标题: STM32测试MPU6050模块源码 [打印本页]

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作者: kfdh2012    时间: 2017-7-7 19:15
标题: STM32测试MPU6050模块源码
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: 24)

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单片机源程序如下:

1. 
   
2. /******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
   
3. * File Name          : main.c
   
4. * Author             : MCD Application Team
   
5. * Version            : V1.0
   
6. * Description        : Main program body
   
7. ********************************************************************************
   
8. * THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
   
9. * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
   
10. * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
    
11. * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
    
12. * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
    
13. * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
    
14. *******************************************************************************/
    
15. 
    
16. /* Includes ------------------------------------------------------------------*/
    
17. #include "stm32f10x.h"
    
18. #include "stdio.h"   //添加文件，为printf 所用
    
19. #include "delay.h"
    
20. #include "sys.h"
    
21. #include "math.h"
    
22. #include "MPU6050.h"
    
23. 
    
24. 
    
25. 
    
26. USART_InitTypeDef USART_InitStructure;
    
27. TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    
28. USART_ClockInitTypeDef  USART_ClockInitStructure;
    
29. SPI_InitTypeDef  SPI_InitStructure;
    
30. EXTI_InitTypeDef EXTI_InitStructure;
    
31. ErrorStatus HSEStartUpStatus;
    
32. 
    
33. 
    
34. 
    
35. /* Private function prototypes -----------------------------------------------*/
    
36. 
    
37. void USART_Configuration(void);
    
38. void RCC_Configuration(void);
    
39. void GPIO_Configuration(void);
    
40. void NVIC_Configuration(void);
    
41. void TIM_Configuration(void);
    
42. void EXTI_Configuration(void);
    
43. void I2C_Configuration(void);
    
44. 
    
45. 
    
46. 
    
47. 
    
48. 
    
49. 
    
50. 
    
51. /* Private functions ---------------------------------------------------------*/
    
52. 
    
53. /*******************************************************************************
    
54. * Function Name  : main
    
55. * Description    : Main program
    
56. * Input          : None
    
57. * Output         : None
    
58. * Return         : None
    
59. *******************************************************************************/
    
60. int main(void)
    
61. {
    
62.   u8 i=0;
    
63.   s16 accgyo[7]={0};
    
64. //  u8 u[2]={0};
    
65. 
    
66.   delay_init(72);  
    
67.   NVIC_Configuration();
    
68.   RCC_Configuration();   
    
69.   GPIO_Configuration();         
    
70.   USART_Configuration();
    
71.   I2C_Configuration();
    
72. 
    
73.   MPU6050_Initialize();                  //寄存器初始化
    
74.    
    
75. //  MPU6050_I2C_BufferRead(0xd0, u, MPU6050_RA_WHO_AM_I, 1);
    
76. //  printf("$   %d",u[0]);
    
77. 
    
78.    
    
79.   while(1)
    
80.   {         
    
81.              MPU6050_GetRawAccelGyro(accgyo);
    
82.            printf("%10d%10d%10d%10d%10d%10d\r\n",accgyo[0],accgyo[1],accgyo[2],accgyo[3],accgyo[4],accgyo[5]);
    
83.            delay_ms(50);
    
84.    }
    
85. }
    
86. 
    
87. 
    
88. 
    
89. 
    
90. 
    
91. 
    
92. /**********   USART   ***********/
    
93. void USART_Configuration(void)
    
94. {
    
95.   
    
96.   USART_InitStructure.USART_BaudRate = 38400;//设置波特率为38400
    
97.   USART_InitStructure.USART_WordLength = USART_WordLength_8b;// 8位传输
    
98.   USART_InitStructure.USART_StopBits = USART_StopBits_1; //1个停止位
    
99.   USART_InitStructure.USART_Parity = USART_Parity_No;    //无校验位
    
100.   USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;
     
101.   USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
     
102.   USART_Init(USART1, &USART_InitStructure);
     
103. 
     
