【MPU6050移植】GD32F470移植正点原子陀螺仪源码

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已于 2023-04-24 15:23:39 修改

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文章标签：单片机 stm32 嵌入式硬件

于 2023-04-20 15:02:39 首次发布

本文链接：https://blog.csdn.net/m0_66615785/article/details/130266809

版权

本节此介绍GD32F470梁山派移植正点原子的mpu6050例程,本次只针对程序进行移植处理不对程序进行讲解，主要是更改引脚，以及DMP库的移植

将正点原子的MPU6050文件夹粘贴进Hardware文件，mpuiic文件是软件模拟iic程序，mpu6050.c为模块相关初始化函数，eMPL是DMP相关的库函数。

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2.添加头文件路径，按照下图所示 1 2 3 4 顺序依次点击，

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选择MPU6050文件夹以及eMPL文件夹，添加好后如下图所示

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把用到的.c相关文件添加到工程里。

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模拟iic驱动程序,引脚模式设置为开漏模式外加上拉电阻，pb10->scl pb11->sda

#include "mpuiic.h"

void my_i2c_w_SDA(uint8_t bit_value)
{
	gpio_bit_write(IIC_SDA_GPIO_PORT, IIC_SDA_PIN, (bit_status)bit_value);
	delay_1us(10);
}

void my_i2c_w_SCL(uint8_t bit_value)
{
	gpio_bit_write(IIC_SCL_GPIO_PORT, IIC_SCL_PIN, (bit_status)bit_value);
	delay_1us(10);
}

uint8_t my_i2c_r_SDA(void){
	return gpio_input_bit_get(IIC_SDA_GPIO_PORT, IIC_SDA_PIN);
}
void MPU_IIC_Init()
{
    rcu_periph_clock_enable(IIC_SCL_GPIO_CLK);
    rcu_periph_clock_enable(IIC_SDA_GPIO_CLK);
    
     /* configure led GPIO port */
    gpio_mode_set(IIC_SCL_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_PULLUP,IIC_SCL_PIN);
    gpio_output_options_set(IIC_SCL_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ,IIC_SCL_PIN);
        
    gpio_mode_set(IIC_SDA_GPIO_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_PULLUP,IIC_SDA_PIN);
    gpio_output_options_set(IIC_SDA_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_50MHZ,IIC_SDA_PIN);

}

//i2c的起始
void MPU_IIC_Start(void){
	//SDA高，SCL高，SDA低，SCL低;   
	my_i2c_w_SDA(1);
	my_i2c_w_SCL(1);
	my_i2c_w_SDA(0);
	my_i2c_w_SCL(0);
}

//i2c的结束
void MPU_IIC_Stop(void){
	my_i2c_w_SDA(0);
	my_i2c_w_SCL(1);
	my_i2c_w_SDA(1);
}

//SDA发送一个byte
void MPU_IIC_Send_Byte(uint8_t byte_to_send){
	uint8_t i;
	for(i = 0; i < 8; i++){
		my_i2c_w_SDA(byte_to_send & (0x80>>i));
		my_i2c_w_SCL(1);
		my_i2c_w_SCL(0);
	}
}

//SDA读一个byte
uint8_t MPU_IIC_Read_Byte(unsigned char ack){
    uint8_t i;
	uint8_t result = 0x00;
	my_i2c_w_SDA(1);
	
	for(i = 0; i < 8; i++){
		my_i2c_w_SCL(1);
		if(my_i2c_r_SDA())
			result = result | (0x80>>i);//读SDA的bit值
		my_i2c_w_SCL(0);
	}
    if (!ack)
        MPU_IIC_NAck();//发送nACK
    else
        MPU_IIC_Ack(); //发送ACK
	
	return result;
}

//主机应答
void MPU_IIC_Ack(void){
	my_i2c_w_SCL(0);
	my_i2c_w_SDA(0);
	my_i2c_w_SCL(1);
	my_i2c_w_SCL(0);
}

//主机非应答
void MPU_IIC_NAck(void){
	my_i2c_w_SCL(0);
	my_i2c_w_SDA(1);
	my_i2c_w_SCL(1);
	my_i2c_w_SCL(0);
}

//主机接收应答
//返回值：1，接收应答失败
//        0，接收应答成功
uint8_t MPU_IIC_Wait_Ack(void){
	uint8_t ack_result;
	my_i2c_w_SDA(1);
	my_i2c_w_SCL(1);
	ack_result = my_i2c_r_SDA();
	my_i2c_w_SCL(0);
	return ack_result;	
}

DMP库的移植，主要更改下面两个文件这几个函数的宏定义，我这里已经改好。

5.移植好后调用下图所示相关函数就可以输出欧拉角了

if(mpu_dmp_get_data(&pitch,&roll,&yaw) == 0)
        {
            if(pitch<0){
                LCD_ShowChar(85,144,'-',COLOR_BLUE,COLOR_WHITE,24,0);
                pitch = -pitch;
            }else LCD_ShowChar(85,144,' ',COLOR_BLUE,COLOR_WHITE,24,0);
            LCD_ShowIntNum(95,144,pitch,5,COLOR_BLUE,COLOR_WHITE,24);
             if(roll<0){
                LCD_ShowChar(85,168,'-',COLOR_BLUE,COLOR_WHITE,24,0);
                roll = -roll;
            }else LCD_ShowChar(85,168,' ',COLOR_BLUE,COLOR_WHITE,24,0);
            LCD_ShowIntNum(95,168,roll,5,COLOR_BLUE,COLOR_WHITE,24);
             if(yaw<0){
                LCD_ShowChar(85,192,'-',COLOR_BLUE,COLOR_WHITE,24,0);
                yaw = -yaw;
            }else LCD_ShowChar(85,192,' ',COLOR_BLUE,COLOR_WHITE,24,0);
            LCD_ShowIntNum(95,192,yaw,5,COLOR_BLUE,COLOR_WHITE,24);
        }