4-W806-MPU6050-IIC

main.c

#include 
#include "wm_hal.h"
#include "6050.h"

short Accel[3];
short Gyro[3];
float Temp;


int main(void)
{
	SystemClock_Config(CPU_CLK_160M);
	printf("enter main\r\n");
	HAL_Init();
	
	Gpio_Init();
	
    MPU6050_Init();
	
	if (MPU6050ReadID() == 1)
	{
		while(1)
		{
			MPU6050ReadAcc(Accel);
			printf("\r\n加速度： %8d%8d%8d    ",Accel[0],Accel[1],Accel[2]);
			MPU6050ReadGyro(Gyro);
			printf("陀螺仪： %8d%8d%8d    ",Gyro[0],Gyro[1],Gyro[2]);
			MPU6050_ReturnTemp(&Temp);
			printf("温度： %8.2f\r\n",Temp);					//延时
			Delay_Us(160,1000000);
		}
	}
	else
	{
		printf("\r\n没有检测到MPU6050传感器！\r\n");
		while(1);
	}
    return 0;
}

mpu6050.c

#include "6050.h"


/**
  * @brief   写数据到MPU6050寄存器
  * @param
  * @retval
  */
void MPU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat)
{
	IIC_Start();
	IIC_Write_Byte(MPU6050_SLAVE_ADDRESS);
	IIC_Wait_Ack();
	IIC_Write_Byte(reg_add);
	IIC_Wait_Ack();
	IIC_Write_Byte(reg_dat);
	IIC_Wait_Ack();
	IIC_Stop();
}

/**
  * @brief   从MPU6050寄存器读取数据
  * @param
  * @retval
  */
void MPU6050_ReadData(uint8_t reg_add,unsigned char*Read,uint8_t num)
{
	unsigned char i;

	IIC_Start();
	IIC_Write_Byte(MPU6050_SLAVE_ADDRESS);
	IIC_Wait_Ack();
	IIC_Write_Byte(reg_add);
	IIC_Wait_Ack();

	IIC_Start();
	IIC_Write_Byte(MPU6050_SLAVE_ADDRESS+1);
	IIC_Wait_Ack();

	for(i=0;i<(num-1);i++){
		*Read=IIC_Read_Byte(1);
		Read++;
	}
	*Read=IIC_Read_Byte(0);
	IIC_Stop();
}


/**
  * @brief   初始化MPU6050芯片
  * @param
  * @retval
  */
void MPU6050_Init(void)
{
  int i=0,j=0;
  //在初始化之前要延时一段时间，若没有延时，则断电后再上电数据可能会出错
  for(i=0;i<1000;i++)
  {
    for(j=0;j<1000;j++)
    {
      ;
    }
  }
	MPU6050_WriteReg(MPU6050_RA_PWR_MGMT_1, 0x00);	    //解除休眠状态
	MPU6050_WriteReg(MPU6050_RA_SMPLRT_DIV , 0x07);	    //陀螺仪采样率，1KHz
	MPU6050_WriteReg(MPU6050_RA_CONFIG , 0x06);	        //低通滤波器的设置，截止频率是1K，带宽是5K
	MPU6050_WriteReg(MPU6050_RA_ACCEL_CONFIG , 0x00);	  //配置加速度传感器工作在2G模式，不自检
	MPU6050_WriteReg(MPU6050_RA_GYRO_CONFIG, 0x18);     //陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
}


/**
  * @brief   读取MPU6050的ID
  * @param
  * @retval
  */
uint8_t MPU6050ReadID(void)
{
	unsigned char Re = 0;
    MPU6050_ReadData(MPU6050_RA_WHO_AM_I,&Re,1);    //读器件地址
	if(Re != 0x68)
	{
		printf("MPU6050 dectected error!\r\n检测不到MPU6050模块，请检查模块与开发板的接线");
		return 0;
	}
	else
	{
		printf("MPU6050 ID = %d\r\n",Re);
		return 1;
	}

