82 lines
2.2 KiB
C
82 lines
2.2 KiB
C
// Copyright 2021 IOsetting <iosetting(at)outlook.com>
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/***
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* Demo: MPU6050, 3-axis gyroscope + 3-axis accelerometer + Digital Motion Processor™ (DMP™)
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* Board: STC8H8K64U
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*
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* P32 -> SCL
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* P33 -> SDA
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* GND -> GND
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* 3.3V -> VCC
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*/
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#include "fw_hal.h"
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#include "mpu6050.h"
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#include <stdio.h>
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void I2C_Init(void)
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{
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// Master mode
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I2C_SetWorkMode(I2C_WorkMode_Master);
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/**
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* I2C clock = FOSC / 2 / (__prescaler__ * 2 + 4)
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* MPU6050 works with i2c clock up to 400KHz
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*
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* 44.2368 / 2 / (26 * 2 + 4) = 0.39 MHz
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*/
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I2C_SetClockPrescaler(0x1A);
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// Switch alternative port
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I2C_SetPort(I2C_AlterPort_P32_P33);
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// Start I2C
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I2C_SetEnabled(HAL_State_ON);
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}
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void GPIO_Init(void)
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{
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// SDA
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GPIO_P3_SetMode(GPIO_Pin_3, GPIO_Mode_InOut_QBD);
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// SCL
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GPIO_P3_SetMode(GPIO_Pin_2, GPIO_Mode_Output_PP);
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}
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int main(void)
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{
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uint8_t i;
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uint16_t buf[7];
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SYS_SetClock();
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GPIO_Init();
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UART1_Config8bitUart(UART1_BaudSource_Timer1, HAL_State_ON, 115200);
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I2C_Init();
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MPU6050_Init();
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while(1)
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{
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for (i = 0; i < 100; i++)
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{
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if (i == 0)
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{
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MPU6050_EnableLowPowerMode(MPU6050_Wakeup_Freq_1p25Hz);
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}
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else if (i == 50)
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{
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MPU6050_DisableLowPowerMode();
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}
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MPU6050_ReadAll(buf);
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printf("ax:%6d, ay:%6d, az:%6d, tp:%6d, gx:%6d, gy:%6d, gz:%6d\r\n",
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buf[0], buf[1], buf[2], (int16_t)buf[3] / 34 + 365, buf[4], buf[5], buf[6]);
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SYS_Delay(100);
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}
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}
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} |