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使用FwLib_STC8封裝庫
- // Copyright 2021 IOsetting
- /***
- * Demo: MPU6050, 3-axis gyroscope + 3-axis accelerometer + Digital Motion Processor™ (DMP™)
- * Board: STC8H8K64U
- *
- * P32 -> SCL
- * P33 -> SDA
- * GND -> GND
- * 3.3V -> VCC
- */
- #include "fw_hal.h"
- #include "mpu6050.h"
- #include <stdio.h>
- void I2C_Init(void)
- {
- // Master mode
- I2C_SetWorkMode(I2C_WorkMode_Master);
- /**
- * I2C clock = SYSCLK / 2 / (__prescaler__ * 2 + 4)
- * MPU6050 works with i2c clock up to 400KHz
- *
- * 44.2368 / 2 / (26 * 2 + 4) = 0.39 MHz
- */
- I2C_SetClockPrescaler(0x1A);
- // Switch alternative port
- I2C_SetPort(I2C_AlterPort_P32_P33);
- // Start I2C
- I2C_SetEnabled(HAL_State_ON);
- }
- void GPIO_Init(void)
- {
- // SDA
- GPIO_P3_SetMode(GPIO_Pin_3, GPIO_Mode_InOut_QBD);
- // SCL
- GPIO_P3_SetMode(GPIO_Pin_2, GPIO_Mode_Output_PP);
- }
- int main(void)
- {
- uint8_t i;
- uint16_t buf[7];
- SYS_SetClock();
- GPIO_Init();
- UART1_Config8bitUart(UART1_BaudSource_Timer1, HAL_State_ON, 115200);
- I2C_Init();
- MPU6050_Init();
- while(1)
- {
- for (i = 0; i < 100; i++)
- {
- if (i == 0)
- {
- MPU6050_EnableLowPowerMode(MPU6050_Wakeup_Freq_1p25Hz);
- }
- else if (i == 50)
- {
- MPU6050_DisableLowPowerMode();
- }
- MPU6050_ReadAll(buf);
- printf("ax:%6d, ay:%6d, az:%6d, tp:%6d, gx:%6d, gy:%6d, gz:%6d\r\n",
- buf[0], buf[1], buf[2], (int16_t)buf[3] / 34 + 365, buf[4], buf[5], buf[6]);
- SYS_Delay(100);
- }
- }
- }
代碼說明
https://www.cnblogs.com/milton/p/15832869.html
完整代碼
Github https://github.com/IOsetting/FwLib_STC8/tree/master/demo/i2c/mpu6050
Gitee https://gitee.com/iosetting/fw-lib_-stc8/tree/master/demo/i2c/mpu6050
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