104. //  USART_ClockInitStructure.USART_Clock = USART_Clock_Disable;
     
105. //  USART_ClockInitStructure.USART_CPOL = USART_CPOL_Low;
     
106. //  USART_ClockInitStructure.USART_CPHA = USART_CPHA_1Edge;
     
107. //  USART_ClockInitStructure.USART_LastBit = USART_LastBit_Disable;
     
108. //  USART_ClockInit(USART1 , &USART_ClockInitStructure);
     
109. 
     
110.   /* Enable USART1  使能串口1*/
     
111.   USART_Cmd(USART1, ENABLE);
     
112.   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
     
113. }
     
114. 
     
115. 
     
116. /*********   RCC   *********/
     
117. void RCC_Configuration(void)
     
118. {                                                                                                                                
     
119.   /* RCC system reset(for debug purpose) */
     
120.   RCC_DeInit();
     
121. 
     
122.   /* Enable HSE */
     
123.   RCC_HSEConfig(RCC_HSE_ON);
     
124. 
     
125. 
     
126.   while(RCC_GetFlagStatus(RCC_FLAG_HSIRDY) == RESET);
     
127.   /* Wait till HSE is ready */
     
128.   HSEStartUpStatus = RCC_WaitForHSEStartUp();
     
129. 
     
130.   if(HSEStartUpStatus == SUCCESS)
     
131.   {
     
132.     /* Enable Prefetch Buffer */
     
133.     FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
     
134. 
     
135.     /* Flash 2 wait state */
     
136.     FLASH_SetLatency(FLASH_Latency_2);
     
137. 
     
138.     /* HCLK = SYSCLK */
     
139.     RCC_HCLKConfig(RCC_SYSCLK_Div1);
     
140. 
     
141.     /* PCLK2 = HCLK */
     
142.     RCC_PCLK2Config(RCC_HCLK_Div1);
     
143. 
     
144.     /* PCLK1 = HCLK/2 */
     
145.     RCC_PCLK1Config(RCC_HCLK_Div2);
     
146. 
     
147.     /* PLLCLK = 8MHz * 9 = 72 MHz */
     
148.     RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
     
149. 
     
150.     /* Enable PLL */
     
151.     RCC_PLLCmd(ENABLE);
     
152. 
     
153.     /* Wait till PLL is ready */
     
154.     while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
     
155.     {
     
156.     }
     
157. 
     
158.     /* Select PLL as system clock source */
     
159.     RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
     
160. 
     
161.     /* Wait till PLL is used as system clock source */
     
162.     while(RCC_GetSYSCLKSource() != 0x08)
     
163.     {
     
164.     }
     
165. }
     
166. 
     
167. 
     
168.   
     
169.   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
     
170.   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
     
171.   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
     
172.   RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 , ENABLE);
     
173.   RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1 , ENABLE);  
     
174.   RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
     
175.   RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
     
176.   RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1 ,ENABLE);
     
177. 
     
178. 
     
179. }
     
180. 
     
181. 
     
182. 
     
183. /************   GPIO   **************/
     
184. void GPIO_Configuration(void)
     
185. {
     
186.   GPIO_InitTypeDef GPIO_InitStructure;
     
187. 
     
188.   /* Configure USART1 Tx (PA.09) as alternate function push-pull */
     
189.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
     
190.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     
191.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
     
192.   GPIO_Init(GPIOA, &GPIO_InitStructure);
     
193. 
     
194.   /* Configure USART1 Rx (PA.10) as input floating */
     
195.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
     
196.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
     
197.   GPIO_Init(GPIOA, &GPIO_InitStructure);
     
198. 
     
199.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
     
200.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
     
201.   GPIO_Init(GPIOA, &GPIO_InitStructure);
     
202.   
     
