
如果要使用别的则PB8/PB9
这里我们选择PB10/11 即I2C2
硬件I2C需要选择固定的引脚,但软件I2C不需要,所以软硬可以兼容在同一个引脚
直接修改之前的代码,先把之前用软件实现的部分注释掉
#include "stm32f10x.h" // Device header
#include "MPU6050.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);
// 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);
// MyI2C_Stop();
//
return Data;
}
void MPU6050_Init(void)
{
// MyI2C_Init();
MPU6050_WriteReg(MPU6050_PWR_MGMT_1, 0x01);
MPU6050_WriteReg(MPU6050_PWR_MGMT_2, 0x00);
MPU6050_WriteReg(MPU6050_SMPLRT_DIV, 0x09);
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;
}
第一步 ->配置I2C外设,初始化I2C外设来配置MyI2CInit
第二步->控制外设电路实现指定地址写的程序
第三步->控制外设电路实现指定地址读的程序
第一步及其所需:
①开启I2C外设和GPIO口的时钟
②初始化GPIO口为复用开漏模式
③ 使用结构体配置整个I2C
I2C_Init
④使能I2C
I2C_Cmd
第二三步所需:
I2C_GenerateSTART 生成起始条件
I2C_GenerateSTOP 生成终止条件
I2C_Acknowledgeconfig 在收到一个字节后是否应答
I2C_SendData 发送数据
I2C_ReceiveData 读取DR,接收数据
I2C Send7bitAddress 发送七位地址专用函数,可以自动设置最低位,如果不是发送就设置为1,只读,是发送则设置为0即写
I2C_CheckEvent 检查状态
I2C_GetFlagstatus()基于标志位的状态监控
在初始化时如果频率过高由于弱上拉会出现上升沿上升慢的情况,所以程序时钟就需要把占空比调短以延长低电平事件保证SDA上拉完成,
I2C_InitStructure.I2C_ClockSpeed = 50000; //控制速度
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; //控制占空比
第一步,硬件I2C初始化
void MPU6050_Init(void)
{
// MyI2C_Init();
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); //将PA1和PA2引脚初始化为推挽输出
I2C_InitTypeDef I2C_InitStructure;
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_ClockSpeed = 50000;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_OwnAddress1 = 0x00;
I2C_Init(I2C2, &I2C_InitStructure);
I2C_Cmd(I2C2, ENABLE);
MPU6050_WriteReg(MPU6050_PWR_MGMT_1, 0x01);
MPU6050_WriteReg(MPU6050_PWR_MGMT_2, 0x00);
MPU6050_WriteReg(MPU6050_SMPLRT_DIV, 0x09);
MPU6050_WriteReg(MPU6050_CONFIG, 0x06);
MPU6050_WriteReg(MPU6050_GYRO_CONFIG, 0x18);
MPU6050_WriteReg(MPU6050_ACCEL_CONFIG, 0x18);
}
I2C_GenerateSTART(I2C2, ENABLE);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT) != SUCCESS);
I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Transmitter);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) != SUCCESS);
I2C_SendData(I2C2, RegAddress);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED) != SUCCESS);
I2C_GenerateSTART(I2C2, ENABLE);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT) != SUCCESS);
I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Receiver);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED) != SUCCESS);
I2C_AcknowledgeConfig(I2C2, DISABLE);
I2C_GenerateSTOP(I2C2, ENABLE);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_RECEIVED) != SUCCESS);
Data = I2C_ReceiveData(I2C2);
I2C_AcknowledgeConfig(I2C2, ENABLE);
return Data;
I2C_GenerateSTART(I2C2, ENABLE);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT) != SUCCESS);
I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Transmitter);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) != SUCCESS);
I2C_SendData(I2C2, RegAddress);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTING) != SUCCESS);
I2C_SendData(I2C2, Data);
while (I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED) != SUCCESS);
I2C_GenerateSTOP(I2C2, ENABLE);
这里如果只用while太麻烦了
可以把while全部用这个替代
void MPU6050_WaitEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT)
{
uint32_t Timeout;
Timeout = 10000; //给定超时计数时间
while (I2C_CheckEvent(I2Cx, I2C_EVENT) != SUCCESS) //循环等待指定事件
{
Timeout --; //等待时,计数值自减
if (Timeout == 0) //自减到0后,等待超时
{
/*超时的错误处理代码,可以添加到此处*/
break; //跳出等待,不等了
}
}
}