/********************************** (C) COPYRIGHT *******************************
* File Name : main.c
* Author : WCH
* Version : V1.0.0
* Date : 2023/12/22
* Description : Main program body.
*********************************************************************************
* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
* Attention: This software (modified or not) and binary are used for
* microcontroller manufactured by Nanjing Qinheng Microelectronics.
*******************************************************************************/
/*
*@Note
*7-bit addressing mode, master/slave mode, transceiver routine:
*I2C1_SCL(PC2)\I2C1_SDA(PC1).
*This routine demonstrates that Master sends and Slave receives.
*Note: The two boards download the Master and Slave programs respectively,
* and power on at the same time.
* Hardware connection:
* PC2 -- PC2
* PC1 -- PC1
*
Mpu6050 : Id Address = 0x68 wrt , 0x69 rd
- Compiles Downloads , Returns same data : Temp=175, AX=-11823 , AY=-11823 , AZ=-
11823 , GX=-11823 , AGY=-11823 , GZ=-11823
- TX = PA5
- RX = PA6
Output :
: MPU6050 003 :
- SystemClk:48000000
> IIC_Init() : bound=100000 , address=0x68 :
< IIC_Init() .
> MPU6050_Write() :
= MPU6050_Write() -> MPU_Set_Gyro_Fsr()
= MPU6050_Write() -> MPU_Set_Accel_Fsr()
= MPU6050_Write() -> MPU_Set_Rate()
= MPU6050_Write() ...
< MPU6050_Write() .
> mpu6050 Test ...
Temperature:2849
ACC : X=14846 , Y=292 , Z=-10048
GYRO : X=804 , Y=3665 , Z=-53
Temperature:2850
ACC : X=16938 , Y=-108 , Z=-4118
GYRO : X=-2373 , Y=7016 , Z=1027
*/
/*
*@Note
I2C interface routine to operate EEPROM peripheral:
I2C1_SCL(PC2)\I2C1_SDA(PC1).
This example uses EEPROM for AT24Cxx series.
Steps:
READ EEPROM:Start + 0xA0 + 8bit Data Address + Start + 0xA1 + Read Data + Stop.
WRITE EERPOM:Start + 0xA0 + 8bit Data Address + Write Data + Stop.
*/
#include "debug.h"
///
u8 AT24CXX_ReadOneByte( u16 ReadAddr );
void AT24CXX_WriteOneByte( u16 WriteAddr, u8 DataToWrite );
void AT24CXX_Read( u16 ReadAddr, u8 *pBuffer, u16 NumToRead );
void MPU6050_Write(); //void AT24CXX_Write(
u16 WriteAddr, u8 *pBuffer, u16 NumToWrite ) ;
///
#define __MPU6050_H
//MPU6050 AD0
#define MPU_AD0_H GPIO_SetBits( GPIOC,GPIO_Pin_1) // SDA
#define MPU_AD0_L GPIO_ResetBits(GPIOC,GPIO_Pin_1) // SDA
#define MPU_ACCEL_OFFS_REG 0X06 //accel_offs
#define MPU_PROD_ID_REG 0X0C //prod id
#define MPU_SELF_TESTX_REG 0X0D //X
#define MPU_SELF_TESTY_REG 0X0E //Y
#define MPU_SELF_TESTZ_REG 0X0F //Z
#define MPU_SELF_TESTA_REG 0X10 //A
#define MPU_SAMPLE_RATE_REG 0X19 //
#define MPU_CFG_REG 0X1A //
#define MPU_GYRO_CFG_REG 0X1B //
#define MPU_ACCEL_CFG_REG 0X1C //
#define MPU_MOTION_DET_REG 0X1F //
#define MPU_FIFO_EN_REG 0X23 //FIFO
#define MPU_INTBP_CFG_REG 0X37 // /
#define MPU_INT_EN_REG 0X38 //
#define MPU_INT_STA_REG 0X3A //
#define MPU_ACCEL_XOUTH_REG 0X3B //X 8
#define MPU_ACCEL_XOUTL_REG 0X3C //X 8
#define MPU_ACCEL_YOUTH_REG 0X3D //Y 8
#define MPU_ACCEL_YOUTL_REG 0X3E //Y 8
#define MPU_ACCEL_ZOUTH_REG 0X3F //Z 8
#define MPU_ACCEL_ZOUTL_REG 0X40 //Z 8
#define MPU_TEMP_OUTH_REG 0X41 //
#define MPU_TEMP_OUTL_REG 0X42 //8
#define MPU_GYRO_XOUTH_REG 0X43 //X 8
#define MPU_GYRO_XOUTL_REG 0X44 //X 8
#define MPU_GYRO_YOUTH_REG 0X45 //Y 8
#define MPU_GYRO_YOUTL_REG 0X46 //Y 8
#define MPU_GYRO_ZOUTH_REG 0X47 //Z 8
