MPU6050: Data Read (I2C)

The tutorial demonstration software simulates I2C communication to read the DMP data of MPU6050, then solves the data and prints it out on the serial port.

The tutorial only introduces the standard library project code

Hardware connection

Just install it to the corresponding interface:

Control principle

The software simulates I2C to obtain DMP data and calculates the pitch, roll, and heading angles.

• MPU6050

Basic functions

The attitude sensor integrates a three-axis gyroscope, a three-axis accelerometer, and a temperature sensor.

Three-axis gyroscope: can measure the angular velocity around the X, Y, and Z axes, and is used to detect the rotation and turning movement of an object.

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Integrating the angular velocity can get the angle

Three-axis accelerometer: can measure the acceleration in the X, Y, and Z axis directions, including the acceleration of gravity and the linear acceleration of the object.

Temperature sensor: MPU6050 also integrates a temperature sensor that can measure the temperature of the environment.

Pin definition

Software code

Since the tutorial is software simulation of I2C, the default pin function can be used.

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Source code path for product supporting materials: Attachment → Source code summary → 2. Extended_Course → 5. MPU6050

Control function

The tutorial only briefly introduces the code, and you can open the project source code to read it in detail.

IIC_MPU6050_Init

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void IIC_MPU6050_Init(void)
{           
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //Enable PB port clock
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10|GPIO_Pin_11; //Port configuration
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //Push-pull output
    GPIO_InitStructure.GPIO_Speed ••= GPIO_Speed_50MHz; //50M
    GPIO_Init(GPIOB, &GPIO_InitStructure); //Initialize GPIOB according to the set parameters
}

MPU6050_initialize

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void MPU6050_initialize(void) {
    MPU6050_setClockSource(MPU6050_CLOCK_PLL_YGYRO); //Set the clock
    MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000); //Gyro range setting
    MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2); //Maximum acceleration range +-2G
    MPU6050_setSleepEnabled(0); //Enter working state
    MPU6050_setI2CMasterModeEnabled(0); //Do not let MPU6050 control AUXI2C
    MPU6050_setI2CBypassEnabled(0); //Master controller I2C and MPU6050 AUXI2C pass-through disabled
}

DMP_Init

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void DMP_Init(void)
{ 
    u8 temp[1]={0};
    i2cRead(0x68,0x75,1,temp);
    printf("mpu_set_sensor complete ......\r\n");
    if(temp[0]!=0x68)NVIC_SystemReset();
    if(!mpu_init())
    {
      if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))
         printf("mpu_set_sensor complete ......\r\n");
      if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL))
         printf("mpu_configure_fifo complete ......\r\n");
      if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))
         printf("mpu_set_sample_rate complete ......\r\n");
      if(!dmp_load_motion_driver_firmware())
        printf("dmp_load_motion_driver_firmware complete ......\r\n");
      if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
         printf("dmp_set_orientation complete ......\r\n");
      if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
          DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
          DMP_FEATURE_GYRO_CAL))
         printf("dmp_enable_feature complete ......\r\n");
      if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))
         printf("dmp_set_fifo_rate complete ......\r\n");
      run_self_test();
        if(!mpu_set_dmp_state(1))
            printf("mpu_set_dmp_state complete ......\r\n");
    }
}

MPU6050_EXTI_Init

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void MPU6050_EXTI_Init(void)
{  
    GPIO_InitTypeDef GPIO_InitStructure;
    EXTI_InitTypeDef EXTI_InitStructure;
    NVIC_InitTypeDef NVIC_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //External interrupt, need to enable AFIO clock
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //Enable GPIO port clock
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //Port configuration
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //Pull-up input
    GPIO_Init(GPIOA, &GPIO_InitStructure); //Initialize GPIO according to the set parameters
    GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource12);
    EXTI_InitStructure.EXTI_Line=EXTI_Line12;
    EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
    EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling; //Falling edge trigger
    EXTI_InitStructure.EXTI_LineCmd = ENABLE;
    EXTI_Init(&EXTI_InitStructure); //Initialize the peripheral EXTI register according to the parameters specified in EXTI_InitStruct
    NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn; //Enable the external interrupt channel where the button is located
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //Preempt priority 2,
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01; //Subpriority 3
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //Enable external interrupt channel
    NVIC_Init(&NVIC_InitStructure);
}

Experimental phenomenon

The MPU6050.hex file generated by the project compilation is located in the OBJ folder of the MPU6050 project. Find the MPU6050.hex file corresponding to the project and use the FlyMcu software to download the program to the development board.

After the program is successfully downloaded: the serial port will receive the data calculated by MPU6050.

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When using the serial port debugging assistant, you need to pay attention to the serial port settings. If the settings are wrong, the phenomenon may be inconsistent