/*******************************************************************************
// GY-521 MPU6050 IIC2aêÔ3ìDò
// ê1óÃμ￥Ƭ»úSTM32F103C8T6
// ¾§Õñ￡o8.00M
// ±àòë»·¾3 Keil uVision4
// ê±¼ä￡o2012Äê5ÔÂ1èÕ
// óëÄ￡¿éᬽó GPIOB6->SCL GPIOB7->SDA
// ê1óÃ￡oSTM32F103C8T6′®¿ú1ᬽóμçÄÔ
// μçÄÔ′®¿úÖúêÖÏÔê¾￡¬2¨ìØÂê￡o115200
// QQ￡o531389319
*******************************************************************************/
#include "stm32f10x_lib.h"
#include <math.h> //Keil library
GPIO_InitTypeDef GPIO_InitStructure;
ErrorStatus HSEStartUpStatus;
#define uchar unsigned char
#define uint unsigned int
// ¶¨òåMPU6050Äú2¿μØÖ·
//****************************************
#define SMPLRT_DIV 0x19 //íóÂYòÇ2éÑùÂê￡¬μäDíÖμ￡o0x07(125Hz)
#define CONFIG 0x1A //μíí¨ÂË2¨ÆμÂê￡¬μäDíÖμ￡o0x06(5Hz)
#define GYRO_CONFIG 0x1B //íóÂYòÇ×Լ켰2aá¿·¶Î§￡¬μäDíÖμ￡o0x18(2»×Ô¼ì￡¬2000deg/s)
#define ACCEL_CONFIG 0x1C //¼óËù¼Æ×Ô¼ì¡￠2aá¿·¶Î§¼°¸ßí¨ÂË2¨ÆμÂê￡¬μäDíÖμ￡o0x01(2»×Ô¼ì￡¬2G￡¬5Hz)
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48
#define PWR_MGMT_1 0x6B //μçÔ′1üàí￡¬μäDíÖμ￡o0x00(Õy3￡ÆôóÃ)
#define WHO_AM_I 0x75 //IICμØÖ·¼Ä′æÆ÷(ĬèÏêyÖμ0x68￡¬Ö»¶á)
//****************************
#define MPU6050_Addr 0xD0 //¶¨òåÆ÷¼tÔúIIC×üÏßÖDμÄ′óμØÖ·,¸ù¾YALT ADDRESSμØÖ·òy½Å2»í¬DT¸Ä
unsigned char TX_DATA[4]; //ÏÔê¾¾Y»o′æÇø
unsigned char TX_DATA1[6]; //ÏÔê¾¾Y»o′æÇø
unsigned char BUF[12]; //½óêÕêy¾Y»o′æÇø
char test=0; //IICóÃμ½
short T_X,T_Y,T_Z,T_T; //X,Y,ZÖá￡¬Î¶è
short ax,ay,az;
//************************************
/*Ä￡ÄaIIC¶Ë¿úêä3öêäè붨òå*/
#define SCL_H GPIOB->BSRR = GPIO_Pin_6
#define SCL_L GPIOB->BRR = GPIO_Pin_6
#define SDA_H GPIOB->BSRR = GPIO_Pin_7
#define SDA_L GPIOB->BRR = GPIO_Pin_7
#define SCL_read GPIOB->IDR & GPIO_Pin_6
#define SDA_read GPIOB->IDR & GPIO_Pin_7
/* oˉêyéêÃ÷ -----------------------------------------------*/
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
void USART1_Configuration(void);
void WWDG_Configuration(void);
void Delay(u32 nTime);
void Delayms(vu32 m);
/* ±äῶ¨òå ----------------------------------------------*/
/*******************************/
/*******************************************************************************
* Function Name : I2C_GPIO_Config
* Description : Configration Simulation IIC GPIO
* Input : None
* Output : None
* Return : None
****************************************************************************** */
void I2C_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
/*******************************************************************************
* Function Name : I2C_delay
* Description : Simulation IIC Timing series delay
* Input : None
* Output : None
* Return : None
****************************************************************************** */
void I2C_delay(void)
{
u8 i=30; //Õaàï¿éòÔóÅ»ˉËù¶è ￡¬¾-2aêÔ×îμíμ½5»1ÄüD′èë
while(i)
{
i--;
}
}
void delay5ms(void)
{
int i=5000;
while(i)
{
i--;
}
}
/*******************************************************************************
* Function Name : I2C_Start
* Description : Master Start Simulation IIC Communication
* Input : None
* Output : None
* Return : Wheather Start
****************************************************************************** */
bool I2C_Start(void)
