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« Last post by jlsilicon on Today at 04:14:44 pm »
If this helps - without the old commented code :
/*
Create project as : ch32v003 - f4p6 (- Not 103/203)
- copy main.c from /EVT/EXAM/.../I2C_mpu6050/User/
FAQs :
- Typo used id 0x58 , should be 0x68
- Wrong I2C pins for 003 : not PA1=SDA PA2=SCL , should be PC1=SDA PC2=SCL
The VCC and GND pins of the CH32V103 development board are connected to the VCC and GND pins of the MPU6050 module.
PC1 = SDA : The PC1 pin of the CH32V003 development board is connected to the SDA pin of the MPU6050 module
PC2 = SCL : The PC2 pin of the CH32V003 development board is connected to the SCL pin of the MPU6050 module
//The VCC and GND pins of the CH32V103 development board are connected to the VCC and GND pins of the MPU6050 module.
// PA1 = SDA : The PA1 pin of the CH32V103 development board is connected to the SDA pin of the MPU6050 module
// PA2 = SCL : The PA2 pin of the CH32V103 development board is connected to the SCL pin of the MPU6050 module
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 = PA9
- RX = PA10
*/
///
#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 AT24CXX_Write( u16 WriteAddr, u8 *pBuffer, u16 NumToWrite ) ;
///
#ifndef __MPU6050_H
#define __MPU6050_H
// // #include "iic.h"
// #include "debug.h"
//MPU6050 AD0
/*
#define MPU_AD0_H GPIO_SetBits( GPIOA,GPIO_Pin_15) // SDA
#define MPU_AD0_L GPIO_ResetBits(GPIOA,GPIO_Pin_15) // SDA
*/
// 003-c8t6 : - SCL=A6 , SDA=A7 :
#define MPU_AD0_H GPIO_SetBits( GPIOC,GPIO_Pin_1) // SDA
#define MPU_AD0_L GPIO_ResetBits(GPIOC,GPIO_Pin_1) // SDA
/*
// 203-c8t6 : - SCL=C2 , SDA=C1 :
#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_I2CMST_CTRL_REG 0X24 //IIC
#define MPU_I2CSLV0_ADDR_REG 0X25 //IIC
#define MPU_I2CSLV0_REG 0X26 //IIC
#define MPU_I2CSLV0_CTRL_REG 0X27 //IIC
#define MPU_I2CSLV1_ADDR_REG 0X28 //IIC
#define MPU_I2CSLV1_REG 0X29 //IIC
#define MPU_I2CSLV1_CTRL_REG 0X2A //IIC
#define MPU_I2CSLV2_ADDR_REG 0X2B //IIC2
#define MPU_I2CSLV2_REG 0X2C //IIC2
#define MPU_I2CSLV2_CTRL_REG 0X2D //IIC2
#define MPU_I2CSLV3_ADDR_REG 0X2E //IIC3
#define MPU_I2CSLV3_REG 0X2F //IIC3
#define MPU_I2CSLV3_CTRL_REG 0X30 //IIC3
#define MPU_I2CSLV4_ADDR_REG 0X31 //IIC4
#define MPU_I2CSLV4_REG 0X32 //IIC4
#define MPU_I2CSLV4_DO_REG 0X33 //IIC4
#define MPU_I2CSLV4_CTRL_REG 0X34 //IIC4
#define MPU_I2CSLV4_DI_REG 0X35 //IIC4
#define MPU_I2CMST_STA_REG 0X36 //IIC
#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_I2CSLV0_DO_REG 0X63 //IIC0
#define MPU_I2CSLV1_DO_REG 0X64 //IIC1
#define MPU_I2CSLV2_DO_REG 0X65 //IIC2
#define MPU_I2CSLV3_DO_REG 0X66 //IIC3
#define MPU_I2CMST_DELAY_REG 0X67 //IIC
#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
//#define MPU_READ 0XD1
//#define MPU_WRITE 0XD0
u8 MPU_Init(void); //MPU6050
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC
u8 MPU_Write_Byte(u8 reg,u8 data); //IIC
u8 MPU_Read_Byte(u8 reg); //IIC
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);
u8 MPU_Set_Fifo(u8 sens);
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);
#endif
///
