MPU6050读出的数据有问题啊

菜根袁

最近一直在鼓捣MPU6050，但是读出的数据有问题

[mw_shl_code=c,true]#include "mpu6050.h" #include "delay.h" #include "stm32f10x.h" u8 MPU_Init(void) { delay_ms(500); IIC_Init(); MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); delay_ms(100); MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); MPU_Write_Byte(MPU_GYRO_CFG_REG,0x18); MPU_Write_Byte(MPU_ACCEL_CFG_REG,0x00); MPU_Set_Rate(125); MPU_Write_Byte(MPU_SAMPLE_RATE_REG,0x07); MPU_Write_Byte(MPU_INT_EN_REG,0X00); MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); MPU_Write_Byte(MPU_FIFO_EN_REG,0X00); MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); return 0; } u8 MPU_Set_LPF(u16 lpf) { u8 data=0; if(lpf>=188)data=1; else if(lpf>=98)data=2; else if(lpf>=42)data=3; else if(lpf>=20)data=4; else if(lpf>=10)data=5; else data=6; return MPU_Write_Byte(MPU_CFG_REG,data); } u8 MPU_Set_Rate(u16 rate) { u8 data; if(rate>1000)rate=1000; if(rate<4)rate=4; data=1000/rate-1; data=MPU_Write_Byte(MPU_SAMPLE_RATE_REG,data); return MPU_Set_LPF(rate/2); } short MPU_Get_Temperature(void) { u8 buf[2]; short raw; float temp; MPU_Read_Len(MPU_ADDR,MPU_TEMP_OUTH_REG,2,buf); raw=((u16)buf[0]<<8)|buf[1]; temp=36.53+((double)raw)/340; return temp*100;; } u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz) { u8 buf[6],res; res=MPU_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf); if(res==0) { *gx=((u16)buf[0]<<8)|buf[1]; *gy=((u16)buf[2]<<8)|buf[3]; *gz=((u16)buf[4]<<8)|buf[5]; } return res;; } u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az) { u8 buf[6],res; res=MPU_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf); if(res==0) { *ax=((u16)buf[0]<<8)|buf[1]; *ay=((u16)buf[2]<<8)|buf[3]; *az=((u16)buf[4]<<8)|buf[5]; } return res;; } u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf) { u8 i; IIC_Start(); IIC_Send_Byte((addr<<1)|0); if(IIC_Wait_Ack()) { IIC_Stop(); return 1; } IIC_Send_Byte(reg); IIC_Wait_Ack(); for(i=0;i<len;i++) { IIC_Send_Byte(buf); if(IIC_Wait_Ack()) { IIC_Stop(); return 1; } } IIC_Stop(); return 0; } u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf) { IIC_Start(); IIC_Send_Byte((addr<<1)|0); if(IIC_Wait_Ack()) { IIC_Stop(); return 1; } IIC_Send_Byte(reg); IIC_Wait_Ack(); IIC_Start(); IIC_Send_Byte((addr<<1)|1); IIC_Wait_Ack(); while(len) { if(len==1)*buf=IIC_Read_Byte(0); else *buf=IIC_Read_Byte(1); len--; buf++; } IIC_Stop(); return 0; } u8 MPU_Write_Byte(u8 reg,u8 data) { IIC_Start(); IIC_Send_Byte((MPU_ADDR<<1)|0); if(IIC_Wait_Ack()) { IIC_Stop(); return 1; } IIC_Send_Byte(reg); IIC_Wait_Ack(); IIC_Send_Byte(data); if(IIC_Wait_Ack()) { IIC_Stop(); return 1; } IIC_Stop(); return 0; } u8 MPU_Read_Byte(u8 reg) { u8 res; IIC_Start(); IIC_Send_Byte((MPU_ADDR<<1)|0); IIC_Wait_Ack(); IIC_Send_Byte(reg); IIC_Wait_Ack(); IIC_Start(); IIC_Send_Byte((MPU_ADDR<<1)|1); IIC_Wait_Ack(); res=IIC_Read_Byte(0); IIC_Stop(); return res; } [/mw_shl_code]

这是模拟IIC.c的代码

[mw_shl_code=c,true]#ifndef _IIC_H_ #define _IIC_H_ #include "IIC.h" #include "delay.h" #include "stm32f10x.h" void IIC_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 ; GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_OD; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_OD; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); SCL_H; SDA_H; } void IIC_Delay(void) { uint8_t i=7; //i=10???±1.5us//???????????????? ????????×?????5???????? while(i--); } //?ú?úIIC???????? void IIC_Start(void) { SDA_H; SCL_H; IIC_Delay(); SDA_L; IIC_Delay(); SCL_L; //??×?I2C } void IIC_Stop(void) { SCL_L; IIC_Delay(); SDA_L; IIC_Delay(); SCL_H; IIC_Delay(); SDA_H; IIC_Delay(); } u8 IIC_Wait_Ack(void) { u8 ucErrTime=0; SDA_H; IIC_Delay(); SCL_H; IIC_Delay(); while(Read_SDA) { ucErrTime++; if(ucErrTime>250) { IIC_Stop(); return 1; } } SCL_L; return 0; } void IIC_Ack(void) { SCL_L; IIC_Delay(); SDA_L; IIC_Delay(); SCL_H; IIC_Delay(); SCL_L; } void IIC_NAck(void) { SCL_L; IIC_Delay(); SDA_H; IIC_Delay(); SCL_H; IIC_Delay(); SCL_L; } void IIC_Send_Byte(u8 txd) { u8 t; SCL_L; for(t=0;t<8;t++) { if(txd&0x80) { SDA_H; } else { SDA_L; } txd<<=1; IIC_Delay(); SCL_H; IIC_Delay(); SCL_L; IIC_Delay(); } } u8 IIC_Read_Byte(unsigned char ack) { unsigned char i,receive=0; SDA_H; SCL_L; for(i=0;i<8;i++ ) { SCL_H; IIC_Delay(); receive<<=1; if(Read_SDA)receive++; IIC_Delay(); } if (!ack) IIC_NAck(); else IIC_Ack(); return receive; } #endif [/mw_shl_code]

硬件仿真读mpu的的数据

正点原子

参考论坛网友的代码，就可以解决。