嵌入式

基于嵌入式linux iic 总线读写mpu6050

2019-07-12 21:52发布

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/************************************************************/ //文件名：mpu6050.c //功能:测试linux下iic读写mpu6050程序 //使用说明: (1) // (2) // (3) // (4) //作者:huangea //日期:2016-10-03 /************************************************************/ //包含头文件 #include #include #include #include #include #include #include #include #include #include //宏定义 #define SMPLRT_DIV 0x19 #define CONFIG 0x1A #define GYRO_CONFIG 0x1B #define ACCEL_CONFIG 0x1C #define ACCEL_XOUT_H 0x3B #define ACCEL_XOUT_L 0x3C #define ACCEL_YOUT_H 0x3D #define ACCEL_YOUT_L 0x3E #define ACCEL_ZOUT_H 0x3F #define ACCEL_ZOUT_L 0x40 #define TEMP_OUT_H 0x41 #define TEMP_OUT_L 0x42 #define GYRO_XOUT_H 0x43 #define GYRO_XOUT_L 0x44 #define GYRO_YOUT_H 0x45 #define GYRO_YOUT_L 0x46 #define GYRO_ZOUT_H 0x47 #define GYRO_ZOUT_L 0x48 #define PWR_MGMT_1 0x6B #define WHO_AM_I 0x75 #define SlaveAddress 0xD0 #define Address 0x68 //MPU6050地址 #define I2C_RETRIES 0x0701 #define I2C_TIMEOUT 0x0702 #define I2C_SLAVE 0x0703 //IIC从器件的地址设置 #define I2C_BUS_MODE 0x0780 typedef unsigned char uint8; int fd = -1; //函数声明 static uint8 MPU6050_Init(void); static uint8 i2c_write(int fd, uint8 reg, uint8 val); static uint8 i2c_read(int fd, uint8 reg, uint8 *val); static uint8 printarray(uint8 Array[], uint8 Num); //MPU6050初始化 static uint8 MPU6050_Init(void) { fd = open("/dev/i2c-0", O_RDWR); // open file and enable read and write if(fd < 0) { perror("Can't open /dev/MPU6050 "); // open i2c dev file fail exit(1); } printf("open /dev/i2c-0 success ! "); // open i2c dev file succes if(ioctl(fd, I2C_SLAVE, Address)<0) { //set i2c address printf("fail to set i2c device slave address! "); close(fd); return -1; } printf("set slave address to 0x%x success! ", Address); i2c_write(fd,PWR_MGMT_1,0X00); i2c_write(fd,SMPLRT_DIV,0X07); i2c_write(fd,CONFIG,0X06); i2c_write(fd,ACCEL_CONFIG,0X01); return(1); } //MPU6050 wirte byte static uint8 i2c_write(int fd, uint8 reg, uint8 val) { int retries; uint8 data[2]; data[0] = reg; data[1] = val; for(retries=5; retries; retries--) { if(write(fd, data, 2)==2) return 0; usleep(1000*10); } return -1; } //MPU6050 read byte static uint8 i2c_read(int fd, uint8 reg, uint8 *val) { int retries; for(retries=5; retries; retries--) if(write(fd, ®, 1)==1) if(read(fd, val, 1)==1) return 0; return -1; } //get data short GetData(unsigned char REG_Address) { char H,L; i2c_read(fd, REG_Address, &H); i2c_read(fd, REG_Address + 1, &L); return (H<<8)+L; } // main int main(int argc, char *argv[]) { MPU6050_Init(); usleep(1000*100); while(1) { printf("

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