{
SDA_H;
SCL_H;
I2C_delay();
if(!SDA_read)return FALSE; //SDAÏßÎaμíμçƽÔò×üÏßÃ|,íË3ö
SDA_L;
I2C_delay();
if(SDA_read) return FALSE; //SDAÏßÎa¸ßμçƽÔò×üÏß3ö′í,íË3ö
SDA_L;
I2C_delay();
return TRUE;
}
/*******************************************************************************
* Function Name : I2C_Stop
* Description : Master Stop Simulation IIC Communication
* Input : None
* Output : None
* Return : None
****************************************************************************** */
void I2C_Stop(void)
{
SCL_L;
I2C_delay();
SDA_L;
I2C_delay();
SCL_H;
I2C_delay();
SDA_H;
I2C_delay();
}
/*******************************************************************************
* Function Name : I2C_Ack
* Description : Master Send Acknowledge Single
* Input : None
* Output : None
* Return : None
****************************************************************************** */
void I2C_Ack(void)
{
SCL_L;
I2C_delay();
SDA_L;
I2C_delay();
SCL_H;
I2C_delay();
SCL_L;
I2C_delay();
}
/*******************************************************************************
* Function Name : I2C_NoAck
* Description : Master Send No Acknowledge Single
* Input : None
* Output : None
* Return : None
****************************************************************************** */
void I2C_NoAck(void)
{
SCL_L;
I2C_delay();
SDA_H;
I2C_delay();
SCL_H;
I2C_delay();
SCL_L;
I2C_delay();
}
/*******************************************************************************
* Function Name : I2C_WaitAck
* Description : Master Reserive Slave Acknowledge Single
* Input : None
* Output : None
* Return : Wheather Reserive Slave Acknowledge Single
****************************************************************************** */
bool I2C_WaitAck(void) //·μ»ØÎa:=1óDACK,=0ÎTACK
{
SCL_L;
I2C_delay();
SDA_H;
I2C_delay();
SCL_H;
I2C_delay();
if(SDA_read)
{
SCL_L;
I2C_delay();
return FALSE;
}
SCL_L;
I2C_delay();
return TRUE;
}
/*******************************************************************************
* Function Name : I2C_SendByte
* Description : Master Send a Byte to Slave
* Input : Will Send Date
* Output : None
* Return : None
****************************************************************************** */
void I2C_SendByte(u8 SendByte) //êy¾Y′ó¸ßλμ½μíλ//
{
u8 i=8;
while(i--)
{
SCL_L;
I2C_delay();
if(SendByte&0x80)
SDA_H;
else
SDA_L;
SendByte<<=1;
I2C_delay();
SCL_H;
I2C_delay();
}
SCL_L;
}
/*******************************************************************************
* Function Name : I2C_RadeByte
* Description : Master Reserive a Byte From Slave
* Input : None
* Output : None
* Return : Date From Slave
****************************************************************************** */
unsigned char I2C_RadeByte(void) //êy¾Y′ó¸ßλμ½μíλ//
{
u8 i=8;
u8 ReceiveByte=0;
SDA_H;
while(i--)
{
ReceiveByte<<=1;
SCL_L;
I2C_delay();
SCL_H;
I2C_delay();
if(SDA_read)
{
ReceiveByte|=0x01;
}
}
SCL_L;
return ReceiveByte;
}
//ZRX
//μ￥×Ö½úD′èë*******************************************
bool Single_Write(unsigned char SlaveAddress,unsigned char REG_Address,unsigned char REG_data) //void
{
if(!I2C_Start())return FALSE;
