接线图
代码配置
软件I2C只需要用GPIO的读写函数就行，在软件I2C初始化需要把SCL和SDA都初始化为开漏输出模式，还需要把SCL和SDA置高电平
1.配置初始化函数
//MyI2C初始化函数
void MyI2C_Init(void)
{//配置GPIOGPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//开启GPIO B族时钟GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;//配置为开漏输出GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_10;//配置引脚GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//速率GPIO_Init(GPIOB, &GPIO_InitStructure);GPIO_SetBits(GPIOB, GPIO_Pin_11 | GPIO_Pin_10);//将GPIO置高电平
}功能函数
//写SCL函数
void MyI2C_W_SCL(uint8_t BitValue)
{GPIO_WriteBit(GPIOB, GPIO_Pin_10, (BitAction)BitValue);Delay_us(10);
}
//写SDA函数
void MyI2C_W_SDA(uint8_t BitValue)
{GPIO_WriteBit(GPIOB, GPIO_Pin_11, (BitAction)BitValue);Delay_us(10);
}
//读SDA函数
uint8_t MyI2C_R_SDA(void)
{uint8_t BitValue;BitValue = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_11);return BitValue;
}配置I2C时序基本单元
//起始条件
void MyI2C_Start(void)
{MyI2C_W_SDA(1); MyI2C_W_SCL(1);MyI2C_W_SDA(0);MyI2C_W_SCL(0);}
//终止条件
void MyI2C_Stop(void)
{MyI2C_W_SDA(0);MyI2C_W_SCL(1);MyI2C_W_SDA(1);
}
//发送一个字节
void MyI2C_SendByte(uint8_t Byte)
{//MyI2C_W_SDA(Byte & 0x80);//取出Byte的最高位uint8_t i;for(i = 0; i < 8; i++){MyI2C_W_SDA(Byte & (0x80 >> i));MyI2C_W_SCL(1);MyI2C_W_SCL(0);}}//接收一个字节
uint8_t MyI2C_ReceiveByte(void)
{uint8_t i, Byte = 0x00;MyI2C_W_SDA(1);for(i = 0; i < 8; i++){MyI2C_W_SCL(1);if(MyI2C_R_SDA() == 1){Byte |= (0x80 >> i);}MyI2C_W_SCL(0);}return Byte;
}//发送应答
void MyI2C_SendACK(uint8_t ACKBit)
{MyI2C_W_SDA(ACKBit);MyI2C_W_SCL(1);MyI2C_W_SCL(0);}//接收应答
uint8_t MyI2C_ReceiveACK(void)
{uint8_t ACKBit;MyI2C_W_SDA(1);MyI2C_W_SCL(1);ACKBit = MyI2C_R_SDA();MyI2C_W_SCL(0);return ACKBit;
}MPU6050配置
#include "MPU6050.h"//指定地址写时序
void MPU6050_WriteReg(uint8_t RegAddRess, uint8_t Data)
{MyI2C_Start();MyI2C_SendByte(0xD0);MyI2C_ReceiveACK();MyI2C_SendByte(RegAddRess);MyI2C_ReceiveACK();MyI2C_SendByte(Data);MyI2C_ReceiveACK();MyI2C_Stop();
}//指定地址读时序
uint8_t MPU6050_ReadReg(uint8_t RegAddRess)
{uint8_t Data;MyI2C_Start();MyI2C_SendByte(0xD0);MyI2C_ReceiveACK();MyI2C_SendByte(RegAddRess);MyI2C_ReceiveACK();MyI2C_Start();MyI2C_SendByte(0xD0 | 0x01);MyI2C_ReceiveACK();Data = MyI2C_ReceiveByte();MyI2C_SendACK(1);MyI2C_Stop();return Data;}void MPU6050_Init(void)
{MyI2C_Init();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);
}void MPU6050_GetData(int16_t* AccX, int16_t* AccY, int16_t* AccZ,int16_t* GyroX, int16_t* GyroY, int16_t* GyroZ)
{uint8_t Data_H, Data_L;Data_H = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_H);Data_L = MPU6050_ReadReg(MPU6050_ACCEL_XOUT_L);*AccX = (Data_H << 8) | Data_L;Data_H = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_H);Data_L = MPU6050_ReadReg(MPU6050_ACCEL_YOUT_L);*AccY = (Data_H << 8) | Data_L;Data_H = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_H);Data_L = MPU6050_ReadReg(MPU6050_ACCEL_ZOUT_L);*AccZ = (Data_H << 8) | Data_L;Data_H = MPU6050_ReadReg(MPU6050_GYRO_XOUT_H);Data_L = MPU6050_ReadReg(MPU6050_GYRO_XOUT_L);*GyroX = (Data_H << 8) | Data_L;Data_H = MPU6050_ReadReg(MPU6050_GYRO_YOUT_H);Data_L = MPU6050_ReadReg(MPU6050_GYRO_YOUT_L);*GyroY = (Data_H << 8) | Data_L;Data_H = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_H);Data_L = MPU6050_ReadReg(MPU6050_GYRO_ZOUT_L);*GyroZ = (Data_H << 8) | Data_L;
}uint8_t MPU6050_GetID(void)
{return MPU6050_ReadReg(MPU6050_WHO_AM_I);}头文件
#ifndef __MPU6050_H
#define __MPU6050_H#include "stm32f10x.h"
#include "MyI2C.h"//寄存器宏定义
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG 0x1C#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_ACCEL_XOUT_L 0x3C
#define MPU6050_ACCEL_YOUT_H 0x3D
#define MPU6050_ACCEL_YOUT_L 0x3E
#define MPU6050_ACCEL_ZOUT_H 0x3F
#define MPU6050_ACCEL_ZOUT_L 0x40
#define MPU6050_TEMP_OUT_H 0x41
#define MPU6050_TEMP_OUT_L 0x42
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_XOUT_L 0x44
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_YOUT_L 0x46
#define MPU6050_GYRO_ZOUT_H 0x47
#define MPU6050_GYRO_ZOUT_L 0x48#define MPU6050_PWR_MGMT_1 0x6B
#define MPU6050_PWR_MGMT_2 0x6C
#define MPU6050_WHO_AM_I 0x75void MPU6050_Init(void);
void MPU6050_WriteReg(uint8_t RegAddRess, uint8_t Data);
uint8_t MPU6050_ReadReg(uint8_t RegAddRess);
void MPU6050_GetData(int16_t* AccX, int16_t* AccY, int16_t* AccZ,int16_t* GyroX, int16_t* GyroY, int16_t* GyroZ);
uint8_t MPU6050_GetID(void);
#endif主函数
#include "MyI2C.h"
#include "MPU6050.h"
int main(void)
{int16_t AX, AY, AZ, GX, GY, GZ;uint8_t ID;OLED_Init();MPU6050_Init();OLED_ShowString(1, 1, "ID:");ID = MPU6050_GetID();OLED_ShowHexNum(1, 4, ID, 2);while(1){MPU6050_GetData(&AX, &AY, &AZ, &GX, &GY, &GZ);OLED_ShowSignedNum(2, 1, AX, 5);OLED_ShowSignedNum(3, 1, AY, 5);OLED_ShowSignedNum(4, 1, AZ, 5);OLED_ShowSignedNum(2, 8, GX, 5);OLED_ShowSignedNum(3, 8, GY, 5);OLED_ShowSignedNum(4, 8, GZ, 5);}}
