1. 原理
1.1 I2C 框图
1.2 I2C基本结构
2. 软件 I2C读写MPU6050
2.1 接线图
2.2 实现代码
2.2.1 I2C.c
#include "stm32f10x.h" // Device header
#include "Delay.h"
void MyI2C_W_SCL(uint8_t BitValue)
{
GPIO_WriteBit(GPIOB, GPIO_Pin_10, (BitAction)BitValue);
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_SCL(1);
MyI2C_W_SDA(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;
}
2.2.2 MPU6050.c
#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(); //可设定一个值来接受Ack判断接下该进行什么操作
MyI2C_SendByte(RegAddress);
MyI2C_ReceiveAck();
MyI2C_SendByte(Data); //若是想要进行写入多组数据,可循环下面两行代码
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); //最后一位置1,表示读
MyI2C_ReceiveAck();
Data = MyI2C_ReceiveByte();
MyI2C_ReceiveAck();
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); //滤波参数给最大
MPU6050_WriteReg(MPU6050_GYRO_CONFIG, 0x18); //陀螺仪选择最大量程
MPU6050_WriteReg(MPU6050_ACCEL_CONFIG, 0x18); //加速度计选择最大量程
}
uint8_t MPU6050_Get_ID(void)
{
return MPU6050_ReadReg(MPU6050_WHO_AM_I);
}
/*
bief 分别获取加速度和螺旋仪的x轴,y轴,z轴
para AccX 加速度计的x轴数据 ...
para GyroX螺旋仪的x轴数据 ...
retval 加速度和螺旋仪的x轴,y轴,z轴
note 此处还有一个更加高效的方法,使用I2C读取多个字节的时序,从一个基地址开始连续读取一片的寄存器,此寄存器地址
是连续的,从0x3B(MPU6050_Reg.h中可见详情)开始连续读取14个字节,在效率上可大大提升
*/
void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ,
int16_t *GyroX, int16_t *GyroY, int16_t *GyroZ)
{
uint8_t Data_H, Data_L;
//获取加速度计x轴数据
Data_H = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);
*AccX = (Data_H << 8) | Data_L; //8位数据进行左移后,数据类型会自动转换
Data_H = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);
*AccY = (Data_H << 8) | Data_L;
Data_H = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);
*AccZ = (Data_H << 8) | Data_L;
//获取陀螺仪x轴数据
Data_H = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);
*GyroX = (Data_H << 8) | Data_L;
Data_H = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);
*GyroY = (Data_H << 8) | Data_L;
Data_H = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);
*GyroZ = (Data_H << 8) | Data_L;
}
2.2.3 MPU6050_Reg.h
#ifndef __MPU6050_REG_H
#define __MPU6050_REG_H
/*根据MPU6050数据手册定义*/
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG 0x1C
#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_ACCEL_XOUT_L 0x3C
#define MPU6050_ACCEL_YOUT_H 0x3D
#define MPU6050_ACCEL_YOUT_L 0x3E
#define MPU6050_ACCEL_ZOUT_H 0x3F
#define MPU6050_ACCEL_ZOUT_L 0x40
#define MPU6050_TEMP_OUT_H 0x41
#define MPU6050_TEMP_OUT_L 0x42
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_XOUT_L 0x44
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_YOUT_L 0x46
#define MPU6050_GYRO_ZOUT_H 0x47
#define MPU6050_GYRO_ZOUT_L 0x48
#define MPU6050_PWR_MGMT_1 0x6B
#define MPU6050_PWR_MGMT_2 0x6C
#define MPU6050_WHO_AM_I 0x75
#endif
2.2.4 main.c
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "MPU6050.h"
//#include "MyI2C.h"
int8_t ID;
int16_t AX, AY, AZ, GX, GY, GZ;
int main(void)
{
OLED_Init();
MPU6050_Init();
ID = MPU6050_Get_ID();
OLED_ShowString(1, 1, "ID:");
//OLED_ShowString(1, 1, "ACCEL: GYRO:");
OLED_ShowHexNum(1, 4, ID, 2);
/*
MyI2C_Start();
MyI2C_SendByte(0XD0); //1101 000 0 前七位代表从机地址,最后一位0代表写入操作
uint8_t Ack = MyI2C_ReceiveAck(); //Ack = 0 表明有应答默认为高电平
MyI2C_Stop();
OLED_ShowNum(1, 1, Ack, 3);
*/
/*
