STM32测试MPU6050模块源码

ID:217972 · 发表于 2017-7-7 19:15

已成功程序，望顶
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MPU6050 I2C读取数据 -精简版.7z (202.86 KB, 下载次数: 22)

单片机源程序如下:

* File Name : main.c
* Author : MCD Application Team
* Version : V1.0
* Description : Main program body
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "stdio.h" //添加文件，为printf 所用
#include "delay.h"
#include "sys.h"
#include "math.h"
#include "MPU6050.h"
USART_InitTypeDef USART_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
USART_ClockInitTypeDef USART_ClockInitStructure;
SPI_InitTypeDef SPI_InitStructure;
EXTI_InitTypeDef EXTI_InitStructure;
ErrorStatus HSEStartUpStatus;
/* Private function prototypes -----------------------------------------------*/
void USART_Configuration(void);
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
void TIM_Configuration(void);
void EXTI_Configuration(void);
void I2C_Configuration(void);
/* Private functions ---------------------------------------------------------*/
/*******************************************************************************
* Function Name : main
* Description : Main program
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
u8 i=0;
s16 accgyo[7]={0};
// u8 u[2]={0};
delay_init(72);
NVIC_Configuration();
RCC_Configuration();
GPIO_Configuration();
USART_Configuration();
I2C_Configuration();
MPU6050_Initialize(); //寄存器初始化
// MPU6050_I2C_BufferRead(0xd0, u, MPU6050_RA_WHO_AM_I, 1);
// printf("$ %d",u[0]);
while(1)
{
MPU6050_GetRawAccelGyro(accgyo);
printf("%10d%10d%10d%10d%10d%10d\r\n",accgyo[0],accgyo[1],accgyo[2],accgyo[3],accgyo[4],accgyo[5]);
delay_ms(50);
}
}
/********** USART ***********/
void USART_Configuration(void)
{
USART_InitStructure.USART_BaudRate = 38400;//设置波特率为38400
USART_InitStructure.USART_WordLength = USART_WordLength_8b;// 8位传输
USART_InitStructure.USART_StopBits = USART_StopBits_1; //1个停止位
USART_InitStructure.USART_Parity = USART_Parity_No; //无校验位
USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USART1, &USART_InitStructure);
// USART_ClockInitStructure.USART_Clock = USART_Clock_Disable;
// USART_ClockInitStructure.USART_CPOL = USART_CPOL_Low;
// USART_ClockInitStructure.USART_CPHA = USART_CPHA_1Edge;
// USART_ClockInitStructure.USART_LastBit = USART_LastBit_Disable;
// USART_ClockInit(USART1 , &USART_ClockInitStructure);
/* Enable USART1 使能串口1*/
USART_Cmd(USART1, ENABLE);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); // 若接收数据寄存器满，则产生中断，用以处理归零操作
}
/********* RCC *********/
void RCC_Configuration(void)
{
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
while(RCC_GetFlagStatus(RCC_FLAG_HSIRDY) == RESET);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 , ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1 , ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1 ,ENABLE);
}
/************ GPIO **************/
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure USART1 Tx (PA.09) as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure USART1 Rx (PA.10) as input floating */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* GPIOB Configuration: Pin10 in Output LED1*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
/********** SPI **********/
void SPI1_Init(void)
{
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low; //无数据传输时，电平为低，必须和CS5532时序一致
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128; //速度不能太快，不然读数出错
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(SPI1, &SPI_InitStructure);
//使能SPI1
SPI_Cmd(SPI1, ENABLE);
}
void EXTI_Configuration(void)
{
GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource1);
/* Configure EXTI Line11 to generate an interrupt on falling edge */
EXTI_InitStructure.EXTI_Line = EXTI_Line1;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
}
/*******************************************************************************
* Function Name : NVIC_Configuration
* Description : Configures the nested vectored interrupt controller.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
#ifdef VECT_TAB_RAM
/* Set the Vector Table base location at 0x20000000 */
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else /* VECT_TAB_FLASH */
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
/* Enable the EXTI15_10 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void I2C_Configuration(void)
{
I2C_InitTypeDef I2C_InitStructure;
I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStructure.I2C_OwnAddress1 =0xc0; // MPU6050 7-bit adress = 0x68, 8-bit adress = 0xD0;
I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStructure.I2C_ClockSpeed = MPU6050_I2C_Speed;
/* Apply I2C configuration after enabling it */
I2C_Init(MPU6050_I2C, &I2C_InitStructure);
/* I2C Peripheral Enable */
I2C_Cmd(MPU6050_I2C, ENABLE);
}
/*定义 fputc 此函数为printf所用*/
/*
printf默认的输出设备是显示器，如果想用这个标准的输出函数向串口发送数据，
需要改写fputc这个函数。
*/
int fputc(int ch,FILE *f)
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