}


/**
  * @brief   读取MPU6050的加速度数据
  * @param
  * @retval
  */
void MPU6050ReadAcc(short *accData)
{
    uint8_t buf[6];
    MPU6050_ReadData(MPU6050_ACC_OUT, buf, 6);
    accData[0] = (buf[0] << 8) | buf[1];
    accData[1] = (buf[2] << 8) | buf[3];
    accData[2] = (buf[4] << 8) | buf[5];
}

/**
  * @brief   读取MPU6050的角加速度数据
  * @param
  * @retval
  */
void MPU6050ReadGyro(short *gyroData)
{
    uint8_t buf[6];
    MPU6050_ReadData(MPU6050_GYRO_OUT,buf,6);
    gyroData[0] = (buf[0] << 8) | buf[1];
    gyroData[1] = (buf[2] << 8) | buf[3];
    gyroData[2] = (buf[4] << 8) | buf[5];
}


/**
  * @brief   读取MPU6050的原始温度数据
  * @param
  * @retval
  */
void MPU6050ReadTemp(short *tempData)
{
	uint8_t buf[2];
    MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2);     //读取温度值
    *tempData = (buf[0] << 8) | buf[1];
}


/**
  * @brief   读取MPU6050的温度数据，转化成摄氏度
  * @param
  * @retval
  */
void MPU6050_ReturnTemp(float *Temperature)
{
	short temp3;
	uint8_t buf[2];

	MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2);     //读取温度值
  temp3= (buf[0] << 8) | buf[1];
	*Temperature=((double) temp3/340.0)+36.53;

}

mpu6050.h

#include "iic_ctrl.h"


//模块的A0引脚接GND，IIC的7位地址为0x68，若接到VCC，需要改为0x69
#define MPU6050_SLAVE_ADDRESS  (0x68<<1)      //MPU6050器件读地址



#define MPU6050_WHO_AM_I        0x75
#define MPU6050_SMPLRT_DIV      0  //8000Hz
#define MPU6050_DLPF_CFG        0
#define MPU6050_GYRO_OUT        0x43     //MPU6050陀螺仪数据寄存器地址
#define MPU6050_ACC_OUT         0x3B     //MPU6050加速度数据寄存器地址



#define MPU6050_ADDRESS_AD0_LOW     0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH    0x69 // address pin high (VCC)
#define MPU6050_DEFAULT_ADDRESS     MPU6050_ADDRESS_AD0_LOW

