int main(){ u8 res; initRCC(); initGPIO(); initTIM2(); initUSART3(); initI2C1(); __enable_irq(); // глобальное включение прерывания // I2C1_tx(0xD0,0x6B,0x00); // I2C1_tx(0xD0,0x1B,0xE0); // I2C1_tx(0xD0,0x1C,0xE0); read_I2C1(GY521_ADRESS,WHO_I_AM); // read_data_acc(); green_on(); while(1){ while(!number_of_tasks) {} (*buffer_of_tasks[head_of_tasks])(); deleteTask(); } return 0; }
int main (void) { initI2C1 (); initUsart (); #if 0 /* * +----------------+ * | Initialization | * +----------------+ */ accelgyro.initialize(); setClockSource(MPU6050_CLOCK_PLL_XGYRO/*0x01*/); /* * Excerpt from domcumentation : Upon power up, the MPU-60X0 clock source defaults to the internal oscillator. * However, it is highly recommended that the device be configured to use one of the gyroscopes. Below is the code * which does it: */ I2Cdev::writeBits(devAddr, MPU6050_RA_PWR_MGMT_1/*0x6B*/, MPU6050_PWR1_CLKSEL_BIT/*2*/, MPU6050_PWR1_CLKSEL_LENGTH/*3*/, source/*MPU6050_CLOCK_PLL_XGYRO 0x01*/); setFullScaleGyroRange(MPU6050_GYRO_FS_250/*0x00*/); /* * 0x1b register is used to trigger gyroscope self-test and configure the gyroscopes’ full scale range. Below * we set ful scale to be +/- 250 units (seconds?) */ I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG/*0x1B*/, MPU6050_GCONFIG_FS_SEL_BIT/*4*/, MPU6050_GCONFIG_FS_SEL_LENGTH/*2*/, range/*0x00*/); setFullScaleAccelRange(MPU6050_ACCEL_FS_2/*0x00*/); /* * Set accelerometer full scale to be +/- 2g. */ I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG/*0x1C*/, MPU6050_ACONFIG_AFS_SEL_BIT/*4*/, MPU6050_ACONFIG_AFS_SEL_LENGTH/*2*/, range/*0*/); setSleepEnabled(false); // thanks to Jack Elston for pointing this one out! /* * By default MPU6050 is in sleep mode after powering up. Below we are waking it back on. This * is done using the same register as in first line, */ I2Cdev::writeBit(devAddr, MPU6050_RA_PWR_MGMT_1/*0x6B*/, MPU6050_PWR1_SLEEP_BIT/*6*/, enabled/*false*/); accelgyro.testConnection() getDeviceID() == 0x34; /* * This register is used to verify the identity of the device. The contents of WHO_AM_I are * the upper 6 bits of the MPU-60X0’s 7-bit I C address. The Power-On-Reset value of Bit6:Bit1 is 0b110100 == 0x34. */ I2Cdev::readBits(devAddr, MPU6050_RA_WHO_AM_I/*0x75*/, MPU6050_WHO_AM_I_BIT/*6*/, MPU6050_WHO_AM_I_LENGTH/*6*/, buffer); return buffer[0]; /* * +----------------+ * | Main loop | * +----------------+ */ int16_t ax, ay, az; int16_t gx, gy, gz; accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); /* * In MPU-6000 and MPU-6050 Product Specification Rev 3.3 on pages 36 and 37 we read, that I²C reads and writes * can be performed with single byte or multiple bytes. In single byte mode, we issue (after sending slave * address ofcourse) a register address, and send or receive one byte of data. Multiple byte reads and writes, at the * other hand consist of slave address, regiser address and multiple consecutive bytes od data. Slave puts or gets * first byte from the register with the address we've just sent, and increases this addres by 1 after each byte. * * This is very useful in case of accelerometer and gyroscope because manufacturer has set up the apropriate registers * cnsecutively, so one can read accel, internal temp and gyro data in one read command. Below is the code which does * exactly this: */ I2Cdev::readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H/*0x3B*/, 14, buffer); *ax = (((int16_t)buffer[0]) << 8) | buffer[1]; *ay = (((int16_t)buffer[2]) << 8) | buffer[3]; *az = (((int16_t)buffer[4]) << 8) | buffer[5]; *gx = (((int16_t)buffer[8]) << 8) | buffer[9]; *gy = (((int16_t)buffer[10]) << 8) | buffer[11]; *gz = (((int16_t)buffer[12]) << 8) | buffer[13]; #endif // Configuration: I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter); // start a transmission in Master transmitter mode I2C_write_slow (I2C1, MPU6050_RA_PWR_MGMT_1); // Register address I2C_write (I2C1, MPU6050_CLOCK_PLL_XGYRO); // Register value = 0x01. Which means, that DEVICE_RESET, SLEEP, CYCLE and TEMP_DIS are all 0. I2C_stop (I2C1); I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter); I2C_write (I2C1, MPU6050_RA_GYRO_CONFIG); I2C_write (I2C1, MPU6050_GYRO_FS_250); // All bits set to zero. I2C_stop (I2C1); I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter); I2C_write (I2C1, MPU6050_RA_ACCEL_CONFIG); I2C_write (I2C1, MPU6050_ACCEL_FS_2); // All bits set to zero. I2C_stop (I2C1); // Simple test if communication is working I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter); I2C_write (I2C1, MPU6050_RA_WHO_AM_I); I2C_stop (I2C1); I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Receiver); uint8_t whoAmI = I2C_read_nack (I2C1); // read one byte and don't request another byte I2C_stop (I2C1); if (whoAmI == 0x34) { usartSendString (USART1, "Accelerometer has been found!\r\n"); } else { usartSendString (USART1, "*NO* Accelerometer has been found!\r\n"); } while (1) { I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Transmitter); I2C_write (I2C1, MPU6050_RA_ACCEL_XOUT_H); I2C_stop (I2C1); I2C_start (I2C1, MPU6050_ADDRESS_AD0_LOW, I2C_Direction_Receiver); uint16_t ax = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1); uint16_t ay = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1); uint16_t az = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1); uint16_t temp = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1); uint16_t gx = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1); uint16_t gy = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_ack (I2C1); uint16_t gz = ((uint16_t)I2C_read_ack (I2C1) << 8) | I2C_read_nack (I2C1); I2C_stop (I2C1); printf ("Accel : (%d, %d, %d), temperature : %d, gyro : (%d, %d, %d)\r\n", ax, ay, az, temp, gx, gy, gz); } }