I2C_SendByte(SlaveAddress); //·￠Ëíé豸μØÖ·+D′DÅoÅ//I2C_SendByte(((REG_Address & 0x0700) >>7) | SlaveAddress & 0xFFFE);//éèÖøßÆeê¼μØÖ·+Æ÷¼tμØÖ·
if(!I2C_WaitAck()){I2C_Stop(); return FALSE;}
I2C_SendByte(REG_Address ); //éèÖÃμíÆeê¼μØÖ·
I2C_WaitAck();
I2C_SendByte(REG_data);
I2C_WaitAck();
I2C_Stop();
delay5ms();
return TRUE;
}
//μ￥×Ö½ú¶áè¡*****************************************
unsigned char Single_Read(unsigned char SlaveAddress,unsigned char REG_Address)
{ unsigned char REG_data;
if(!I2C_Start())return FALSE;
I2C_SendByte(SlaveAddress); //I2C_SendByte(((REG_Address & 0x0700) >>7) | REG_Address & 0xFFFE);//éèÖøßÆeê¼μØÖ·+Æ÷¼tμØÖ·
if(!I2C_WaitAck()){I2C_Stop();test=1; return FALSE;}
I2C_SendByte((u8) REG_Address); //éèÖÃμíÆeê¼μØÖ·
I2C_WaitAck();
I2C_Start();
I2C_SendByte(SlaveAddress+1);
I2C_WaitAck();
REG_data= I2C_RadeByte();
I2C_NoAck();
I2C_Stop();
//return TRUE;
return REG_data;
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o RCC_Configuration(void)
** oˉêy1|Äü ￡o ê±Öó3õê¼»ˉ
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void RCC_Configuration(void)
{
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* 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)
{
}
}
/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG and AFIO clocks */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB , ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD , ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOE | RCC_APB2Periph_GPIOF , ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOG | RCC_APB2Periph_AFIO , ENABLE);
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o GPIO_Configuration(void)
** oˉêy1|Äü ￡o ¶Ë¿ú3õê¼»ˉ
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD, ENABLE );
/* Configure USART1 Tx (PA.09) as alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; // Ñ¡ÖD1ü½Å9
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // ¸′óÃíÆíìêä3ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // ×î¸ßêä3öËùÂê50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure); // Ñ¡ÔñA¶Ë¿ú
/* Configure USART1 Rx (PA.10) as input floating */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //Ñ¡ÖD1ü½Å10
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //¸¡¿Õêäèë
GPIO_Init(GPIOA, &GPIO_InitStructure); //Ñ¡ÔñA¶Ë¿ú
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o USART1_Configuration(void)
** oˉêy1|Äü ￡o ′®¿ú13õê¼»ˉ
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void USART1_Configuration(void)
{
USART_InitTypeDef USART_InitStructure;
USART_ClockInitTypeDef USART_ClockInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 |RCC_APB2Periph_USART1, ENABLE );
USART_ClockInitStructure.USART_Clock = USART_Clock_Disable; // ê±Öóμíμçƽ»î¶ˉ
USART_ClockInitStructure.USART_CPOL = USART_CPOL_Low; // ê±Öóμíμçƽ
USART_ClockInitStructure.USART_CPHA = USART_CPHA_2Edge; // ê±Öóμú¶t¸ö±ßÑؽøDDêy¾Y2¶»ñ
USART_ClockInitStructure.USART_LastBit = USART_LastBit_Disable; // ×îoóò»Î»êy¾YμÄê±ÖóÂö3å2»′óSCLKêä3ö
/* Configure the USART1 synchronous paramters */
USART_ClockInit(USART1, &USART_ClockInitStructure); // ê±Öó2Îêy3õê¼»ˉéèÖÃ
USART_InitStructure.USART_BaudRate = 115200; // 2¨ìØÂêÎa￡o115200