#define MPU6050_RA_XG_OFFS_TC       0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC       0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_ZG_OFFS_TC       0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_X_FINE_GAIN      0x03 //[7:0] X_FINE_GAIN
#define MPU6050_RA_Y_FINE_GAIN      0x04 //[7:0] Y_FINE_GAIN
#define MPU6050_RA_Z_FINE_GAIN      0x05 //[7:0] Z_FINE_GAIN
#define MPU6050_RA_XA_OFFS_H        0x06 //[15:0] XA_OFFS
#define MPU6050_RA_XA_OFFS_L_TC     0x07
#define MPU6050_RA_YA_OFFS_H        0x08 //[15:0] YA_OFFS
#define MPU6050_RA_YA_OFFS_L_TC     0x09
#define MPU6050_RA_ZA_OFFS_H        0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC     0x0B
#define MPU6050_RA_XG_OFFS_USRH     0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL     0x14
#define MPU6050_RA_YG_OFFS_USRH     0x15 //[15:0] YG_OFFS_USR
#define MPU6050_RA_YG_OFFS_USRL     0x16
#define MPU6050_RA_ZG_OFFS_USRH     0x17 //[15:0] ZG_OFFS_USR
#define MPU6050_RA_ZG_OFFS_USRL     0x18
#define MPU6050_RA_SMPLRT_DIV       0x19
#define MPU6050_RA_CONFIG           0x1A
#define MPU6050_RA_GYRO_CONFIG      0x1B
#define MPU6050_RA_ACCEL_CONFIG     0x1C
#define MPU6050_RA_FF_THR           0x1D
#define MPU6050_RA_FF_DUR           0x1E
#define MPU6050_RA_MOT_THR          0x1F
#define MPU6050_RA_MOT_DUR          0x20
#define MPU6050_RA_ZRMOT_THR        0x21
#define MPU6050_RA_ZRMOT_DUR        0x22
#define MPU6050_RA_FIFO_EN          0x23
#define MPU6050_RA_I2C_MST_CTRL     0x24
#define MPU6050_RA_I2C_SLV0_ADDR    0x25
#define MPU6050_RA_I2C_SLV0_REG     0x26
#define MPU6050_RA_I2C_SLV0_CTRL    0x27
#define MPU6050_RA_I2C_SLV1_ADDR    0x28
#define MPU6050_RA_I2C_SLV1_REG     0x29
#define MPU6050_RA_I2C_SLV1_CTRL    0x2A
#define MPU6050_RA_I2C_SLV2_ADDR    0x2B
#define MPU6050_RA_I2C_SLV2_REG     0x2C
#define MPU6050_RA_I2C_SLV2_CTRL    0x2D
#define MPU6050_RA_I2C_SLV3_ADDR    0x2E
#define MPU6050_RA_I2C_SLV3_REG     0x2F
#define MPU6050_RA_I2C_SLV3_CTRL    0x30
#define MPU6050_RA_I2C_SLV4_ADDR    0x31
#define MPU6050_RA_I2C_SLV4_REG     0x32
#define MPU6050_RA_I2C_SLV4_DO      0x33
#define MPU6050_RA_I2C_SLV4_CTRL    0x34
#define MPU6050_RA_I2C_SLV4_DI      0x35
#define MPU6050_RA_I2C_MST_STATUS   0x36
#define MPU6050_RA_INT_PIN_CFG      0x37
#define MPU6050_RA_INT_ENABLE       0x38
#define MPU6050_RA_DMP_INT_STATUS   0x39
#define MPU6050_RA_INT_STATUS       0x3A
#define MPU6050_RA_ACCEL_XOUT_H     0x3B
#define MPU6050_RA_ACCEL_XOUT_L     0x3C
#define MPU6050_RA_ACCEL_YOUT_H     0x3D
#define MPU6050_RA_ACCEL_YOUT_L     0x3E
#define MPU6050_RA_ACCEL_ZOUT_H     0x3F
#define MPU6050_RA_ACCEL_ZOUT_L     0x40
#define MPU6050_RA_TEMP_OUT_H       0x41
#define MPU6050_RA_TEMP_OUT_L       0x42
#define MPU6050_RA_GYRO_XOUT_H      0x43
#define MPU6050_RA_GYRO_XOUT_L      0x44
#define MPU6050_RA_GYRO_YOUT_H      0x45
#define MPU6050_RA_GYRO_YOUT_L      0x46
#define MPU6050_RA_GYRO_ZOUT_H      0x47
#define MPU6050_RA_GYRO_ZOUT_L      0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS    0x61
#define MPU6050_RA_I2C_SLV0_DO      0x63
#define MPU6050_RA_I2C_SLV1_DO      0x64
#define MPU6050_RA_I2C_SLV2_DO      0x65
#define MPU6050_RA_I2C_SLV3_DO      0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL   0x67
#define MPU6050_RA_SIGNAL_PATH_RESET    0x68
#define MPU6050_RA_MOT_DETECT_CTRL      0x69
#define MPU6050_RA_USER_CTRL        0x6A
#define MPU6050_RA_PWR_MGMT_1       0x6B
#define MPU6050_RA_PWR_MGMT_2       0x6C
#define MPU6050_RA_BANK_SEL         0x6D
#define MPU6050_RA_MEM_START_ADDR   0x6E
#define MPU6050_RA_MEM_R_W          0x6F
#define MPU6050_RA_DMP_CFG_1        0x70
#define MPU6050_RA_DMP_CFG_2        0x71
#define MPU6050_RA_FIFO_COUNTH      0x72
#define MPU6050_RA_FIFO_COUNTL      0x73
#define MPU6050_RA_FIFO_R_W         0x74
#define MPU6050_RA_WHO_AM_I         0x75

#define MPU6050_TC_PWR_MODE_BIT     7
#define MPU6050_TC_OFFSET_BIT       6
#define MPU6050_TC_OFFSET_LENGTH    6
#define MPU6050_TC_OTP_BNK_VLD_BIT  0

