STM32与MPC-6050通讯

网上少有STM32与MPC-6050通讯的介绍，可以用的代码就更少了。辛苦了几天，终于将其调通，共享出来与大家分享。

 

什么都不说了，直接上代码，大家看注释就行了：

 

i2c.h

#ifndef __I2C_H#define __I2C_H#include "sys.h"         //IO方向设置#define SDA_IN()  {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=8<<12;}#define SDA_OUT() {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=3<<12;}//IO操作函数 #define IIC_SCL    PBout(10) //SCL#define IIC_SDA    PBout(11) //SDA #define READ_SDA   PBin(11)  //输入SDA //IIC所有操作函数void IIC_Init(void);                //初始化IIC的IO口 void IIC_Start(void);//发送IIC开始信号void IIC_Stop(void);  //发送IIC停止信号void IIC_Send_Byte(u8 txd);//IIC发送一个字节u8 IIC_Read_Byte(unsigned char ack);//IIC读取一个字节u8 IIC_Wait_Ack(void); //IIC等待ACK信号void IIC_Ack(void);//IIC发送ACK信号void IIC_NAck(void);//IIC不发送ACK信号void IIC_Write_One_Byte(u8 daddr,u8 addr,u8 data);u8 IIC_Read_One_Byte(u8 daddr,u8 addr);  #endif

i2c.c

#include "i2c.h"#include "delay.h"//初始化IICvoid IIC_Init(void){      RCC->APB2ENR|=1<<3;//先使能外设IO PORTB时钟  GPIOB->CRH&=0XFFFF00FF;//PB10/11 推挽输出GPIOB->CRH|=0X00003300;   GPIOB->ODR|=3<<10;     //PB10/11 输出高}//产生IIC起始信号void IIC_Start(void){SDA_OUT();     //sda线输出IIC_SDA=1;    IIC_SCL=1;delay_us(5); IIC_SDA=0;//START:when CLK is high,DATA change form high to low delay_us(5);IIC_SCL=0;//钳住I2C总线，准备发送或接收数据 }  //产生IIC停止信号void IIC_Stop(void){SDA_OUT();//sda线输出IIC_SCL=0;IIC_SDA=0;//STOP:when CLK is high DATA change form low to high delay_us(5);IIC_SCL=1; IIC_SDA=1;//发送I2C总线结束信号delay_us(5);   }//等待应答信号到来//返回值：1，接收应答失败//        0，接收应答成功u8 IIC_Wait_Ack(void){u8 ucErrTime=0;SDA_IN();      //SDA设置为输入  IIC_SDA=1;delay_us(5);   IIC_SCL=1;delay_us(5); while(READ_SDA){ucErrTime++;if(ucErrTime>250){IIC_Stop();return 1;}}IIC_SCL=0;//时钟输出0    return 0;  } //产生ACK应答void IIC_Ack(void){IIC_SCL=0;SDA_OUT();IIC_SDA=0;delay_us(5);IIC_SCL=1;delay_us(5);IIC_SCL=0;}//不产生ACK应答    void IIC_NAck(void){IIC_SCL=0;SDA_OUT();IIC_SDA=1;delay_us(5);IIC_SCL=1;delay_us(5);IIC_SCL=0;}      //IIC发送一个字节//返回从机有无应答//1，有应答//0，无应答  void IIC_Send_Byte(u8 txd){                            u8 t;   SDA_OUT();         IIC_SCL=0;//拉低时钟开始数据传输    for(t=0;t<8;t++)    {                      IIC_SDA=(txd&0x80)>>7;        txd<<=1;   delay_us(5);   //对TEA5767这三个延时都是必须的IIC_SCL=1;delay_us(5); IIC_SCL=0;delay_us(5);    } }     //读1个字节，ack=1时，发送ACK，ack=0，发送nACK   u8 IIC_Read_Byte(unsigned char ack){unsigned char i,receive=0;SDA_IN();//SDA设置为输入    for(i=0;i<8;i++ ){        IIC_SCL=0;         delay_us(5);IIC_SCL=1;        receive<<=1;        if(READ_SDA)receive++;   delay_us(5);     }     if (!ack)        IIC_NAck();//发送nACK    else        IIC_Ack(); //发送ACK       return receive;}

