[源码]51单片机读取MPU6050通过串口发送——源码

#include<reg52.h>
#include<intrins.h>
#include<stdio.h>
#include<math.h> 
#define	SMPLRT_DIV		0x19	//Gry filter rate:0x07(125Hz)
#define	CONFIG			0x1A	//0x06(5Hz)
#define	GYRO_CONFIG		0x1B	//Gry selfTask or not& detect range:0x18(no,2000deg/s)
#define	ACCEL_CONFIG	0x1C	//Ace selfTask or not& range&filter rante :0x01(no,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	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	//Power Manage,0x00 (normal)
#define	SlaveAddress	0xD0	//IIC write,+1 for read

sbit rs=P3^5; 
sbit rw=P1^1; 
sbit en=P3^4;   
sbit SCL=P1^0;			//IIC clock node
sbit SDA=P1^1;			//IIC data node
sbit left=P3^6;
sbit right=P3^7;
unsigned char dis[4]=" 000";//string buffer for a single moveRate element.
unsigned char  moveRate[]=" 000, 000, 000, 000, 000, 000,0;"; 
//32-bits in all,represent aceX,aceY,aceZ
//gryX,gryY,gryZ,opration in order
unsigned char code numTable[]="0123456789";
bit I2C_RecvACK();
/*******************************
delay period ms
********************************/
void delay(unsigned int period){
	unsigned int i,j;
	for(i=period;i>0;i--)
	for(j=110;j>0;j--);
}
/*******************************
delay 5us
********************************/
void Delay5us()
{
	_nop