【蓝牙4.1】CY8KIT042 BLE I2C之MPU6050

2015-5-17 17:48:23 5052 存储器蓝牙接口

0 PSoC 4XX7_BLE 有两个 SCB，每一个 SCB 都可以实现 I2C、 UART 或 SPI 接口。 I2C 模式：硬件 I2C 模块实现了一个完整的多主设备和从设备接口（它具有多主设备仲裁功能）。该模块的工作速度可达 1 Mbps （增强型快速模块），另外它还提供各种灵活的缓冲选项，以降低 CPU 的中断开销和延迟。该模块还具有一个 EzI2C，通过它可以在 PSoC 4XX7_BLE 存储器中创建缓冲存储器的地址范围，并且对存储器中的阵列进行读写操作时可以大量降低I2C通信。此外，该模块提供一个深度为 8 字节的 FIFO，用于数据的接收和传送。该模块延长了 CPU 读取数据的时间，从而减少了时钟延展的发生（由于 CPU 没有及时读取数据，因此才导致时钟延展）。FIFO 可用在所有通道，在没有 DMA 的情况下非常有用。相关引脚在以下与MPU6050 连接相关代码 #include static uint32 MPU_CommPrepare(void) { uint32 status; I2CM_Start(); status=I2CM_I2CMasterClearStatus(); return status; } static uint32 MPU_CommEnd(void) { I2CM_Stop(); return 1; } static uint32 MPU_Write_Byte(uint8 tDeviceAddr,uint8 tREG_Address, uint8 tREG_Data) { uint32 status; status=I2CM_I2CMasterSendStart(tDeviceAddr,I2CM_I2C_WRITE_XFER_MODE); //校验地址+写入模式 while(status!=I2CM_I2C_MSTR_NO_ERROR); status=I2CM_I2CMasterWriteByte(tREG_Address); status=I2CM_I2CMasterWriteByte(tREG_Data); status=I2CM_I2CMasterSendStop(); return status; } static uint8 MPU_Read_Byte(uint8 tDeviceAddr,uint8 tREG_Address) { uint32 status; uint8 result=0; I2CM_Start(); status=I2CM_I2CMasterSendStart(tDeviceAddr,I2CM_I2C_WRITE_XFER_MODE); //校验地址+写入模式 while(status!=I2CM_I2C_MSTR_NO_ERROR); status=I2CM_I2CMasterWriteByte(tREG_Address); I2CM_Start(); status=I2CM_I2CMasterSendRestart(tDeviceAddr,I2CM_I2C_READ_XFER_MODE); result=I2CM_I2CMasterReadByte(I2CM_I2C_ACK_DATA); I2CM_Stop(); return result; } /* ------------------------ Typedef 定义类型 -------------------------------- / / ------------------------ Macro Define 宏定义 ----------------------------- / //************************************* // 定义MPU6050内部地址 //************************************** #define SMPLRT_DIV 0x19 //陀螺仪采样率，典型值：0x07(125Hz) #define CONFIG 0x1A //低通滤波频率，典型值：0x06(5Hz) #define GYRO_CONFIG 0x1B //陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s) #define ACCEL_CONFIG 0x1C //加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，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 //电源管理，典型值：0x00(正常启用) #define WHO_AM_I 0x75 //IIC地址寄存器(默认数值0x68，只读) #define MPUAddress 0xD0 //IIC写入时的地址字节数据，+1为读取 #define MPU6050_ADDRESS_AD0_LOW 0x68 //b1101000 address pin low (GND), default for InvenSense evaluation board #define MPU6050_ADDRESS_AD0_HIGH 0x69 //b1101001 address pin high (VCC) #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW /寄存器/ #define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS #define MPU6050_RA_XA_OFFS_L_TC 0x07 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS #define MPU6050_RA_YA_OFFS_L_TC 0x09 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS #define MPU6050_RA_ZA_OFFS_L_TC 0x0B #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR #define MPU6050_RA_XG_OFFS_USRL 0x14 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR #define MPU6050_RA_YG_OFFS_USRL 0x16 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR #define MPU6050_RA_ZG_OFFS_USRL 0x18 /以上寄存器在DATASHEEL查不到/ #define MPU6050_RA_SMPLRT_DIV 0x19 //陀螺仪采样率，典型值：0x07(125Hz) #define MPU6050_RA_CONFIG 0x1A //低通滤波频率，典型值：0x06(5Hz) #define MPU6050_RA_GYRO_CONFIG 0x1B //陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s) #define