uint8_t ID = MPU6050_ReadReg(0X75); //在地址为0x75的寄存器读出其内容:芯片ID号
OLED_ShowHexNum(1, 1, ID, 2);
*/
/*
MPU6050_WriteReg(0X6B, 0X00); //在电源管理寄存器1写入0x00解除睡眠模式
MPU6050_WriteReg(0X19, 0XAA);
uint8_t VALUE = MPU6050_ReadReg(0X19);
OLED_ShowHexNum(1, 1, VALUE, 2);
*/
while(1)
{
MPU6050_GetData(&AX, &AY, &AZ, &GX, &GY, &GZ);
OLED_ShowSignedNum(2, 1, AX, 5);
OLED_ShowSignedNum(3, 1, AY, 5);
OLED_ShowSignedNum(4, 1, AZ, 5);
OLED_ShowSignedNum(2, 8, GX, 5);
OLED_ShowSignedNum(3, 8, GY, 5);
OLED_ShowSignedNum(4, 8, GZ, 5);
}
}
3. 硬件读写 MPU6050
3.1 接线图
3.2 序列图
3.3 实现代码
3.3.1 MPU6050.c
#include "stm32f10x.h" // Device header
#include "MPU6050_Reg.h"
#define MPU6050_ADDRESS 0XD0
//解决等待超时
void MPU6050_WaitEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT)
{
uint32_t Timeout;
Timeout = 10000;
while(I2C_CheckEvent(I2Cx, I2C_EVENT) != SUCCESS)
{
Timeout --;
if(Timeout == 0)
{
break;
}
}
}
void MPU6050_WriteReg(uint8_t RegAddress, uint8_t Data)
{
/* 此部分为软件方式实现写寄存器
MyI2C_Start();
MyI2C_SendByte(MPU6050_ADDRESS); //发送目标MPU6050的地址
MyI2C_ReceiveAck(); //可设定一个值来接受Ack判断接下该进行什么操作
MyI2C_SendByte(RegAddress); //发送目标MPU6050指定寄存器的地址
MyI2C_ReceiveAck();
MyI2C_SendByte(Data); //若是想要进行写入多组数据,可循环下面两行代码
MyI2C_ReceiveAck();
MyI2C_Stop();
*/
//以下为硬件方式实现写寄存器
I2C_GenerateSTART(I2C2, ENABLE);
MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT);
I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Transmitter); //发送数据自带应答过程,接受数据也自带发送应答过程
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;
/*此部分为软件实现读寄存器
MyI2C_Start();
MyI2C_SendByte(MPU6050_ADDRESS);
MyI2C_ReceiveAck();
MyI2C_SendByte(RegAddress);
MyI2C_ReceiveAck();
MyI2C_Start();
MyI2C_SendByte(MPU6050_ADDRESS | 0X01); //最后一位置1,表示读
MyI2C_ReceiveAck();
Data = MyI2C_ReceiveByte();
MyI2C_ReceiveAck();
MyI2C_Stop();
return Data;
*/
//以下为硬件方式实现写寄存器
I2C_GenerateSTART(I2C2, ENABLE);
MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT);
I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Transmitter); //发送数据自带应答过程,接受数据也自带发送应答过程
MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);
I2C_SendData(I2C2, RegAddress);
MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTING); //此处选择TRANSMITTING或者TRANSMITTED都可以
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); //谁在ACK等于0,不应答,接下来的数据不读取
I2C_GenerateSTOP(I2C2, ENABLE);
MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_BYTE_RECEIVED);
Data = I2C_ReceiveData(I2C2);
I2C_AcknowledgeConfig(I2C2, ENABLE); //方便后面实现指定地址收多个字节
return Data;
}
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);
I2C_InitTypeDef I2C_InitStructure;
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_ClockSpeed = 50000; //50khz的时钟频率,小于400khz即可
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; //时钟频率大于100khz时才有用,其他时间高电平比上低电平为1:1
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_OwnAddress1 = 0x00; //STM32暂时不需要作为从机被使唤,所以此处地址随意设置
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); //滤波参数给最大
MPU6050_WriteReg(MPU6050_GYRO_CONFIG, 0x18); //陀螺仪选择最大量程
MPU6050_WriteReg(MPU6050_ACCEL_CONFIG, 0x18); //加速度计选择最大量程
}
uint8_t MPU6050_Get_ID(void)
{
return MPU6050_ReadReg(MPU6050_WHO_AM_I);
}
/*
bief 分别获取加速度和螺旋仪的x轴,y轴,z轴
para AccX 加速度计的x轴数据 ...