USART_InitStructure.USART_WordLength = USART_WordLength_8b; // 8λêy¾Y
USART_InitStructure.USART_StopBits = USART_StopBits_1; // ÔúÖ¡½áÎ2′«êä1¸öí￡Ö1λ
USART_InitStructure.USART_Parity = USART_Parity_No ; // Ææżê§Äü
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; // ó2¼tá÷¿ØÖÆê§Äü
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; // ·￠Ëíê1Äü+½óêÕê1Äü
/* Configure USART1 basic and asynchronous paramters */
USART_Init(USART1, &USART_InitStructure);
/* Enable USART1 */
USART_ClearFlag(USART1, USART_IT_RXNE); //ÇåÖD¶Ï￡¬òÔÃaò»ÆôóÃÖD¶Ïoóá￠¼′2úéúÖD¶Ï
USART_ITConfig(USART1,USART_IT_RXNE, ENABLE); //ê1ÄüUSART1ÖD¶ÏÔ′
USART_Cmd(USART1, ENABLE); //USART1×ü¿a1Ø￡o¿aÆô
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o NVIC_Configuration(void)
** oˉêy1|Äü ￡o ÖD¶Ï3õê¼»ˉ
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
NVIC_InitStructure.NVIC_IRQChannel = WWDG_IRQChannel;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_Init(&NVIC_InitStructure);
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o WWDG_Configuration(void)
** oˉêy1|Äü ￡o ¿′ÃÅ1·3õê¼»ˉ
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void WWDG_Configuration(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
WWDG_SetPrescaler(WWDG_Prescaler_8); // WWDG clock counter = (PCLK1/4096)/8 = 244 Hz (~4 ms)
WWDG_SetWindowValue(0x41); // Set Window value to 0x41
WWDG_Enable(0x50); // Enable WWDG and set counter value to 0x7F, WWDG timeout = ~4 ms * 64 = 262 ms
WWDG_ClearFlag(); // Clear EWI flag
WWDG_EnableIT(); // Enable EW interrupt
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o Delay(vu32 nCount)
** oˉêy1|Äü ￡o Ñóê±oˉêy
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void Delay(vu32 nCount)
{
for(; nCount != 0; nCount--);
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o void Delayms(vu32 m)
** oˉêy1|Äü ￡o 3¤Ñóê±oˉêy m=1,Ñóê±1ms
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void Delayms(vu32 m)
{
u32 i;
for(; m != 0; m--)
for (i=0; i<50000; i++);
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o WWDG_IRQHandler(void)
** oˉêy1|Äü ￡o ′°¿úìáÇ°»½DÑÖD¶Ï
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void WWDG_IRQHandler(void)
{
/* Update WWDG counter */
WWDG_SetCounter(0x50);
/* Clear EWI flag */
WWDG_ClearFlag();
}
//************************************************
//3õê¼»ˉMPU6050￡¬¸ù¾YDèòaÇë2ο¼pdf½øDDDT¸Ä************************
void Init_MPU6050(void)
{
/*
Single_Write(MPU6050_Addr,PWR_M, 0x80); //
Single_Write(MPU6050_Addr,SMPL, 0x07); //
Single_Write(MPU6050_Addr,DLPF, 0x1E); //¡à2000¡ã
Single_Write(MPU6050_Addr,INT_C, 0x00 ); //
Single_Write(MPU6050_Addr,PWR_M, 0x00); //
*/
Single_Write(MPU6050_Addr,PWR_MGMT_1, 0x00); //½a3yDYÃß×′ì¬
Single_Write(MPU6050_Addr,SMPLRT_DIV, 0x07);
Single_Write(MPU6050_Addr,CONFIG, 0x06);
Single_Write(MPU6050_Addr,GYRO_CONFIG, 0x18);
Single_Write(MPU6050_Addr,ACCEL_CONFIG, 0x01);
}
//******¶áè¡MPU6050êy¾Y****************************************
void READ_MPU6050(void)
{
BUF[0]=Single_Read(MPU6050_Addr,GYRO_XOUT_L);
BUF[1]=Single_Read(MPU6050_Addr,GYRO_XOUT_H);
T_X= (BUF[1]<<8)|BUF[0];
T_X/=16.4; //¶á衼ÆËãXÖáêy¾Y
BUF[2]=Single_Read(MPU6050_Addr,GYRO_YOUT_L);
