STM32F4 MPU6050 硬件DMP 驱动遇到的问题？

国殇

[mw_shl_code=c,true] 这是IIC的实现 #include "IIC.h" #include "delay.h" #include "USART.h" #include "stdio.h" /**************************????????******************************************** *?????­??: void IIC_Init(void) *????????: ??????I2C???????????????? *******************************************************************************/ void IIC_Init(void) { /* GPIO_InitTypeDef GPIO_InitStructure; I2C_InitTypeDef I2C_InitStructure; // ?????? I2C1 ???????±?? RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE ); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1,ENABLE); GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_I2C1); GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1); // PB8-I2C1_SCL??PB9-I2C1_SDA GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_Init(GPIOB, &GPIO_InitStructure); // I2C ???? I2C_InitStructure.I2C_Mode = I2C_Mode_I2C ; I2C_InitStructure.I2C_Ack = I2C_Ack_Enable; I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; I2C_InitStructure.I2C_ClockSpeed = 50000; // I2C1 ?????? I2C_Init(I2C1, &I2C_InitStructure); // ???? I2C1 I2C_Cmd(I2C1,ENABLE); //???í???????? I2C_AcknowledgeConfig(I2C1, ENABLE); printf("IIC ×??????????ê??....\r\n"); */ // ?í??????IIC GPIO_InitTypeDef GPIO_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB,ENABLE ); // PB8-SCL PB9-SDA GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //??????????GPIOB GPIO_Init(GPIOB, &GPIO_InitStructure); printf("IIC×??????????ê??...\r\n"); } /**************************????????******************************************** *?????­??: void IIC_Start(void) *????????: ?ú?úIIC???????? *******************************************************************************/ void IIC_Start(void) { SDA_OUT(); //sda?????? IIC_SDA_H; IIC_SCL_H; delay_us(4); IIC_SDA_L; //START:when CLK is high,DATA change form high to low delay_us(4); IIC_SCL_L; //??×?I2C×?????×?±?·????ò???????? } /**************************????????******************************************** *?????­??: void IIC_Stop(void) *????????: //?ú?úIIC???????? *******************************************************************************/ void IIC_Stop(void) { SDA_OUT();//sda?????? IIC_SCL_L; IIC_SDA_L;//STOP:when CLK is high DATA change form low to high delay_us(4); IIC_SCL_H; IIC_SDA_H;//·???I2C×????á?????? delay_us(4); } /**************************????????******************************************** *?????­??: u8 IIC_Wait_Ack(void) *????????: ???????????????? //·???????1???????????§°? // 0?????????????? *******************************************************************************/ u8 IIC_Wait_Ack(void) { u8 ucErrTime=0; SDA_IN(); //SDA?è???????? IIC_SDA_H;delay_us(1); IIC_SCL_H;delay_us(1); while(READ_SDA) { ucErrTime++; if(ucErrTime>50) { IIC_Stop(); return 1; } delay_us(1); } IIC_SCL_L;//?±??????0 return 0; } /**************************????????******************************************** *?????­??: void IIC_Ack(void) *????????: ?ú?úACK???? *******************************************************************************/ void IIC_Ack(void) { IIC_SCL_L; SDA_OUT(); IIC_SDA_L; delay_us(2); IIC_SCL_H; delay_us(2); IIC_SCL_L; } /**************************????????******************************************** *?????­??: void IIC_NAck(void) *????????: ?ú?úNACK???? *******************************************************************************/ void IIC_NAck(void) { IIC_SCL_L; SDA_OUT(); IIC_SDA_H; delay_us(2); IIC_SCL_L; delay_us(2); IIC_SCL_L; } /**************************????????******************************************** *?????­??: void IIC_Send_Byte(u8 txd) *????????: IIC·???????×??? *******************************************************************************/ void IIC_Send_Byte(u8 txd) { u8 t; SDA_OUT(); IIC_SCL_L;//?­???±?????????????? for(t=0;t<8;t++) { if((txd&0x80)>>7 == 1) // IIC_SDA=(txd&0x80)>>7; IIC_SDA_H; else IIC_SDA_L; txd<<=1; delay_us(2); IIC_SCL_H; delay_us(2); IIC_SCL_L; delay_us(2); } } /**************************????????******************************************** *?????­??: u8 IIC_Read_Byte(unsigned char ack) *????????: //??1??×?????ack=1?±??·???ACK??ack=0??·???nACK *******************************************************************************/ u8 IIC_Read_Byte(unsigned char ack) { unsigned char i,receive=0; SDA_IN();//SDA?è???????? for(i=0;i<8;i++ ) { IIC_SCL_L; delay_us(2); IIC_SCL_H; receive<<=1; if(READ_SDA) receive++; delay_us(2); } if (ack) IIC_Ack(); //·???ACK else IIC_NAck();//·???nACK return receive; } /**************************????????