#define MPU6050_VDDIO_LEVEL_VLOGIC  0
#define MPU6050_VDDIO_LEVEL_VDD     1

#define MPU6050_CFG_EXT_SYNC_SET_BIT    5
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
#define MPU6050_CFG_DLPF_CFG_BIT    2
#define MPU6050_CFG_DLPF_CFG_LENGTH 3

#define MPU6050_EXT_SYNC_DISABLED       0x0
#define MPU6050_EXT_SYNC_TEMP_OUT_L     0x1
#define MPU6050_EXT_SYNC_GYRO_XOUT_L    0x2
#define MPU6050_EXT_SYNC_GYRO_YOUT_L    0x3
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L    0x4
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L   0x5
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L   0x6
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L   0x7

#define MPU6050_DLPF_BW_256         0x00
#define MPU6050_DLPF_BW_188         0x01
#define MPU6050_DLPF_BW_98          0x02
#define MPU6050_DLPF_BW_42          0x03
#define MPU6050_DLPF_BW_20          0x04
#define MPU6050_DLPF_BW_10          0x05
#define MPU6050_DLPF_BW_5           0x06

#define MPU6050_GCONFIG_FS_SEL_BIT      4
#define MPU6050_GCONFIG_FS_SEL_LENGTH   2

#define MPU6050_GYRO_FS_250         0x00
#define MPU6050_GYRO_FS_500         0x01
#define MPU6050_GYRO_FS_1000        0x02
#define MPU6050_GYRO_FS_2000        0x03

#define MPU6050_ACONFIG_XA_ST_BIT           7
#define MPU6050_ACONFIG_YA_ST_BIT           6
#define MPU6050_ACONFIG_ZA_ST_BIT           5
#define MPU6050_ACONFIG_AFS_SEL_BIT         4
#define MPU6050_ACONFIG_AFS_SEL_LENGTH      2
#define MPU6050_ACONFIG_ACCEL_HPF_BIT       2
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH    3

#define MPU6050_ACCEL_FS_2          0x00
#define MPU6050_ACCEL_FS_4          0x01
#define MPU6050_ACCEL_FS_8          0x02
#define MPU6050_ACCEL_FS_16         0x03

#define MPU6050_DHPF_RESET          0x00
#define MPU6050_DHPF_5              0x01
#define MPU6050_DHPF_2P5            0x02
#define MPU6050_DHPF_1P25           0x03
#define MPU6050_DHPF_0P63           0x04
#define MPU6050_DHPF_HOLD           0x07

#define MPU6050_TEMP_FIFO_EN_BIT    7
#define MPU6050_XG_FIFO_EN_BIT      6
#define MPU6050_YG_FIFO_EN_BIT      5
#define MPU6050_ZG_FIFO_EN_BIT      4
#define MPU6050_ACCEL_FIFO_EN_BIT   3
#define MPU6050_SLV2_FIFO_EN_BIT    2
#define MPU6050_SLV1_FIFO_EN_BIT    1
#define MPU6050_SLV0_FIFO_EN_BIT    0

#define MPU6050_MULT_MST_EN_BIT     7
#define MPU6050_WAIT_FOR_ES_BIT     6
#define MPU6050_SLV_3_FIFO_EN_BIT   5
#define MPU6050_I2C_MST_P_NSR_BIT   4
#define MPU6050_I2C_MST_CLK_BIT     3
#define MPU6050_I2C_MST_CLK_LENGTH  4

#define MPU6050_CLOCK_DIV_348       0x0
#define MPU6050_CLOCK_DIV_333       0x1
#define MPU6050_CLOCK_DIV_320       0x2
#define MPU6050_CLOCK_DIV_308       0x3
#define MPU6050_CLOCK_DIV_296       0x4
#define MPU6050_CLOCK_DIV_286       0x5
#define MPU6050_CLOCK_DIV_276       0x6
#define MPU6050_CLOCK_DIV_267       0x7
#define MPU6050_CLOCK_DIV_258       0x8
#define MPU6050_CLOCK_DIV_500       0x9
#define MPU6050_CLOCK_DIV_471       0xA
#define MPU6050_CLOCK_DIV_444       0xB
#define MPU6050_CLOCK_DIV_421       0xC
#define MPU6050_CLOCK_DIV_400       0xD
#define MPU6050_CLOCK_DIV_381       0xE
#define MPU6050_CLOCK_DIV_364       0xF