BUF[3]=Single_Read(MPU6050_Addr,GYRO_YOUT_H);
T_Y= (BUF[3]<<8)|BUF[2];
T_Y/=16.4; //¶á衼ÆËãYÖáêy¾Y
BUF[4]=Single_Read(MPU6050_Addr,GYRO_ZOUT_L);
BUF[5]=Single_Read(MPU6050_Addr,GYRO_ZOUT_H);
T_Z= (BUF[5]<<8)|BUF[4];
T_Z/=16.4; //¶á衼ÆËãZÖáêy¾Y
BUF[6]=Single_Read(MPU6050_Addr,ACCEL_XOUT_L);
BUF[7]=Single_Read(MPU6050_Addr,ACCEL_XOUT_H);
ax=((BUF[7]<<8)|BUF[6]);
BUF[8]=Single_Read(MPU6050_Addr,ACCEL_YOUT_L);
BUF[9]=Single_Read(MPU6050_Addr,ACCEL_YOUT_H);
ay=((BUF[9]<<8)|BUF[8]);
BUF[10]=Single_Read(MPU6050_Addr,ACCEL_ZOUT_L);
BUF[11]=Single_Read(MPU6050_Addr,ACCEL_ZOUT_H);
az=((BUF[11]<<8)|BUF[10]);
// BUF[6]=Single_Read(MPU6050_Addr,TEMP_OUT_L);
// BUF[7]=Single_Read(MPU6050_Addr,TEMP_OUT_H);
// T_T=(BUF[7]<<8)|BUF[6];
// T_T = 35+ ((double) (T_T + 13200)) / 280;// ¶á衼ÆËã3öζè
}
/*
********************************************************************************
** oˉêyÃû3Æ ￡o main(void)
** oˉêy1|Äü ￡o Ö÷oˉêy
** êä èë ￡o ÎT
** êä 3ö ￡o ÎT
** ·μ »Ø ￡o ÎT
********************************************************************************
*/
void USART1_SendData(uchar SendData)
{
USART_SendData(USART1, SendData);
Delayms(1);
}
//********′®¿ú·￠Ëíêy¾Y***************************************
void Send_data(uchar axis)
{uchar i;
USART1_SendData(axis);
USART1_SendData(':');
for(i=0;i<4;i++)USART1_SendData(TX_DATA[i]);
USART1_SendData(' ');
USART1_SendData(' ');
}
void Send_data1(uchar axis)
{uchar i;
USART1_SendData(axis);
USART1_SendData(':');
for(i=0;i<6;i++)USART1_SendData(TX_DATA1[i]);
USART1_SendData(' ');
USART1_SendData(' ');
}
// DATA_printf(TX_DATA,T_X);//×a»»XÖáêy¾Yμ½êy×é
void DATA_printf(uchar *s,short temp_data)
{
if(temp_data<0){
temp_data=-temp_data;
*s='-';
}
else *s=' ';//μúò»¸ö
*++s =temp_data/100+0x30;//μú¶t¸ö
temp_data=temp_data%100; //è¡óàÔËËã
*++s =temp_data/10+0x30;//3
temp_data=temp_data%10; //è¡óàÔËËã
*++s =temp_data+0x30; //4
}
void DATA_printf1(uchar *s,short temp_data)
{
if(temp_data<0){
temp_data=-temp_data;
*s='-';
}
else *s=' ';//μúò»¸ö
*(s+1) =temp_data/10000+0x30;//3
temp_data=temp_data%10000;
*(s+2) =temp_data/1000+0x30;//3
temp_data=temp_data%1000;
*(s+3) =temp_data/100+0x30;//3
temp_data=temp_data%100;
*(s+4) =temp_data/10+0x30;//3
temp_data=temp_data%10; //è¡óàÔËËã
*(s+5) =temp_data+0x30; //4
}
int main(void)
{
RCC_Configuration(); //ÅäÖÃRCC
GPIO_Configuration(); //ÅäÖÃGPIO
USART1_Configuration(); //ÅäÖÃ′®¿ú1
I2C_GPIO_Config(); //ÅäÖÃIICê1óö˿ú
Delayms(10); //Ñóê±
Init_MPU6050(); //3õê¼»ˉMPU6050
while(1)
{
READ_MPU6050(); //¶áè¡MPU6050êy¾Y
DATA_printf(TX_DATA,T_X);//×a»»XÖáêy¾Yμ½êy×é
Send_data('X'); //·￠ËíXÖáêy
DATA_printf(TX_DATA,T_Y);//×a»»YÖáêy¾Yμ½êy×é
Send_data('Y'); //·￠ËíYÖáêy
DATA_printf(TX_DATA,T_Z);//×a»»ZÖáêy¾Yμ½êy×é
Send_data('Z'); //·￠ËíZÖáêy
/*
DATA_printf(TX_DATA,T_T);//×a»»Î¶èêy¾Yμ½êy×é
Send_data('T'); //·￠Ëíζèêy¾Y
*/
DATA_printf1(TX_DATA1,ax);//×a»»Î¶èêy¾Yμ½êy×é
Send_data1('A');
DATA_printf1(TX_DATA1,ay);//×a»»Î¶èêy¾Yμ½êy×é
Send_data1('B');
DATA_printf1(TX_DATA1,ay);//×a»»Î¶èêy¾Yμ½êy×é
Send_data1('C');
USART1_SendData(0X0D); //»»DD
USART1_SendData(0X0A); //»Ø3μ
Delayms(5); //Ñóê±
}
}
/*************½áêø***************/
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