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STM32测试MPU6050模块源码

已成功程序，望顶
所有源码资料51hei提供下载:
    MPU6050 I2C读取数据 -精简版.zip  


单片机源程序如下:
  • /******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
  • * File Name          : main.c
  • * Author             : MCD Application Team
  • * Version            : V1.0
  • * Description        : Main program body
  • ********************************************************************************
  • * THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  • * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
  • * AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
  • * INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
  • * CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
  • * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  • *******************************************************************************/
  • /* Includes ------------------------------------------------------------------*/
  • #include "STM32f10x.h"
  • #include "stdio.h"   //添加文件，为printf 所用
  • #include "delay.h"
  • #include "sys.h"
  • #include "math.h"
  • #include "MPU6050.h"
  • USART_InitTypeDef USART_InitStructure;
  • TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
  • USART_ClockInitTypeDef  USART_ClockInitStructure;
  • SPI_InitTypeDef  SPI_InitStructure;
  • EXTI_InitTypeDef EXTI_InitStructure;
  • ErrorStatus HSEStartUpStatus;
  • /* Private function prototypes -----------------------------------------------*/
  • void USART_Configuration(void);
  • void RCC_Configuration(void);
  • void GPIO_Configuration(void);
  • void NVIC_Configuration(void);
  • void TIM_Configuration(void);
  • void EXTI_Configuration(void);
  • void I2C_Configuration(void);
  • /* Private functions ---------------------------------------------------------*/
  • /*******************************************************************************
  • * Function Name  : main
  • * Description    : Main program
  • * Input          : None
  • * Output         : None
  • * Return         : None
  • *******************************************************************************/
  • int main(void)
  • {
  •   u8 i=0;
  •   s16 accgyo[7]={0};
  • //  u8 u[2]={0};
  •   delay_init(72);
  •   NVIC_Configuration();
  •   RCC_Configuration();
  •   GPIO_Configuration();
  •   USART_Configuration();
  •   I2C_Configuration();
  •   MPU6050_Initialize();                  //寄存器初始化
  • //  MPU6050_I2C_BufferRead(0xd0, u, MPU6050_RA_WHO_AM_I, 1);
  • //  printf("$$$   %d",u[0]);
  •   while(1)
  •   {
  •              MPU6050_GetRawAccelGyro(accgyo);
  •            printf("%10d%10d%10d%10d%10d%10drn",accgyo[0],accgyo[1],accgyo[2],accgyo[3],accgyo[4],accgyo[5]);
  •            delay_ms(50);
  •    }
  • }
  • /**********   USART   ***********/
  • void USART_Configuration(void)
  • {
  •   USART_InitStructure.USART_BaudRate = 38400;//设置波特率为38400
  •   USART_InitStructure.USART_WordLength = USART_WordLength_8b;// 8位传输
  •   USART_InitStructure.USART_StopBits = USART_StopBits_1; //1个停止位
  •   USART_InitStructure.USART_Parity = USART_Parity_No;    //无校验位
  •   USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;
  •   USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
  •   USART_Init(USART1, &USART_InitStructure);
  • //  USART_ClockInitStructure.USART_Clock = USART_Clock_Disable;
  • //  USART_ClockInitStructure.USART_CPOL = USART_CPOL_Low;
  • //  USART_ClockInitStructure.USART_CPHA = USART_CPHA_1Edge;
  • //  USART_ClockInitStructure.USART_LastBit = USART_LastBit_Disable;
  • //  USART_ClockInit(USART1 , &USART_ClockInitStructure);
  •   /* Enable USART1  使能串口1*/
  •   USART_Cmd(USART1, ENABLE);
  •   USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);  // 若接收数据寄存器满，则产生中断，用以处理归零操作
  • }
  • /*********   RCC   *********/
  • void RCC_Configuration(void)
  • {
  •   /* RCC system reset(for debug purpose) */
  •   RCC_DeInit();
  •   /* Enable HSE */
  •   RCC_HSEConfig(RCC_HSE_ON);
  •   while(RCC_GetFlagStatus(RCC_FLAG_HSIRDY) == RESET);
  •   /* Wait till HSE is ready */
  •   HSEStartUpStatus = RCC_WaitForHSEStartUp();
  •   if(HSEStartUpStatus == SUCCESS)
  •   {
  •     /* Enable Prefetch Buffer */
  •     FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
  •     /* Flash 2 wait state */
  •     FLASH_SetLatency(FLASH_Latency_2);
  •     /* HCLK = SYSCLK */
  •     RCC_HCLKConfig(RCC_SYSCLK_Div1);
  •     /* PCLK2 = HCLK */
  •     RCC_PCLK2Config(RCC_HCLK_Div1);
  •     /* PCLK1 = HCLK/2 */
  •     RCC_PCLK1Config(RCC_HCLK_Div2);
  •     /* 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)
  •     {
  •     }
  • }
  •   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
  •   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
  •   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
  •   RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 , ENABLE);
  •   RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1 , ENABLE);
  •   RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
