STC8H单片机I2C驱动MPU6050三轴加速度+三轴角速度检测模块 -

// Copyright 2021 IOsetting
/***
* Demo: MPU6050, 3-axis gyroscope + 3-axis accelerometer + Digital Motion Processor™ (DMP™)
* Board: STC8H8K64U
*
* P32 -> SCL
* P33 -> SDA
* GND -> GND
* 3.3V -> VCC
*/
#include "fw_hal.h"
#include "mpu6050.h"
#include <stdio.h>
void I2C_Init(void)
{
// Master mode
I2C_SetWorkMode(I2C_WorkMode_Master);
/**
* I2C clock = SYSCLK / 2 / (__prescaler__ * 2 + 4)
* MPU6050 works with i2c clock up to 400KHz
*
* 44.2368 / 2 / (26 * 2 + 4) = 0.39 MHz
*/
I2C_SetClockPrescaler(0x1A);
// Switch alternative port
I2C_SetPort(I2C_AlterPort_P32_P33);
// Start I2C
I2C_SetEnabled(HAL_State_ON);
}
void GPIO_Init(void)
{
// SDA
GPIO_P3_SetMode(GPIO_Pin_3, GPIO_Mode_InOut_QBD);
// SCL
GPIO_P3_SetMode(GPIO_Pin_2, GPIO_Mode_Output_PP);
}
int main(void)
{
uint8_t i;
uint16_t buf[7];
SYS_SetClock();
GPIO_Init();
UART1_Config8bitUart(UART1_BaudSource_Timer1, HAL_State_ON, 115200);
I2C_Init();
MPU6050_Init();
while(1)
{
for (i = 0; i < 100; i++)
{
if (i == 0)
{
MPU6050_EnableLowPowerMode(MPU6050_Wakeup_Freq_1p25Hz);
}
else if (i == 50)
{
MPU6050_DisableLowPowerMode();
}
MPU6050_ReadAll(buf);
printf("ax:%6d, ay:%6d, az:%6d, tp:%6d, gx:%6d, gy:%6d, gz:%6d\r\n",
buf[0], buf[1], buf[2], (int16_t)buf[3] / 34 + 365, buf[4], buf[5], buf[6]);
SYS_Delay(100);
}
}
}

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