#define MPU6050_I2C_SLV_RW_BIT      7
#define MPU6050_I2C_SLV_ADDR_BIT    6
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
#define MPU6050_I2C_SLV_EN_BIT      7
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
#define MPU6050_I2C_SLV_GRP_BIT     4
#define MPU6050_I2C_SLV_LEN_BIT     3
#define MPU6050_I2C_SLV_LEN_LENGTH  4

#define MPU6050_I2C_SLV4_RW_BIT         7
#define MPU6050_I2C_SLV4_ADDR_BIT       6
#define MPU6050_I2C_SLV4_ADDR_LENGTH    7
#define MPU6050_I2C_SLV4_EN_BIT         7
#define MPU6050_I2C_SLV4_INT_EN_BIT     6
#define MPU6050_I2C_SLV4_REG_DIS_BIT    5
#define MPU6050_I2C_SLV4_MST_DLY_BIT    4
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5

#define MPU6050_MST_PASS_THROUGH_BIT    7
#define MPU6050_MST_I2C_SLV4_DONE_BIT   6
#define MPU6050_MST_I2C_LOST_ARB_BIT    5
#define MPU6050_MST_I2C_SLV4_NACK_BIT   4
#define MPU6050_MST_I2C_SLV3_NACK_BIT   3
#define MPU6050_MST_I2C_SLV2_NACK_BIT   2
#define MPU6050_MST_I2C_SLV1_NACK_BIT   1
#define MPU6050_MST_I2C_SLV0_NACK_BIT   0

#define MPU6050_INTCFG_INT_LEVEL_BIT        7
#define MPU6050_INTCFG_INT_OPEN_BIT         6
#define MPU6050_INTCFG_LATCH_INT_EN_BIT     5
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT     4
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT  3
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT     2
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT    1
#define MPU6050_INTCFG_CLKOUT_EN_BIT        0

#define MPU6050_INTMODE_ACTIVEHIGH  0x00
#define MPU6050_INTMODE_ACTIVELOW   0x01

#define MPU6050_INTDRV_PUSHPULL     0x00
#define MPU6050_INTDRV_OPENDRAIN    0x01

#define MPU6050_INTLATCH_50USPULSE  0x00
#define MPU6050_INTLATCH_WAITCLEAR  0x01

#define MPU6050_INTCLEAR_STATUSREAD 0x00
#define MPU6050_INTCLEAR_ANYREAD    0x01

#define MPU6050_INTERRUPT_FF_BIT            7
#define MPU6050_INTERRUPT_MOT_BIT           6
#define MPU6050_INTERRUPT_ZMOT_BIT          5
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT    4
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT   3
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT   2
#define MPU6050_INTERRUPT_DMP_INT_BIT       1
#define MPU6050_INTERRUPT_DATA_RDY_BIT      0

// TODO: figure out what these actually do
// UMPL source code is not very obivous
#define MPU6050_DMPINT_5_BIT            5
#define MPU6050_DMPINT_4_BIT            4
#define MPU6050_DMPINT_3_BIT            3
#define MPU6050_DMPINT_2_BIT            2
#define MPU6050_DMPINT_1_BIT            1
#define MPU6050_DMPINT_0_BIT            0

#define MPU6050_MOTION_MOT_XNEG_BIT     7
#define MPU6050_MOTION_MOT_XPOS_BIT     6
#define MPU6050_MOTION_MOT_YNEG_BIT     5
#define MPU6050_MOTION_MOT_YPOS_BIT     4
#define MPU6050_MOTION_MOT_ZNEG_BIT     3
#define MPU6050_MOTION_MOT_ZPOS_BIT     2
#define MPU6050_MOTION_MOT_ZRMOT_BIT    0