  •   RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
  •   RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1 ,ENABLE);
  • }
  • /************   GPIO   **************/
  • void GPIO_Configuration(void)
  • {
  •   GPIO_InitTypeDef GPIO_InitStructure;
  •   /* Configure USART1 Tx (PA.09) as alternate function push-pull */
  •   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  •   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  •   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  •   GPIO_Init(GPIOA, &GPIO_InitStructure);
  •   /* Configure USART1 Rx (PA.10) as input floating */
  •   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
  •   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  •   GPIO_Init(GPIOA, &GPIO_InitStructure);
  •   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
  •   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  •   GPIO_Init(GPIOA, &GPIO_InitStructure);
  •   /* GPIOB Configuration: Pin10 in Output   LED1*/
  •   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
  •   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  •   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  •   GPIO_Init(GPIOB, &GPIO_InitStructure);
  •   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
  •   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  •   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
  •   GPIO_Init(GPIOB, &GPIO_InitStructure);
  • }
  • /**********   SPI  **********/
  • void SPI1_Init(void)
  • {
  • SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
  • SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
  • SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
  • SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;                //无数据传输时，电平为低，必须和CS5532时序一致
  • SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
  • SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
  • SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_128; //速度不能太快，不然读数出错
  • SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
  • SPI_InitStructure.SPI_CRCPolynomial = 7;
  • SPI_Init(SPI1, &SPI_InitStructure);
  • //使能SPI1
  • SPI_Cmd(SPI1, ENABLE);
  • }
  • void EXTI_Configuration(void)
  • {
  •   GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource1);
  •   /* Configure EXTI Line11 to generate an interrupt on falling edge */
  •   EXTI_InitStructure.EXTI_Line = EXTI_Line1;
  •   EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
  •   EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
  •   EXTI_InitStructure.EXTI_LineCmd = ENABLE;
  •   EXTI_Init(&EXTI_InitStructure);
  • }
  • /*******************************************************************************
  • * Function Name  : NVIC_Configuration
  • * Description    : Configures the nested vectored interrupt controller.
  • * Input          : None
  • * Output         : None
  • * Return         : None
  • *******************************************************************************/
  • void NVIC_Configuration(void)
  • {
  •           NVIC_InitTypeDef NVIC_InitStructure;
  • #ifdef  VECT_TAB_RAM
  •   /* Set the Vector Table base location at 0x20000000 */
  •   NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
  • #else  /* VECT_TAB_FLASH  */
  •   /* Set the Vector Table base location at 0x08000000 */
  •   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
  • #endif
  • NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
  •   /* Enable the EXTI15_10 Interrupt */
  •   NVIC_InitStructure.NVIC_IRQChannel = EXTI1_IRQn;
  •   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  •   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  •   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  •   NVIC_Init(&NVIC_InitStructure);
  •     NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
  •   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  •   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  •   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  •   NVIC_Init(&NVIC_InitStructure);
  • }
  • void I2C_Configuration(void)
  • {
  •         I2C_InitTypeDef  I2C_InitStructure;
  •         I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
  •         I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
  •         I2C_InitStructure.I2C_OwnAddress1 =0xc0; // MPU6050 7-bit adress = 0x68, 8-bit adress = 0xD0;
  •         I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
  •         I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
  •         I2C_InitStructure.I2C_ClockSpeed = MPU6050_I2C_Speed;
  •   /* Apply I2C configuration after enabling it */
  •   I2C_Init(MPU6050_I2C, &I2C_InitStructure);
  •   /* I2C Peripheral Enable */
  •   I2C_Cmd(MPU6050_I2C, ENABLE);
  • }
  • /*定义 fputc 此函数为printf所用*/
  • /*
  • printf默认的输出设备是显示器，如果想用这个标准的输出函数向串口发送数据，
  • 需要改写fputc这个函数。
  • */
  • int fputc(int ch,FILE *f)
  • ……………………
  • …………限于本文篇幅 余下代码请从电子发烧友下载附件…………





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