一、硬件电路
- SCL引到了STM32的PB10号引脚,SDA引到了PB11号引脚
- MPU605在SCL和SDA自带了两个上拉电阻,故不需要额外接上拉电阻
二、代码
1.MyI2C.c
#include "stm32f10x.h"
#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_SDA(1);
MyI2C_W_SCL(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_ReveiceAck(void)
{
uint8_t AckBit;
MyI2C_W_SDA(1);
MyI2C_W_SCL(1);
AckBit=MyI2C_R_SDA();
MyI2C_W_SCL(0);
return AckBit;
}
2.MPU6050.c
#include "stm32f10x.h"
#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_ReveiceAck();
MyI2C_SendByte(RegAddress);
MyI2C_ReveiceAck();
MyI2C_SendByte(Data);
MyI2C_ReveiceAck();
MyI2C_Stop();
}
uint8_t MPU6050_ReadReg(uint8_t RegAddress)
{
uint8_t Data;
MyI2C_Start();
MyI2C_SendByte(MPU6050_ADDRESS);
MyI2C_ReveiceAck();
MyI2C_SendByte(RegAddress);
MyI2C_ReveiceAck();
MyI2C_Start();
MyI2C_SendByte(MPU6050_ADDRESS|0x01);
MyI2C_ReveiceAck();
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);
}
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;
}
uint8_t MPU6050_GetID(void)
{
return MPU6050_ReadReg(MPU6050_WHO_AM_I);
}
3.MPU6050_Reg.c
#ifndef __MPU6050_REG_H
#define __MPU6050_REG_H
#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
4.main.c
#include "stm32f10x.h"
#include "Delay.h"
#include "OLED.h"
#include "MPU6050.h"
uint8_t ID;
int16_t AX, AY, AZ, GX, GY, GZ;
int main(void)
{
OLED_Init();
MPU6050_Init();
OLED_ShowString(1, 1, "ID:");
ID = MPU6050_GetID();
OLED_ShowHexNum(1, 4, ID, 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);
}
}