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#include "stm32f10x.h" #include "MPU6050_Reg.h"
#define MPU6050_ADDRESS 0xD0
void MPU6050_WaitEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT) { uint32_t Timeout; Timeout = 10000; while (I2C_CheckEvent(I2Cx, I2C_EVENT) != SUCCESS) { Timeout --; if (Timeout == 0) { break; } } }
void MPU6050_WriteReg(uint8_t RegAddress, uint8_t Data) { I2C_GenerateSTART(I2C2, ENABLE); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT); I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Transmitter); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED); I2C_SendData(I2C2, RegAddress); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTING); I2C_SendData(I2C2, Data); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED); I2C_GenerateSTOP(I2C2, ENABLE); }
uint8_t MPU6050_ReadReg(uint8_t RegAddress) { uint8_t Data; I2C_GenerateSTART(I2C2, ENABLE); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT); I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Transmitter); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED); I2C_SendData(I2C2, RegAddress); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_BYTE_TRANSMITTED); I2C_GenerateSTART(I2C2, ENABLE); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT); I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Receiver); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED); I2C_AcknowledgeConfig(I2C2, DISABLE); I2C_GenerateSTOP(I2C2, ENABLE); MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_BYTE_RECEIVED); Data = I2C_ReceiveData(I2C2); I2C_AcknowledgeConfig(I2C2, ENABLE); return Data; }
void MPU6050_Init(void) { RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); I2C_InitTypeDef I2C_InitStructure; I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; I2C_InitStructure.I2C_ClockSpeed = 50000; I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; I2C_InitStructure.I2C_Ack = I2C_Ack_Enable; I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; I2C_InitStructure.I2C_OwnAddress1 = 0x00; I2C_Init(I2C2, &I2C_InitStructure); I2C_Cmd(I2C2, ENABLE); MPU6050_WriteReg(MPU6050_PWR_MGMT_1, 0x01); MPU6050_WriteReg(MPU6050_PWR_MGMT_2, 0x00); MPU6050_WriteReg(MPU6050_SMPLRT_DIV, 0x09); MPU6050_WriteReg(MPU6050_CONFIG, 0x06); MPU6050_WriteReg(MPU6050_GYRO_CONFIG, 0x18); MPU6050_WriteReg(MPU6050_ACCEL_CONFIG, 0x18); }
uint8_t MPU6050_GetID(void) { return MPU6050_ReadReg(MPU6050_WHO_AM_I); }
void MPU6050_GetData(int16_t *AccX, int16_t *AccY, int16_t *AccZ, int16_t *GyroX, int16_t *GyroY, int16_t *GyroZ) { uint8_t DataH, DataL; DataH = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H); DataL = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L); *AccX = (DataH << 8) | DataL; DataH = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H); DataL = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L); *AccY = (DataH << 8) | DataL; DataH = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H); DataL = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L); *AccZ = (DataH << 8) | DataL; DataH = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H); DataL = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L); *GyroX = (DataH << 8) | DataL; DataH = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H); DataL = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L); *GyroY = (DataH << 8) | DataL; DataH = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H); DataL = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L); *GyroZ = (DataH << 8) | DataL; }
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