mpc6050.h

#ifndef __MPU6050_H#define __MPU6050_H#include "sys.h"//****************************************// 定义MPU6050内部地址//****************************************#defineSMPLRT_DIV0x19//陀螺仪采样率，典型值：0x07(125Hz)#defineCONFIG0x1A//低通滤波频率，典型值：0x06(5Hz)#defineGYRO_CONFIG0x1B//陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)#defineACCEL_CONFIG0x1C//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)#defineACCEL_XOUT_H0x3B#defineACCEL_XOUT_L0x3C#defineACCEL_YOUT_H0x3D#defineACCEL_YOUT_L0x3E#defineACCEL_ZOUT_H0x3F#defineACCEL_ZOUT_L0x40#defineTEMP_OUT_H0x41#defineTEMP_OUT_L0x42#defineGYRO_XOUT_H0x43#defineGYRO_XOUT_L0x44#defineGYRO_YOUT_H0x45#defineGYRO_YOUT_L0x46#defineGYRO_ZOUT_H0x47#defineGYRO_ZOUT_L0x48#definePWR_MGMT_10x6B//电源管理，典型值：0x00(正常启用)#defineWHO_AM_I0x75//IIC地址寄存器(默认数值0x68，只读)#defineSlaveAddress0xD0//IIC写入时的地址字节数据，+1为读取#defineMPU_60X0_PWR_MGMT_1_REG_ADDR0x6B#defineMPU_60X0_USER_CTRL_REG_ADDR0x6A#defineMPU_60X0_SMPLRT_DIV_REG_ADDR0x19#defineMPU_60X0_CONFIG_REG_ADDR0x1A#defineMPU_60X0_GYRO_CONFIG_REG_ADDR0x1B#defineMPU_60X0_ACCEL_CONFIG_REG_ADDR0x1C#defineMPU_60X0_FIFO_EN_REG_ADDR0x23#defineMPU_60X0_RESET_REG_VALU0x80#defineMPU_60X0_PWR_MGMT_1_REG_VALU0x09// Disable temperature sensor, PLL with X axis gyroscope reference#defineMPU_60X0_USER_CTRL_REG_VALU0x45// Enable FIFO. Reset FIFO and signal paths for all sensors#defineMPU_60X0_SMPLRT_DIV_REG_VALU0x00// DLPF_CFG is 0x01, so Gyroscope Output Rate = 1kHz, divided by 1, still 1kHz#defineMPU_60X0_CONFIG_REG_VALU0x03// 184Hz 2.0ms 188Hz 1.9ms 1kHz. So there will be 6x2 bytes new data in FIFO every 1ms#defineMPU_60X0_GYRO_CONFIG_REG_VALU0x08// Gyroscope works at 500dps. If selftest is needed, REMEMBER to put this to 250dps#defineMPU_60X0_ACCEL_CONFIG_REG_VALU0x08// Accelerometer works at 4g range. If selftest is needed, REMEMBER to put this to 8g range#defineMPU_60X0_FIFO_EN_REG_VALU0x78// Only enable accel and gyroextern u16 delayTime;void Single_WriteI2C(u8 REG_Address,u8 REG_data);u8 Single_ReadI2C(u8 REG_Address);void InitMPU6050(void);u16 GetData(u8 REG_Address);void I2C1_WriteByte(u8 REG_Address,u8 REG_data);u8 I2C1_ReadByte(u8 DataAddr);void SetDelayTime(u16 delayMs);#endif

mpc6050.c

#include "delay.h"#include "mpu6050.h"#include "i2c.h"u16 delayTime = 1000;//**************************************//向I2C设备写入一个字节数据//**************************************void Single_WriteI2C(u8 REG_Address,u8 REG_data){    IIC_Start();                  //起始信号    IIC_Send_Byte(SlaveAddress);   //发送设备地址+写信号IIC_Wait_Ack();     IIC_Send_Byte(REG_Address);    //内部寄存器地址，IIC_Wait_Ack();     IIC_Send_Byte(REG_data);       //内部寄存器数据，IIC_Wait_Ack();     IIC_Stop();                   //发送停止信号}//**************************************//从I2C设备读取一个字节数据//**************************************u8 Single_ReadI2C(u8 REG_Address){u8 REG_data;IIC_Start();                   //起始信号IIC_Send_Byte(SlaveAddress);    //发送设备地址+写信号IIC_Wait_Ack();IIC_Send_Byte(REG_Address);     //发送存储单元地址，从0开始IIC_Wait_Ack();IIC_Start();                   //起始信号IIC_Send_Byte(SlaveAddress+1);  //发送设备地址+读信号IIC_Wait_Ack();REG_data=IIC_Read_Byte(0);       //读出寄存器数据//IIC_SendAck();                //接收应答信号IIC_Stop();                    //停止信号return REG_data;}//**************************************//初始化MPU6050//**************************************void InitMPU6050(){/*Single_WriteI2C(PWR_MGMT_1, 0x00);//解除休眠状态Single_WriteI2C(SMPLRT_DIV, 0x07);Single_WriteI2C(CONFIG, 0x06);Single_WriteI2C(GYRO_CONFIG, 0x18);Single_WriteI2C(ACCEL_CONFIG, 0x01);*/u32 i;Single_WriteI2C(MPU_60X0_PWR_MGMT_1_REG_ADDR, MPU_60X0_RESET_REG_VALU);for (i = 0; i < 20000; i++){delay_us(5);//上电延时}Single_WriteI2C(MPU_60X0_PWR_MGMT_1_REG_ADDR, MPU_60X0_PWR_MGMT_1_REG_VALU);Single_WriteI2C(MPU_60X0_USER_CTRL_REG_ADDR, MPU_60X0_USER_CTRL_REG_VALU);Single_WriteI2C(MPU_60X0_SMPLRT_DIV_REG_ADDR, MPU_60X0_SMPLRT_DIV_REG_VALU);Single_WriteI2C(MPU_60X0_CONFIG_REG_ADDR, MPU_60X0_CONFIG_REG_VALU);Single_WriteI2C(MPU_60X0_GYRO_CONFIG_REG_ADDR, MPU_60X0_GYRO_CONFIG_REG_VALU);Single_WriteI2C(MPU_60X0_ACCEL_CONFIG_REG_ADDR, MPU_60X0_ACCEL_CONFIG_REG_VALU);Single_WriteI2C(MPU_60X0_FIFO_EN_REG_ADDR, MPU_60X0_FIFO_EN_REG_VALU);}//**************************************//合成数据//**************************************u16 GetData(u8 REG_Address){u8 H,L;H=Single_ReadI2C(REG_Address);L=Single_ReadI2C(REG_Address+1);return (H<<8)+L;   //合成数据}void SetDelayTime(u16 delayMs){delayTime = delayMs;}