******************************************** *?????­??: unsigned char I2C_ReadOneByte(unsigned char I2C_Addr,unsigned char addr) *????????: ???????¨?è±? ???¨?????÷???????? ???? I2C_Addr ??±ê?è±????· addr ?????÷???· ·??? ?????????? *******************************************************************************/ unsigned char I2C_ReadOneByte(unsigned char I2C_Addr,unsigned char addr) { unsigned char res=0; IIC_Start(); IIC_Send_Byte(I2C_Addr); //·??????ü?? res++; IIC_Wait_Ack(); IIC_Send_Byte(addr); res++; //·??????· IIC_Wait_Ack(); IIC_Start(); IIC_Send_Byte(I2C_Addr+1); res++; //???????????? IIC_Wait_Ack(); res=IIC_Read_Byte(0); IIC_Stop();//?ú?ú???????????? return res; } /**************************????????******************************************** *?????­??: u8 IICreadBytes(u8 dev, u8 reg, u8 length, u8 *data) *????????: ???????¨?è±? ???¨?????÷?? length???? ???? dev ??±ê?è±????· reg ?????÷???· length ??????×????? *data ????????????????·??????? ·??? ????????×??????? *******************************************************************************/ u8 IICreadBytes(u8 dev, u8 reg, u8 length, u8 *data){ u8 count = 0; u8 temp; IIC_Start(); IIC_Send_Byte(dev); //·??????ü?? IIC_Wait_Ack(); IIC_Send_Byte(reg); //·??????· IIC_Wait_Ack(); IIC_Start(); IIC_Send_Byte(dev+1); //???????????? IIC_Wait_Ack(); for(count=0;count<length;count++){ if(count!=(length-1)) temp = IIC_Read_Byte(1); //??ACK???????? else temp = IIC_Read_Byte(0); //×??ó????×???NACK data[count] = temp; } IIC_Stop();//?ú?ú???????????? return count; } /**************************????????******************************************** *?????­??: u8 IICwriteBytes(u8 dev, u8 reg, u8 length, u8* data) *????????: ???à??×??????????¨?è±? ???¨?????÷ ???? dev ??±ê?è±????· reg ?????÷???· length ??????×????? *data ???????????????×???· ·??? ·?????·????? *******************************************************************************/ u8 IICwriteBytes(u8 dev, u8 reg, u8 length, u8* data){ u8 count = 0; IIC_Start(); IIC_Send_Byte(dev); //·??????ü?? IIC_Wait_Ack(); IIC_Send_Byte(reg); //·??????· IIC_Wait_Ack(); for(count=0;count<length;count++) { IIC_Send_Byte(data[count]); IIC_Wait_Ack(); } IIC_Stop();//?ú?ú???????????? return 1; //status == 0; } /**************************????????******************************************** *?????­??: u8 IICreadByte(u8 dev, u8 reg, u8 *data) *????????: ???????¨?è±? ???¨?????÷???????? ???? dev ??±ê?è±????· reg ?????÷???· *data ????????????????·??????· ·??? 1 *******************************************************************************/ u8 IICreadByte(u8 dev, u8 reg, u8 *data){ *data=I2C_ReadOneByte(dev, reg); return 1; } /**************************????????******************************************** *?????­??: unsigned char IICwriteByte(unsigned char dev, unsigned char reg, unsigned char data) *????????: ???????¨?è±? ???¨?????÷????×??? ???? dev ??±ê?è±????· reg ?????÷???· data ??????????×??? ·??? 1 *******************************************************************************/ unsigned char IICwriteByte(unsigned char dev, unsigned char reg, unsigned char data){ return IICwriteBytes(dev, reg, 1, &data); } /**************************????????******************************************** *?????­??: u8 IICwriteBits(u8 dev,u8 reg,u8 bitStart,u8 length,u8 data) *????????: ?? ???? ?? ???¨?è±? ???¨?????÷????×??? ?????à???? ???? dev ??±ê?è±????· reg ?????÷???· bitStart ??±ê×??????????? length ???¤?? data ??·???±???±ê×????????? ·??? ???? ??1 ?§°???0 *******************************************************************************/ u8 IICwriteBits(u8 dev,u8 reg,u8 bitStart,u8 length,u8 data) { u8 b; if (IICreadByte(dev, reg, &b) != 0) { u8 mask = (0xFF << (bitStart + 1)) | 0xFF >> ((8 - bitStart) + length - 1); data <<= (8 - length); data >>= (7 - bitStart); b &= mask; b |= data; return IICwriteByte(dev, reg, b); } else { return 0; } } /**************************????????******************************************** *?????­??: u8 IICwriteBit(u8 dev, u8 reg, u8 bitNum, u8 data) *????????: ?? ???? ?? ???¨?è±? ???¨?????÷????×??? ????1???? ???? dev ??±ê?è±????· reg ?????÷???· bitNum ????????±ê×?????bitNum?? data ??0 ?±????±ê????±???0 ·??ò??±????? ·??? ???? ??1 ?§°???0 *******************************************************************************/ u8 IICwriteBit(u8 dev, u8 reg, u8 bitNum, u8 data){ u8 b; IICreadByte(dev, reg, &b); b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); return IICwriteByte(dev, reg, b); } //------------------End of File---------------------------- [/mw_shl_code]