MPU6050_RA_ACCEL_CONFIG 0x1C //加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz) #define MPU6050_RA_FF_THR 0x1D #define MPU6050_RA_FF_DUR 0x1E #define MPU6050_RA_MOT_THR 0x1F #define MPU6050_RA_MOT_DUR 0x20 #define MPU6050_RA_ZRMOT_THR 0x21 #define MPU6050_RA_ZRMOT_DUR 0x22 #define MPU6050_RA_FIFO_EN 0x23 #define MPU6050_RA_I2C_MST_CTRL 0x24 #define MPU6050_RA_I2C_SLV0_ADDR 0x25 #define MPU6050_RA_I2C_SLV0_REG 0x26 #define MPU6050_RA_I2C_SLV0_CTRL 0x27 #define MPU6050_RA_I2C_SLV1_ADDR 0x28 #define MPU6050_RA_I2C_SLV1_REG 0x29 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A #define MPU6050_RA_I2C_SLV2_ADDR 0x2B #define MPU6050_RA_I2C_SLV2_REG 0x2C #define MPU6050_RA_I2C_SLV2_CTRL 0x2D #define MPU6050_RA_I2C_SLV3_ADDR 0x2E #define MPU6050_RA_I2C_SLV3_REG 0x2F #define MPU6050_RA_I2C_SLV3_CTRL 0x30 #define MPU6050_RA_I2C_SLV4_ADDR 0x31 #define MPU6050_RA_I2C_SLV4_REG 0x32 #define MPU6050_RA_I2C_SLV4_DO 0x33 #define MPU6050_RA_I2C_SLV4_CTRL 0x34 #define MPU6050_RA_I2C_SLV4_DI 0x35 #define MPU6050_RA_I2C_MST_STATUS 0x36 #define MPU6050_RA_INT_PIN_CFG 0x37 #define MPU6050_RA_INT_ENABLE 0x38 #define MPU6050_RA_DMP_INT_STATUS 0x39 #define MPU6050_RA_INT_STATUS 0x3A #define MPU6050_RA_ACCEL_XOUT_H 0x3B #define MPU6050_RA_ACCEL_XOUT_L 0x3C #define MPU6050_RA_ACCEL_YOUT_H 0x3D #define MPU6050_RA_ACCEL_YOUT_L 0x3E #define MPU6050_RA_ACCEL_ZOUT_H 0x3F #define MPU6050_RA_ACCEL_ZOUT_L 0x40 #define MPU6050_RA_TEMP_OUT_H 0x41 #define MPU6050_RA_TEMP_OUT_L 0x42 #define MPU6050_RA_GYRO_XOUT_H 0x43 #define MPU6050_RA_GYRO_XOUT_L 0x44 #define MPU6050_RA_GYRO_YOUT_H 0x45 #define MPU6050_RA_GYRO_YOUT_L 0x46 #define MPU6050_RA_GYRO_ZOUT_H 0x47 #define MPU6050_RA_GYRO_ZOUT_L 0x48 #define MPU6050_RA_EXT_SENS_DATA_00 0x49 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A #define MPU6050_RA_EXT_SENS_DATA_02 0x4B #define MPU6050_RA_EXT_SENS_DATA_03 0x4C #define MPU6050_RA_EXT_SENS_DATA_04 0x4D #define MPU6050_RA_EXT_SENS_DATA_05 0x4E #define MPU6050_RA_EXT_SENS_DATA_06 0x4F #define MPU6050_RA_EXT_SENS_DATA_07 0x50 #define MPU6050_RA_EXT_SENS_DATA_08 0x51 #define MPU6050_RA_EXT_SENS_DATA_09 0x52 #define MPU6050_RA_EXT_SENS_DATA_10 0x53 #define MPU6050_RA_EXT_SENS_DATA_11 0x54 #define MPU6050_RA_EXT_SENS_DATA_12 0x55 #define MPU6050_RA_EXT_SENS_DATA_13 0x56 #define MPU6050_RA_EXT_SENS_DATA_14 0x57 #define MPU6050_RA_EXT_SENS_DATA_15 0x58 #define MPU6050_RA_EXT_SENS_DATA_16 0x59 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A #define MPU6050_RA_EXT_SENS_DATA_18 0x5B #define MPU6050_RA_EXT_SENS_DATA_19 0x5C #define MPU6050_RA_EXT_SENS_DATA_20 0x5D #define MPU6050_RA_EXT_SENS_DATA_21 0x5E #define MPU6050_RA_EXT_SENS_DATA_22 0x5F #define MPU6050_RA_EXT_SENS_DATA_23 0x60 #define MPU6050_RA_MOT_DETECT_STATUS 0x61 #define MPU6050_RA_I2C_SLV0_DO 0x63 #define MPU6050_RA_I2C_SLV1_DO 0x64 #define MPU6050_RA_I2C_SLV2_DO 0x65 #define MPU6050_RA_I2C_SLV3_DO 0x66 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 #define MPU6050_RA_MOT_DETECT_CTRL 0x69 #define MPU6050_RA_USER_CTRL 0x6A #define MPU6050_RA_PWR_MGMT_1 0x6B //电源管理，典型值：0x00(正常启用) #define MPU6050_RA_PWR_MGMT_2 