//fsr:0,250dps;1,500dps;2,1000dps;3,2000dps
u8 MPU_Set_Gyro_Fsr(u8 fsr)
{
AT24CXX_WriteOneByte( MPU_GYRO_CFG_REG , fsr << 3 ) ;
return( 0 );
}
u8 MPU_Set_Accel_Fsr(u8 fsr)
{
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;
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 ;
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;
AT24CXX_Read( MPU_TEMP_OUTH_REG , buf , 2 );
raw = ((u16)buf[0]<<8) | buf[1];
temp = 36.53 + ((double)raw) / 340;
return( temp * 100 );
}
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
{
u8 buf[6],res = 0 ;
AT24CXX_Read( MPU_GYRO_XOUTH_REG , buf , 6 );
*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 ;
AT24CXX_Read( MPU_ACCEL_XOUTH_REG , buf , 6 );
*ax = ((u16)buf[0]<<8) | buf[1];
*ay = ((u16)buf[2]<<8) | buf[3];
*az = ((u16)buf[4]<<8) | buf[5];
printf("ACC : X=%d , Y=%d , Z=%d \r\n", *ax , *ay , *az );
return res;;
}
// int main(void)
// int main_1(void)
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_Mode = I2C_Mode_I2C;
I2C_InitTSturcture.I2C_OwnAddress1 = address;
I2C_InitTSturcture.I2C_ClockSpeed = bound;
I2C_InitTSturcture.I2C_DutyCycle = I2C_DutyCycle_2;
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)
{
IIC_Init( 100000, 0x68 );
}
/*********************************************************************
* @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, 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 ) );
#elif (Address_Lenth == Address_16bit)
I2C_SendData( I2C1, (u8)(ReadAddr>>8) );
while( !I2C_CheckEvent( I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ) );
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, 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 );
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 AT24CXX_Write(u16 WriteAddr, u8 *pBuffer, u16 NumToWrite)
{
while(NumToWrite--)
{
AT24CXX_WriteOneByte( WriteAddr , * pBuffer );
WriteAddr ++ ;
pBuffer ++ ;
Delay_Ms(2);
}
}
// // void MPU6050_Write(u16 WriteAddr, u8 *pBuffer, u16 NumToWrite)
void MPU6050_Write()
{
printf("> MPU6050_Write() : \r\n");
AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X80); //MPU6050
Delay_Ms(100);
AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X00); //MPU6050
printf("= MPU6050_Write() -> MPU_Set_Gyro_Fsr() \r\n");
MPU_Set_Gyro_Fsr(3); //+-2000dps
MPU_Set_Accel_Fsr(0); //+-2g
MPU_Set_Rate(50); //50Hz
printf("= MPU6050_Write() ... \r\n");
AT24CXX_WriteOneByte(MPU_INT_EN_REG,0X00); //
AT24CXX_WriteOneByte(MPU_USER_CTRL_REG,0X00); //I2C
AT24CXX_WriteOneByte(MPU_FIFO_EN_REG,0X00); //FIFO
AT24CXX_WriteOneByte(MPU_INTBP_CFG_REG,0X80); //INT
AT24CXX_ReadOneByte( MPU_DEVICE_ID_REG );
AT24CXX_WriteOneByte(MPU_PWR_MGMT1_REG,0X01); // CLKSEL,PLL X
AT24CXX_WriteOneByte(MPU_PWR_MGMT2_REG,0X00); //
MPU_Set_Rate(50); // 50Hz
printf("< MPU6050_Write() . \r\n");
}
/*********************************************************************
* @fn main
* @brief Main program.
* @return none
*/
int main(void)
{
Delay_Init();
USART_Printf_Init(115200);
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(500);
}
}
///
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