[mw_shl_code=c,true] /* ** ???????? */ #define SDA_IN() {GPIOB->MODER&=0X0FFFFFFF;GPIOB->MODER|=0x80000000;} /* ** ???????? */ #define SDA_OUT() {GPIOB->MODER&=0X0FFFFFFF;GPIOB->MODER|=0x30000000;} /* ** SCL - PB8 */ #define IIC_SCL_H GPIO_SetBits(GPIOB, GPIO_Pin_8) #define IIC_SCL_L GPIO_ResetBits(GPIOB, GPIO_Pin_8) /* ** SDA - PB9 */ #define IIC_SDA_H GPIO_SetBits(GPIOB, GPIO_Pin_9) #define IIC_SDA_L GPIO_ResetBits(GPIOB, GPIO_Pin_9) #define READ_SDA GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_9)[/mw_shl_code]

keil粘贴代码注释就乱了，请前辈们指点错在哪？ 谢谢！

dawea

之前用STM32F103的时候采用芯片的I2C做实时时钟驱动，后来发现经常有问题，问ST代理才知道STM32的I2C做的不好，建议采用IO口模拟，后来就用IO口模拟做的。
好像你的也是用到I2C了，不知道M4的是否已经解决这个问题，你也可从这上了解下。
另外M3的RTC时钟也有问题，很难起振，不知道M4这个问题是否解决掉了，有知道的也请告知下，谢谢！

国殇

回复【2楼】dawea:
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我用的是IO口模拟啊！ 调试跟踪发现程序死在在mpu_init();了！

正点原子

论坛有网友发过103的代码，参考下了。

国殇

回复【4楼】正点原子:
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嗯，我看过原子哥你的IIC例程，感觉没问题；
仿真试了下程序执行在这块就死在那了
imv_mpu.c

 if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0])))
        return -1;
    delay_ms(100);

我推断还是我的IO口模拟IIC没配置好，但真不知道是那配置错了！