#define MPU_GYRO_ZOUTL_REG 0X48 //Z 8
#define MPU_I2CSLV1_DO_REG 0X64 //IIC1
#define MPU_SIGPATH_RST_REG 0X68 //
#define MPU_MDETECT_CTRL_REG 0X69 //
#define MPU_USER_CTRL_REG 0X6A //
#define MPU_PWR_MGMT1_REG 0X6B //1
#define MPU_PWR_MGMT2_REG 0X6C //2
#define MPU_FIFO_CNTH_REG 0X72 //FIFO
#define MPU_FIFO_CNTL_REG 0X73 //FIFO
#define MPU_FIFO_RW_REG 0X74 //FIFO
#define MPU_DEVICE_ID_REG 0X75 //ID
#define MPU_ADDR 0X68
u8 MPU_Set_Gyro_Fsr(u8 fsr);
u8 MPU_Set_Accel_Fsr(u8 fsr);
u8 MPU_Set_LPF(u16 lpf);
u8 MPU_Set_Rate(u16 rate);
short MPU_Get_Temperature(void);
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);
u8 MPU_Set_Gyro_Fsr(u8 fsr)
{
// return( MPU_Write_Byte( MPU_GYRO_CFG_REG , fsr << 3 ) );//
AT24CXX_WriteOneByte( MPU_GYRO_CFG_REG , fsr << 3 ) ;
return( 0 );
}
u8 MPU_Set_Accel_Fsr(u8 fsr)
{
// return MPU_Write_Byte( MPU_ACCEL_CFG_REG , fsr << 3 );//
AT24CXX_WriteOneByte( MPU_ACCEL_CFG_REG , fsr << 3 ) ;
return( 0 );
}
u8 MPU_Set_LPF(u16 lpf)
{
u8 data = 0;
if( lpf >= 188 )
data=1;
else if( lpf >= 98 )
data=2;
else if( lpf >= 42 )
data=3;
else if( lpf >= 20 )
data=4;
else if( lpf >= 10 )
data=5;
else
data = 6;
// // return( MPU_Write_Byte( MPU_CFG_REG , data ) );
// return( AT24CXX_WriteOneByte( MPU_CFG_REG , data ) );
AT24CXX_WriteOneByte( MPU_CFG_REG , data ) ;
return(0);
}
u8 MPU_Set_Rate(u16 rate)
{
u8 data;
if(rate > 1000)
rate = 1000;
if(rate < 4)
rate = 4;
data = 1000 / rate - 1 ;
// // data = MPU_Write_Byte( MPU_SAMPLE_RATE_REG , data ); //
AT24CXX_WriteOneByte( MPU_SAMPLE_RATE_REG , data ); //
return MPU_Set_LPF( rate / 2 ); //LPF
}
short MPU_Get_Temperature(void)
{
u8 buf[2];
short raw;
float temp;
// // MPU_Read_Len( MPU_ADDR , MPU_TEMP_OUTH_REG , 2 , buf );
AT24CXX_Read( MPU_TEMP_OUTH_REG , buf , 2 );
raw = ((u16)buf[0]<<8) | buf[1];
temp = 36.53 + ((double)raw) / 340;
return( temp);
}
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
{
u8 buf[6],res = 0 ;
//loc_gyro();
// // res = MPU_Read_Len( MPU_ADDR , MPU_GYRO_XOUTH_REG , 6 , buf );
AT24CXX_Read( MPU_GYRO_XOUTH_REG , buf , 6 );
// // if( res == 0 )
{
*gx = ((u16)buf[0]<<8) | buf[1];
*gy = ((u16)buf[2]<<8) | buf[3];
*gz = ((u16)buf[4]<<8) | buf[5];
printf("GYRO : X=%d , Y=%d , Z=%d \r\n",*gx,*gy,*gz);
}
return res;;
}
u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
{
u8 buf[6] , res = 0 ;
// // res = MPU_Read_Len( MPU_ADDR , MPU_ACCEL_XOUTH_REG , 6 , buf );
AT24CXX_Read( MPU_ACCEL_XOUTH_REG , buf , 6 );
// // if( res == 0 )
{
*ax = ((u16)buf[0]<<8) | buf[1];
*ay = ((u16)buf[2]<<8) | buf[3];
*az = ((u16)buf[4]<<8) | buf[5];
*ax +=*ax; *ax = *ax/1000; //loc gia tri goc quay tới
*ay +=*ay; *ay = *ay/1000; //loc gia tri goc trái phải
*az +=*az; *az = *az/1000; //lọc giá trị góc
printf("ACC : X=%d , Y=%d , Z=%d \r\n", *ax , *ay , *az );
}
return res;;
}
int MPU6050_TEST(void)
{
short aacx,aacy,aacz;
short gyrox,gyroy,gyroz;
short temp;
while( 1 )
{
temp = MPU_Get_Temperature(); //
MPU_Get_Accelerometer(&aacx,&aacy,&aacz); //
//MPU_Get_Gyroscope(&gyrox,&gyroy,&gyroz); //
//printf("\r\n Temperature:%d \r\n",temp);
Delay_Ms(500);
}
}
///
/**********************************************************************
*@Note:
AT24Cxx
READ EEPROM Start + 0xA0 + 8bit Data Address + Start + 0xA1 + Read Data + Stop.
