MPU9250 陀螺仪 STM32F103C8T6 软件模拟 IIC 连接配置代码

#include "stm32f10x.h"

#define MPU9250_ADDRESS 0xD0 // MPU9250 的 I2C 地址

void I2C_Init(void); void I2C_Start(void); void I2C_Stop(void); void I2C_WriteByte(uint8_t data); uint8_t I2C_ReadByte(void); void MPU9250_WriteRegister(uint8_t reg, uint8_t data); uint8_t MPU9250_ReadRegister(uint8_t reg);

int main(void) { I2C_Init();

// 配置陀螺仪
MPU9250_WriteRegister(0x6B, 0x00); // 电源管理器设置为正常工作模式
MPU9250_WriteRegister(0x1B, 0x08); // 设置陀螺仪的量程范围为±500°/s

while (1)
{
    // 读取陀螺仪数据
    uint8_t x_high = MPU9250_ReadRegister(0x43);
    uint8_t x_low = MPU9250_ReadRegister(0x44);
    int16_t x = (x_high << 8) | x_low;

    uint8_t y_high = MPU9250_ReadRegister(0x45);
    uint8_t y_low = MPU9250_ReadRegister(0x46);
    int16_t y = (y_high << 8) | y_low;

    uint8_t z_high = MPU9250_ReadRegister(0x47);
    uint8_t z_low = MPU9250_ReadRegister(0x48);
    int16_t z = (z_high << 8) | z_low;

    // 处理陀螺仪数据
    // ...

    // 延时
    for (int i = 0; i < 1000000; i++);
}

}

void I2C_Init(void) { // 初始化GPIO GPIO_InitTypeDef GPIO_InitStruct; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

GPIO_InitStruct.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_OD;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStruct);

// 初始化I2C
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
I2C_InitTypeDef I2C_InitStruct;
I2C_InitStruct.I2C_Mode = I2C_Mode_I2C;
I2C_InitStruct.I2C_DutyCycle = I2C_DutyCycle_2;
I2C_InitStruct.I2C_OwnAddress1 = 0x00;
I2C_InitStruct.I2C_Ack = I2C_Ack_Enable;
I2C_InitStruct.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
I2C_InitStruct.I2C_ClockSpeed = 100000;
I2C_Cmd(I2C1, ENABLE);
I2C_Init(I2C1, &I2C_InitStruct);

}

void I2C_Start(void) { // 发送起始位 I2C_GenerateSTART(I2C1, ENABLE);

// 等待起始位发送完成
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

}

void I2C_Stop(void) { // 发送停止位 I2C_GenerateSTOP(I2C1, ENABLE); }

void I2C_WriteByte(uint8_t data) { // 发送数据 I2C_SendData(I2C1, data);

// 等待数据发送完成
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));

}

uint8_t I2C_ReadByte(void) { // 接收数据 I2C_AcknowledgeConfig(I2C1, DISABLE); uint8_t data = I2C_ReceiveData(I2C1);

// 等待数据接收完成
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED));

return data;

}

void MPU9250_WriteRegister(uint8_t reg, uint8_t data) { I2C_Start(); I2C_WriteByte(MPU9250_ADDRESS); I2C_WriteByte(reg); I2C_WriteByte(data); I2C_Stop(); }

uint8_t MPU9250_ReadRegister(uint8_t reg) { I2C_Start(); I2C_WriteByte(MPU9250_ADDRESS); I2C_WriteByte(reg); I2C_Start(); I2C_WriteByte(MPU9250_ADDRESS | 0x01); uint8_t data = I2C_ReadByte(); I2C_Stop();

return data;

}

/* 请注意，此代码只是一个示例，可能需要根据您的具体硬件和要求进行修改。 */