0x6C #define MPU6050_RA_BANK_SEL 0x6D #define MPU6050_RA_MEM_START_ADDR 0x6E #define MPU6050_RA_MEM_R_W 0x6F #define MPU6050_RA_DMP_CFG_1 0x70 #define MPU6050_RA_DMP_CFG_2 0x71 #define MPU6050_RA_FIFO_COUNTH 0x72 #define MPU6050_RA_FIFO_COUNTL 0x73 #define MPU6050_RA_FIFO_R_W 0x74 #define MPU6050_RA_WHO_AM_I 0x75 /* ------------------------ Variables 变量 ---------------------------------- / / ------------------------ Functions 函数声明 ------------------------------ / /***************************************************************************** 内部私有函数 *****************************************************************************/ /**************************************************************************** 外部公用函数 ******************************************************************************/ / ***************************************************************************** * 函数名：MPU6050_Init * 描述：MPU6050I/O配置及其初始化 * 输入：无 * 输出：无 * 调用：外部调用 * 注意： ****************************************************************************/ void MPU6050_Init(void) { MPU_CommPrepare(); /******************************************/ /1、解除休眠状态/ MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_PWR_MGMT_1,0x00);//电源管理，典型值：0x00(正常启用) internal 8MHz oscillator MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_SMPLRT_DIV,0x01);//陀螺仪采样率，典型值：0x07(125Hz) 输出频率1KHZ MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_CONFIG, 0x06);//低通滤波频率，典型值：0x06(5Hz) MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_GYRO_CONFIG, 0x08);//陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s) MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_ACCEL_CONFIG, 0x01);//加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz) /***************************************/ / 设置中断方式 / MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_INT_PIN_CFG,0x80);//中断生产上升沿，INT推挽输出，高电平至中断状态被读取0x80 MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_INT_ENABLE,0x01);//使能中断，Data Ready interrupt 0x01 /**************************************/ MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_FF_THR, 0x00);//Freefall threshold of \|0mg\| MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_FF_DUR, 0x00);//Freefall duration limit of 0 MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_MOT_THR, 0x00);//Motion threshold of 0mg MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_MOT_DUR, 0x00);//Motion duration of 0s MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_ZRMOT_THR, 0x00);//Zero motion threshold MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_ZRMOT_DUR, 0x00); //Zero motion duration threshold MPU_Write_Byte(MPU6050_DEFAULT_ADDRESS,MPU6050_RA_FIFO_EN, 0x00);//Disable sensor output to FIFO buffer /******************************************/ MPU_CommEnd(); } / ***************************************************************************** * 函数名：MPU6050_Destory * 描述：MPU6050释放资源 * 输入：无 * 输出：无 * 调用：外部调用 * 注意： *****************************************************************************/ void MPU6050_Destory(void) { } void MPU6050_GetRes(float acce[3],float gyro[3],int16_t res[6]) { //#define MPU6050_GYRO_FS_SENSITIVITY 65.5 //+/- 500 degrees/sec 65.5LSB/deg/s #define MPU6050_GYRO_FS_SENSITIVITY ((float)16.4) //+/- 2000 degrees/sec 16.4LSB/deg/s #define MPU6050_ACCE_FS_SENSITIVITY ((float)16384.0) //+/- 2g 16384LSB/mg uint8_t ucData[12]; ucData[0] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,ACCEL_XOUT_H); ucData[1] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,ACCEL_XOUT_L); ucData[2] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,ACCEL_YOUT_H); ucData[3] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,ACCEL_YOUT_L); ucData[4] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,ACCEL_ZOUT_H); ucData[5] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,ACCEL_ZOUT_L); ucData[6] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,GYRO_XOUT_H); ucData[7] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,GYRO_XOUT_L); ucData[8] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,GYRO_YOUT_H); ucData[9] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,GYRO_YOUT_L); ucData[10] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,GYRO_ZOUT_H); ucData[11] = MPU_Read_Byte(MPU6050_DEFAULT_ADDRESS,GYRO_ZOUT_L); if(acce!= (float)0) { acce[0] = (float)((int16_t)((ucData[0]<<8)\|(ucData[1])))/MPU6050_ACCE_FS_SENSITIVITY; acce[1] = (float)((int16_t)((ucData[2]<<8)\|(ucData[3])))/MPU6050_ACCE_FS_SENSITIVITY; acce[2] = (float)((int16_t)((ucData[4]<<8)\|(ucData[5])))/MPU6050_ACCE_FS_SENSITIVITY; } if(gyro!= (float)0) { gyro[0] = (float)((int16_t)((ucData[6]<<8)\|(ucData[7])))/MPU6050_GYRO_FS_SENSITIVITY; gyro[1] = (float)((int16_t)((ucData[8]<<8)\|(ucData[9])))/MPU6050_GYRO_FS_SENSITIVITY; gyro[2] = (float)((int16_t)((ucData[10]<<8)\|(ucData[11])))/MPU6050_GYRO_FS_SENSITIVITY; } if(res!= (int16_t)0) { res[0]= ((int16_t)((ucData[0]<<8)\|(ucData[1]))); res[1]= ((int16_t)((ucData[2]<<8)\|(ucData[3]))); res[2]= ((int16_t)((ucData[4]<<8)\|(ucData[5]))); res[3]= ((int16_t)((ucData[6]<<8)\|(ucData[7]))); res[4]= ((int16_t)((ucData[8]<<8)\|(ucData[9]))); res[5]= ((int16_t)((ucData[10]<<8)\|(ucData[10]))); } } 复制代码 #include #include "MPU6050.h" #define LED_ON (0u) #define LED_OFF (1u) #include #include void uart_printf_block (char const format, ...) { uint8_t buf_str[256u]; va_list v_args; va_start(v_args, format); (void)vsnprintf((char )&buf_str[0], (size_t ) sizeof(buf_str), (char const ) format, v_args); va_end(v_args); UART_UartPutString((const char8 )&buf_str[0]); return ; } void main() { //uint32 ch; float fAcce[3]={0}; float fGryo[3]={0}; char buf_str[256u]; /* Start SCB (UART mode) operation / UART_Start(); / Init the Mpu6050/ MPU6050_Init(); UART_UartPutString("rn*********************************************************************************rn"); UART_UartPutString("This is MPU6050 example projectrn"); UART_UartPutString("rn"); for(;;) { CyDelay(200); MPU6050_GetRes(fAcce,fGryo,0); uart_printf_block("%f,%f,%f,%f,%f,%fn",fAcce[0],fAcce[1],fAcce[2],fGryo[0],fGryo[1],fGryo[2]); //sprintf(buf_str,"%.2f,%.2f,%.2f,%.2f,%.2f,%.2fn",13.4,fAcce[1],fAcce[2],fGryo[0],fGryo[1],fGryo[2]); //UART_UartPutString((const char8 )&buf_str[0]); } } 复制代码 1
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