WRITE EERPOM Start + 0xA0 + 8bit Data Address + Write Data + Stop.
*******************************************************************************/
/* EERPOM DATA ADDRESS Length Definition */
#define Address_8bit 0
#define Address_16bit 1
/* EERPOM DATA ADDRESS Length Selection */
#define Address_Lenth Address_8bit
//#define Address_Lenth Address_16bit
/* Global define */
#define SIZE sizeof(TEXT_Buffer)
/* Global Variable */
const u8 TEXT_Buffer[]={"CH32V00x I2C TEST"};
/*********************************************************************
* @fn IIC_Init
* @brief Initializes the IIC peripheral.
* @return none
*/
void IIC_Init(u32 bound, u16 address)
{
printf("> IIC_Init() : bound=%d , address=%02X :\r\n" , bound , address );
GPIO_InitTypeDef GPIO_InitStructure={0};
I2C_InitTypeDef I2C_InitTSturcture={0};
RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE );
RCC_APB1PeriphClockCmd( RCC_APB1Periph_I2C1, ENABLE );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOC, &GPIO_InitStructure );
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init( GPIOC, &GPIO_InitStructure );
I2C_InitTSturcture.I2C_ClockSpeed = bound;
I2C_InitTSturcture.I2C_Mode = I2C_Mode_I2C;
I2C_InitTSturcture.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitTSturcture.I2C_OwnAddress1 = address;
I2C_InitTSturcture.I2C_Ack = I2C_Ack_Enable;
I2C_InitTSturcture.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_Init( I2C1, &I2C_InitTSturcture );
I2C_Cmd( I2C1, ENABLE );
I2C_AcknowledgeConfig( I2C1, ENABLE );
printf("< IIC_Init() .\r\n");
}
/*********************************************************************
* @fn AT24CXX_Init
* @brief Initializes AT24xx EEPROM.
* @return none
*/
void MPU6050_Init(void) //void AT24CXX_Init(void)
{
IIC_Init( 100000, 0x68 ); //IIC_Init( 100000, 0xA0 );
}
/*********************************************************************
* @fn AT24CXX_ReadOneByte
* @brief Read one data from EEPROM.
* @param ReadAddr - Read first address.
* @return temp - Read data.
*/
u8 AT24CXX_ReadOneByte(u16 ReadAddr)
{
u8 temp=0;
while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );
I2C_GenerateSTART( I2C1, ENABLE );
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
I2C_Send7bitAddress( I2C1, (0X68<<1) , I2C_Direction_Transmitter );
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) );
// Send Address 8b / 16b : //
#if (Address_Lenth == Address_8bit)
I2C_SendData( I2C1, (u8)(ReadAddr&0x00FF) );
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );
#endif
I2C_GenerateSTART( I2C1, ENABLE );
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
I2C_Send7bitAddress( I2C1, (0X68<<1) , I2C_Direction_Receiver );
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED ) );
while( I2C_GetFlagStatus( I2C1, I2C_FLAG_RXNE ) == RESET )
I2C_AcknowledgeConfig( I2C1, DISABLE );
temp = I2C_ReceiveData( I2C1 );
I2C_GenerateSTOP( I2C1, ENABLE );
return temp;
}
/*********************************************************************
* @fn AT24CXX_WriteOneByte
* @brief Write one data to EEPROM.
* @param WriteAddr - Write frist address.
* @return DataToWrite - Write data.