para GyroX螺旋仪的x轴数据 ...
retval 加速度和螺旋仪的x轴,y轴,z轴
note 此处还有一个更加高效的方法,使用I2C读取多个字节的时序,从一个基地址开始连续读取一片的寄存器,此寄存器地址
是连续的,从0x3B(MPU6050_Reg.h中可见详情)开始连续读取14个字节,在效率上可大大提升
*/
void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ,
int16_t *GyroX, int16_t *GyroY, int16_t *GyroZ)
{
uint8_t Data_H, Data_L;
//获取加速度计x轴数据
Data_H = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);
*AccX = (Data_H << 8) | Data_L; //8位数据进行左移后,数据类型会自动转换
Data_H = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);
*AccY = (Data_H << 8) | Data_L;
Data_H = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);
*AccZ = (Data_H << 8) | Data_L;
//获取陀螺仪x轴数据
Data_H = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);
*GyroX = (Data_H << 8) | Data_L;
Data_H = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);
*GyroY = (Data_H << 8) | Data_L;
Data_H = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);
Data_L = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);
*GyroZ = (Data_H << 8) | Data_L;
}
3.3.2 MPU6050_Reg.h
#ifndef __MPU6050_REG_H
#define __MPU6050_REG_H
/*根据MPU6050数据手册定义*/
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG 0x1C
#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_ACCEL_XOUT_L 0x3C
#define MPU6050_ACCEL_YOUT_H 0x3D
#define MPU6050_ACCEL_YOUT_L 0x3E
#define MPU6050_ACCEL_ZOUT_H 0x3F
#define MPU6050_ACCEL_ZOUT_L 0x40
#define MPU6050_TEMP_OUT_H 0x41
#define MPU6050_TEMP_OUT_L 0x42
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_XOUT_L 0x44
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_YOUT_L 0x46
#define MPU6050_GYRO_ZOUT_H 0x47
#define MPU6050_GYRO_ZOUT_L 0x48
#define MPU6050_PWR_MGMT_1 0x6B
#define MPU6050_PWR_MGMT_2 0x6C
#define MPU6050_WHO_AM_I 0x75
#endif
3.3.3 main.c
#include "stm32f10x.h" // Device header
#include "Delay.h"
#include "OLED.h"
#include "MPU6050.h"
//#include "MyI2C.h"
int8_t ID;
int16_t AX, AY, AZ, GX, GY, GZ;
int main(void)
{
OLED_Init();
MPU6050_Init();
ID = MPU6050_Get_ID();
OLED_ShowString(1, 1, "ID:");
//OLED_ShowString(1, 1, "ACCEL: GYRO:");
OLED_ShowHexNum(1, 4, ID, 2);
/*
MyI2C_Start();
MyI2C_SendByte(0XD0); //1101 000 0 前七位代表从机地址,最后一位0代表写入操作
uint8_t Ack = MyI2C_ReceiveAck(); //Ack = 0 表明有应答默认为高电平
MyI2C_Stop();
OLED_ShowNum(1, 1, Ack, 3);
*/
/*
uint8_t ID = MPU6050_ReadReg(0X75); //在地址为0x75的寄存器读出其内容:芯片ID号
OLED_ShowHexNum(1, 1, ID, 2);
*/
/*
MPU6050_WriteReg(0X6B, 0X00); //在电源管理寄存器1写入0x00解除睡眠模式
MPU6050_WriteReg(0X19, 0XAA);
uint8_t VALUE = MPU6050_ReadReg(0X19);
OLED_ShowHexNum(1, 1, VALUE, 2);
*/
while(1)
{
MPU6050_GetData(&AX, &AY, &AZ, &GX, &GY, &GZ);
OLED_ShowSignedNum(2, 1, AX, 5);
OLED_ShowSignedNum(3, 1, AY, 5);
OLED_ShowSignedNum(4, 1, AZ, 5);
OLED_ShowSignedNum(2, 8, GX, 5);
OLED_ShowSignedNum(3, 8, GY, 5);
OLED_ShowSignedNum(4, 8, GZ, 5);
}
}