MPU6050.c

  MPU6050.c如下：

#include "myiic.h"
#include "MPU6050.h"
#include "delay.h"static void Single_WriteI2C ( uchar REG_Address, uchar REG_data ) {IIC_Start();IIC_Send_Byte ( SlaveAddress );IIC_Send_Byte ( REG_Address );IIC_Send_Byte ( REG_data );IIC_Stop();
}static uchar Single_ReadI2C ( uchar REG_Address ) {uchar REG_data;IIC_Start();IIC_Send_Byte ( SlaveAddress );IIC_Send_Byte ( REG_Address );IIC_Start();IIC_Send_Byte ( SlaveAddress + 1 );REG_data = IIC_Read_Byte ( 0 );IIC_Stop();return REG_data;
}void InitMPU6050 ( void ) {IIC_Init();delay_ms ( 200 );Single_WriteI2C ( PWR_MGMT_1,   0x00 );Single_WriteI2C ( SMPLRT_DIV,   0x07 );Single_WriteI2C ( CONFIG,       0x06 );Single_WriteI2C ( GYRO_CONFIG,  0x18 );Single_WriteI2C ( ACCEL_CONFIG, 0x01 );delay_ms ( 200 );
}int GetData ( uchar REG_Address ) {uchar H, L;H = Single_ReadI2C ( REG_Address );L = Single_ReadI2C ( REG_Address + 1 );return ( H << 8 ) + L;
}

MPU6050.h

  MPU6050.h如下：

#ifndef MPU6050
#define MPU6050typedef unsigned char  uchar;
typedef unsigned short ushort;
typedef unsigned int   uint;#define SMPLRT_DIV   0x19 /* 陀螺仪采样率 */
#define CONFIG       0x1A /* 低通滤波频率 */
#define GYRO_CONFIG  0x1B /* 陀螺仪自检及测量范围 */
#define ACCEL_CONFIG 0x1C /* 加速计自检、测量范围及高通滤波频率 */
#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 /* 电源管理 */
#define WHO_AM_I     0x75 /* IIC地址寄存器 */#define SlaveAddress 0xD0void InitMPU6050 ( void );
int GetData ( uchar REG_Address );
#endif

myiic.c

  myiic.c如下：

#include "myiic.h"
#include "delay.h"void IIC_Init ( void ) {GPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd ( RCC_APB2Periph_GPIOC, ENABLE );GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_11;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP ;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init ( GPIOC, &GPIO_InitStructure );IIC_SCL = 1;IIC_SDA = 1;
}void IIC_Start ( void ) {SDA_OUT();IIC_SDA = 1;IIC_SCL = 1;delay_us ( 4 );IIC_SDA = 0;delay_us ( 4 );IIC_SCL = 0;
}void IIC_Stop ( void ) {SDA_OUT();IIC_SCL = 0;IIC_SDA = 0;delay_us ( 4 );IIC_SCL = 1;IIC_SDA = 1;delay_us ( 4 );
}u8 IIC_Wait_Ack ( void ) {u8 ucErrTime = 0;SDA_IN();IIC_SDA = 1;delay_us ( 1 );IIC_SCL = 1;delay_us ( 1 );while ( READ_SDA ) {ucErrTime++;if ( ucErrTime > 250 ) {IIC_Stop();return 1;}}IIC_SCL = 0;return 0;
}void IIC_Ack ( void ) {IIC_SCL = 0;SDA_OUT();IIC_SDA = 0;delay_us ( 2 );IIC_SCL = 1;delay_us ( 2 );IIC_SCL = 0;
}void IIC_NAck ( void ) {IIC_SCL = 0;SDA_OUT();IIC_SDA = 1;delay_us ( 2 );IIC_SCL = 1;delay_us ( 2 );IIC_SCL = 0;
}void IIC_Send_Byte ( u8 txd ) {u8 t;SDA_OUT();IIC_SCL = 0;for ( t = 0; t < 8; t++ ) {IIC_SDA = ( txd & 0x80 ) >> 7;txd <<= 1;delay_us ( 2 );IIC_SCL = 1;delay_us ( 2 );IIC_SCL = 0;delay_us ( 2 );}IIC_Wait_Ack();
}u8 IIC_Read_Byte ( unsigned char ack ) {unsigned char i, receive = 0;SDA_IN();for ( i = 0; i < 8; i++ ) {IIC_SCL = 0;delay_us ( 2 );IIC_SCL = 1;receive <<= 1;if ( READ_SDA ) {receive++;}delay_us ( 1 );}if ( !ack ) {IIC_NAck();} else {IIC_Ack();}return receive;
}

myiic.h

  myiic.h如下：

#ifndef __MYIIC_H
#define __MYIIC_H
#include "sys.h"#define SDA_IN()  {GPIOC->CRH &= 0XFFFF0FFF; GPIOC->CRH |= 8 << 12;}
#define SDA_OUT() {GPIOC->CRH &= 0XFFFF0FFF; GPIOC->CRH |= 3 << 12;}#define IIC_SCL  PCout(12)
#define IIC_SDA  PCout(11)
#define READ_SDA PCin(11)void IIC_Init ( void );
void IIC_Start ( void );
void IIC_Stop ( void );
void IIC_Send_Byte ( u8 txd );
u8 IIC_Read_Byte ( unsigned char ack );
u8 IIC_Wait_Ack ( void );
void IIC_Ack ( void );
void IIC_NAck ( void );
void IIC_Write_One_Byte ( u8 daddr, u8 addr, u8 data );
u8 IIC_Read_One_Byte ( u8 daddr, u8 addr );
#endif

main.c

  main.c如下：

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "usart.h"
#include "MPU6050.h"int main ( void ) {SystemInit();delay_init ( 72 );NVIC_Configuration();uart_init ( 9600 );LED_Init();InitMPU6050();while ( 1 ) {printf ( "%d %d %d\r\n", GetData ( ACCEL_XOUT_H ), GetData ( ACCEL_YOUT_H ), GetData ( ACCEL_ZOUT_H ) );delay_ms ( 500 );LED1 = !LED1;}
}