*/
void AT24CXX_WriteOneByte(u16 WriteAddr, u8 DataToWrite)
{
while( I2C_GetFlagStatus( I2C1, I2C_FLAG_BUSY ) != RESET );
I2C_GenerateSTART( I2C1, ENABLE );
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_MODE_SELECT ) );
// I2C_Send7bitAddress( I2C1, 0X68 , I2C_Direction_Transmitter );
I2C_Send7bitAddress( I2C1, (0X68<<1) , I2C_Direction_Transmitter );
//note:0x68<1
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ) );
// Send Address 8b / 16b : //
#if (Address_Lenth == Address_8bit)
I2C_SendData( I2C1, (u8)(WriteAddr&0x00FF) );
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );
//#elif (Address_Lenth == Address_16bit)
// I2C_SendData( I2C1, (u8)(WriteAddr>>8) );
// while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );
//
// I2C_SendData( I2C1, (u8)(WriteAddr&0x00FF) );
// while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );
#endif
if( I2C_GetFlagStatus( I2C1, I2C_FLAG_TXE ) != RESET )
{
I2C_SendData( I2C1, DataToWrite );
}
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );
I2C_GenerateSTOP( I2C1, ENABLE );
}
/*********************************************************************
* @fn AT24CXX_Read
* @brief Read multiple data from EEPROM.
* @param ReadAddr - Read frist address. (AT24c02: 0~255)
* pBuffer - Read data.
* NumToRead - Data number.
* @return none
*/
void AT24CXX_Read(u16 ReadAddr, u8 *pBuffer, u16 NumToRead)
{
while( NumToRead )
{
* pBuffer ++ = AT24CXX_ReadOneByte( ReadAddr ++ );
NumToRead -- ;
}
}
/*********************************************************************
* @fn AT24CXX_Write
* @brief Write multiple data to EEPROM.
* @param WriteAddr - Write frist address. (AT24c02: 0~255)
* pBuffer - Write data.
* NumToWrite - Data number.
* @return none
*/
void MPU6050_Write()
{
printf("> MPU6050_Write() : \r\n");
// // MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //MPU6050
AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X80); //MPU6050
Delay_Ms(100);
// // MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //MPU6050
AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X00); //MPU6050
// Delay_Ms(1);
printf("= MPU6050_Write() -> MPU_Set_Gyro_Fsr() \r\n");
// // MPU_Set_Gyro_Fsr(3); //+-2000dps
AT24CXX_WriteOneByte( MPU_ACCEL_CFG_REG , 3 << 3 ) ;
// Delay_Ms(1);
printf("= MPU6050_Write() -> MPU_Set_Accel_Fsr() \r\n");
MPU_Set_Accel_Fsr(0); //+-2g
printf("= MPU6050_Write() -> MPU_Set_Rate() \r\n");
MPU_Set_Rate(50); //50Hz
printf("= MPU6050_Write() ... \r\n");
// // MPU_Write_Byte(MPU_INT_EN_REG,0x00); //
AT24CXX_WriteOneByte(MPU_INT_EN_REG,0); //
// // MPU_Write_Byte(MPU_USER_CTRL_REG,0x00); //I2C
AT24CXX_WriteOneByte(MPU_USER_CTRL_REG,0); //I2C
// // MPU_Write_Byte(MPU_FIFO_EN_REG,0x00); //FIFO
AT24CXX_WriteOneByte(MPU_FIFO_EN_REG,0); //FIFO
// // MPU_Write_Byte(MPU_INTBP_CFG_REG,0x80); //INT
AT24CXX_WriteOneByte(MPU_INTBP_CFG_REG,1); //INT
// // int res ;
// // res = MPU_Read_Byte(MPU_DEVICE_ID_REG);
AT24CXX_ReadOneByte( MPU_DEVICE_ID_REG );
// // if( res == MPU_ADDR ) // ID
{
// // MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); // CLKSEL,PLL X
AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,1); // CLKSEL,PLL X
// // MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //
AT24CXX_WriteOneByte(MPU_PWR_MGMT2_REG,0); //
MPU_Set_Rate(50); // 50Hz
}
// return 1;
printf("< MPU6050_Write() . \r\n");
}
/*********************************************************************
* @fn main
* @brief Main program.
* @return none
*/
int main(void)
{
// u8 data[SIZE];
Delay_Init();
USART_Printf_Init(115200);
// // printf(": eeprom 24Cxx :\r\n");
printf("\r\n\r\n: MPU6050 003 :\r\n");
printf("- SystemClk:%d\r\n",SystemCoreClock);
MPU6050_Init();
Delay_Ms(500);
MPU6050_Write();
Delay_Ms(500);
while( 1 )
{
printf("> mpu6050 Test ... \r\n");
MPU6050_TEST();
Delay_Ms(1000);
