硬件配置IIC

硬件配置IIC就是使用IIC的库函数

#include "stm32f10x.h"                  // Device header
#include "MPU6050_Reg.h"

#define MPU6050_ADDRESS		0xD0

void MPU6050_WaitEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT)  为了跳出死循环防止程序卡死
{
	uint32_t Time_out;
	Time_out=10000;
	while(I2C_CheckEvent(I2Cx, I2C_EVENT)!=SUCCESS) //为了确保波形，EV5事件发生
	{
		Time_out--;
		if(Time_out == 0)
			break;
	}
}

void MPU6050_WriteReg(uint8_t RegAddress, uint8_t Data)
{
	
	I2C_GenerateSTART(I2C2, ENABLE);
	MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_MODE_SELECT); //为了确保波形，EV5事件发生
	I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Transmitter); //发送从机地址，库函数自带应答位
	MPU6050_WaitEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED);
	/*while(I2C_CheckEvent(I2C2, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)!=SUCCESS);留一个做对比*/
	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);//为了确保波形，EV5事件发生
	I2C_Send7bitAddress(I2C2, MPU6050_ADDRESS, I2C_Direction_Transmitter); //发送从机地址，库函数自带应答位
	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);//在来个起始条件
	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);
	/**读取一个字节*/
	I2C_AcknowledgeConfig(I2C2, DISABLE);  //设置ACK=0，不给应答
	I2C_GenerateSTOP(I2C2, ENABLE);
	MPU6050_WaitEvent(I2C2,I2C_EVENT_MASTER_BYTE_RECEIVED);//EV7数据产生后，一个字节的数据就已经在DR里面了，下面只需读取
	data = I2C_ReceiveData(I2C2);

	I2C_AcknowledgeConfig(I2C2, ENABLE); //方便收多个字节

	return data;	
}

void MPU6050_Init(void)
{
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
	/*初始化GPIO*/
	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);
	/*初始化I2C*/
	I2C_InitTypeDef I2C_InitStruct;
	I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;
	I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
	I2C_InitStruct.I2C_ClockSpeed = 50000;
	I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;
	I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;
	I2C_InitStruct.I2C_OwnAddress1 = 0x00;
	I2C_Init(I2C2, &I2C_InitStruct);
	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;
}

这里要注意到事件的产生，接收数据和发送数据已经自带了应答位，所以自己需要注意事件的产生。

跳出死循环的函数可以做成一个封装。