203.   /* GPIOB Configuration: Pin10 in Output   LED1*/
     
204.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
     
205.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     
206.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;  
     
207.   GPIO_Init(GPIOB, &GPIO_InitStructure);
     
208. 
     
209.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
     
210.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     
211.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;  
     
212.   GPIO_Init(GPIOB, &GPIO_InitStructure);
     
213. 
     
214. 
     
215. 
     
216.   
     
217. }
     
218. 
     
219. 
     
220. /**********   SPI  **********/
     
221. void SPI1_Init(void)
     
222. {
     
223. 
     
224. SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
     
225. SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
     
226. SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
     
227. 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
     
228. SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
     
229. SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
     
230. SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128; //速度不能太快，不然读数出错
     
231. SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
     
232. SPI_InitStructure.SPI_CRCPolynomial = 7;
     
233. SPI_Init(SPI1, &SPI_InitStructure);
     
234. //使能SPI1
     
235. SPI_Cmd(SPI1, ENABLE);  
     
236. }
     
237. 
     
238. 
     
239. void EXTI_Configuration(void)
     
240. {
     
241.   GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource1);
     
242. 
     
243.   /* Configure EXTI Line11 to generate an interrupt on falling edge */  
     
244.   EXTI_InitStructure.EXTI_Line = EXTI_Line1;
     
245.   EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
     
246.   EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
     
247.   EXTI_InitStructure.EXTI_LineCmd = ENABLE;
     
248.   EXTI_Init(&EXTI_InitStructure);
     
249. }
     
250. 
     
251. 
     
252. 
     
253. 
     
254. 
     
255. /*******************************************************************************
     
256. * Function Name  : NVIC_Configuration
     
257. * Description    : Configures the nested vectored interrupt controller.
     
258. * Input          : None
     
259. * Output         : None
     
260. * Return         : None
     
261. *******************************************************************************/
     
262. void NVIC_Configuration(void)
     
263. {
     
264.           NVIC_InitTypeDef NVIC_InitStructure;
     
265. #ifdef  VECT_TAB_RAM
     
266.   /* Set the Vector Table base location at 0x20000000 */
     
267.   NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
     
268. #else  /* VECT_TAB_FLASH  */
     
269.   /* Set the Vector Table base location at 0x08000000 */
     
270.   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
     
271. #endif
     
272. 
     
273. NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
     
274.   
     
275.   /* Enable the EXTI15_10 Interrupt */
     
276.   NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
     
277.   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
     
278.   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
     
279.   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
     
280.   NVIC_Init(&NVIC_InitStructure);
     
281. 
     
282.     NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
     
283.   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
     
284.   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
     
285.   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
     
286.   NVIC_Init(&NVIC_InitStructure);
     
287. 
     
288. }
     
289. 
     
290. 
     
291. void I2C_Configuration(void)
     
292. {
     
293.         I2C_InitTypeDef  I2C_InitStructure;
     
294. 
     
295.         I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
     
296.         I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
     
297.         I2C_InitStructure.I2C_OwnAddress1 =0xc0; // MPU6050 7-bit adress = 0x68, 8-bit adress = 0xD0;
     
298.         I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
     
299.         I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
     
300.         I2C_InitStructure.I2C_ClockSpeed = MPU6050_I2C_Speed;
     
301.   
     
302.   /* Apply I2C configuration after enabling it */
     
303.   I2C_Init(MPU6050_I2C, &I2C_InitStructure);
     
304.   /* I2C Peripheral Enable */  
     
305.   I2C_Cmd(MPU6050_I2C, ENABLE);
     
306. }
     
307. 
     
308. 
     
309. 
     
310. /*定义 fputc 此函数为printf所用*/
     
311. /*
     
312. 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，
     
313. 需要改写fputc这个函数。
     
314. */
     
315. int fputc(int ch,FILE *f)
     
316. ……………………
     
317. 
     
318. …………限于本文篇幅 余下代码请从51黑下载附件…………
     

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