#Linux系统，目标机ARM（exynos_4412）对MPU6050数据获取

1.看MPU6050说明书

看说明书是第一步，才能让我们知道要控制那几个寄存器，读那几个数据位，地址是什么等等信息

exynos_4412中mpu6050-----I2C_SDA5和I2C_SCL5与芯片连接，通过芯片控制对应的i2c就可以与mpu6050传输数据，芯片i2c引脚，GPB_2,GPB_3

#define SMPLRT_DIV  0x19 //陀螺仪采样率，典型值：0x07(125Hz)
#define CONFIG   0x1A //低通滤波频率，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
#define TEMP_OUT_H  0x41
#define TEMP_OUT_L  0x42
#define GYRO_XOUT_H  0x43
#define GYRO_XOUT_L  0x44
#define GYRO_YOUT_H  0x45
#define GYRO_YOUT_L  0x46
#define GYRO_ZOUT_H  0x47
#define GYRO_ZOUT_L  0x48
#define PWR_MGMT_1  0x6B //电源管理，典型值：0x00(正常启用)
#define WHO_AM_I  0x75 //IIC地址寄存器(默认数值0x68，只读)

要根据I2c的协议要求写

void write(unsigned char slave_addr,unsigned char addr,unsigned char data)
{

	I2C5.I2CDS = slave_addr;//把从机地址写入到I2CDS寄存器中  // 从机地址 + W
	I2C5.I2CCON = (1<<7) | (1<<6) | (1<<5);//设置时钟并开启中断

	I2C5.I2CSTAT = 0xf0 ;//设置为主机发送,产生起始信号

	//等待传输结束，传输结束后 I2CCON[4]为1,标识有中断产生
	while( !(I2C5.I2CCON & (1<<4)) );

	I2C5.I2CDS = addr;//继续发送
	I2C5.I2CCON = I2C5.I2CCON & ~(1<<4);
	
	while( !(I2C5.I2CCON & (1<<4)) );
	
	I2C5.I2CDS = data;//发送数据
	I2C5.I2CCON = I2C5.I2CCON & ~(1<<4);	

	while( !(I2C5.I2CCON & (1<<4)) );


	I2C5.I2CSTAT = 0xd0;
	I2C5.I2CCON = I2C5.I2CCON & ~(1<<4);	

	delay(10);
}
void read(unsigned char slave_addr,unsigned char addr,unsigned char * data)
{

	I2C5.I2CDS = slave_addr;//写  从机地址+W

	I2C5.I2CCON = (1<<7) | (1<<6) | (1<<5);//设置时钟并开启中断
	I2C5.I2CSTAT = 0xf0 ;//设置为主机发送,产生起始信号
	
	while( !(I2C5.I2CCON & (1<<4)) );
	

	I2C5.I2CDS = addr;//发送内部地址
	I2C5.I2CCON = I2C5.I2CCON & ~(1<<4);

	while( !(I2C5.I2CCON & (1<<4)) );

	I2C5.I2CSTAT = 0xd0;//结束信号


	//改成读取数据
	I2C5.I2CDS = slave_addr | 1;//从机地址和R。表示要读取数据模式
	I2C5.I2CCON = (1<<7) | (1<<6) | (1<<5);//设置时钟并开启中断

	I2C5.I2CSTAT = 0xb0 ;//设置为主机接收,产生起始信号

	while( !(I2C5.I2CCON & (1<<4)) );//等待发送结束，等待接收

	//接收数据
	
	I2C5.I2CCON = I2C5.I2CCON & ~(1<<4);//要知道什么时候从机发完了数据，把第4位设置为0,从机发送完成到主机会自动设置为1
	I2C5.I2CCON = I2C5.I2CCON & ~(1<<7);//在接收了最后一位数据后，不发送应答信号  no ack

	while( !(I2C5.I2CCON & (1<<4)) );//等待接收完成

	I2C5.I2CSTAT = 0x90;//发送结束信号

	*data = I2C5.I2CDS;

	I2C5.I2CCON = I2C5.I2CCON & ~(1<<4);

	delay(10);
	
	*data = I2C5.I2CDS;
}

然后在main下执行函数

int main()
{
	unsigned char data_l,data_h;

	int data;

	GPBCON = GPBCON & ~(0xff<<8) | 0x33<<8;

	uart_init();
	printf("uart init ok\n");

	I2C5.I2CSTAT = 0xd0;
	I2C5.I2CCON = I2C5.I2CCON & ~(1<<4);


	delay(100);
	/*
	write(ADDR_W,PWR_MGMT_1,0x00);
	write(ADDR_W,SMPLRT_DIV,0x07);
	write(ADDR_W,CONFIG,0x06);
	write(ADDR_W,GYRO_CONFIG,0x18);
	write(ADDR_W,ACCEL_CONFIG,0x01);
	*/
	write(ADDR_W,0x6b,0x00);
	write(ADDR_W,0x19,0x07);
	write(ADDR_W,0x1a,0x06);
	write(ADDR_W,0x1b,0x18);
	write(ADDR_W,0x1c,0x01);
	//控制mpu6050工作，发送了多个数据，写入到mpu6050的内部寄存器中
	delay(100);

	while(1)
	{
	read(ADDR_W,GYRO_XOUT_H,&data_h);
	read(ADDR_W,GYRO_XOUT_L,&data_l);

	data = data_h<<8 | data_l;

	printf("GYRO X is %d\n",data);

	read(ADDR_W,ACCEL_XOUT_H,&data_h);
	read(ADDR_W,ACCEL_XOUT_L,&data_l);
	data = data_h << 8 | data_l;
	printf("ACCEL X is %d\n",data);

	delay(1000);
	}
	return 0;
}