#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT   7
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT   4
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT   3
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT   2
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT   1
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT   0

#define MPU6050_PATHRESET_GYRO_RESET_BIT    2
#define MPU6050_PATHRESET_ACCEL_RESET_BIT   1
#define MPU6050_PATHRESET_TEMP_RESET_BIT    0

#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT       5
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH    2
#define MPU6050_DETECT_FF_COUNT_BIT             3
#define MPU6050_DETECT_FF_COUNT_LENGTH          2
#define MPU6050_DETECT_MOT_COUNT_BIT            1
#define MPU6050_DETECT_MOT_COUNT_LENGTH         2

#define MPU6050_DETECT_DECREMENT_RESET  0x0
#define MPU6050_DETECT_DECREMENT_1      0x1
#define MPU6050_DETECT_DECREMENT_2      0x2
#define MPU6050_DETECT_DECREMENT_4      0x3

#define MPU6050_USERCTRL_DMP_EN_BIT             7
#define MPU6050_USERCTRL_FIFO_EN_BIT            6
#define MPU6050_USERCTRL_I2C_MST_EN_BIT         5
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT         4
#define MPU6050_USERCTRL_DMP_RESET_BIT          3
#define MPU6050_USERCTRL_FIFO_RESET_BIT         2
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT      1
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT     0

#define MPU6050_PWR1_DEVICE_RESET_BIT   7
#define MPU6050_PWR1_SLEEP_BIT          6
#define MPU6050_PWR1_CYCLE_BIT          5
#define MPU6050_PWR1_TEMP_DIS_BIT       3
#define MPU6050_PWR1_CLKSEL_BIT         2
#define MPU6050_PWR1_CLKSEL_LENGTH      3

#define MPU6050_CLOCK_INTERNAL          0x00
#define MPU6050_CLOCK_PLL_XGYRO         0x01
#define MPU6050_CLOCK_PLL_YGYRO         0x02
#define MPU6050_CLOCK_PLL_ZGYRO         0x03
#define MPU6050_CLOCK_PLL_EXT32K        0x04
#define MPU6050_CLOCK_PLL_EXT19M        0x05
#define MPU6050_CLOCK_KEEP_RESET        0x07

#define MPU6050_PWR2_LP_WAKE_CTRL_BIT       7
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH    2
#define MPU6050_PWR2_STBY_XA_BIT            5
#define MPU6050_PWR2_STBY_YA_BIT            4
#define MPU6050_PWR2_STBY_ZA_BIT            3
#define MPU6050_PWR2_STBY_XG_BIT            2
#define MPU6050_PWR2_STBY_YG_BIT            1
#define MPU6050_PWR2_STBY_ZG_BIT            0

#define MPU6050_WAKE_FREQ_1P25      0x0
#define MPU6050_WAKE_FREQ_2P5       0x1
#define MPU6050_WAKE_FREQ_5         0x2
#define MPU6050_WAKE_FREQ_10        0x3

#define MPU6050_BANKSEL_PRFTCH_EN_BIT       6
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT   5
#define MPU6050_BANKSEL_MEM_SEL_BIT         4
#define MPU6050_BANKSEL_MEM_SEL_LENGTH      5

#define MPU6050_WHO_AM_I_BIT        6
#define MPU6050_WHO_AM_I_LENGTH     6

#define MPU6050_DMP_MEMORY_BANKS        8
#define MPU6050_DMP_MEMORY_BANK_SIZE    256
#define MPU6050_DMP_MEMORY_CHUNK_SIZE   16

void MPU6050ReadTemp(short *tempData);
void MPU6050ReadGyro(short *gyroData);
void MPU6050ReadAcc(short *accData);
void MPU6050_ReturnTemp(float *Temperature);
void MPU6050_Init(void);
uint8_t MPU6050ReadID(void);
void PMU6050_ReadData(uint8_t reg_add,unsigned char*Read,uint8_t num);
void PMU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat);

void MPU6050_PWR_MGMT_1_INIT(void);

iic_ctrl.c

/**
 * Copyright (c) 2022-2023，HelloAlpha
 *
 * Change Logs:
 * Date           Author       Notes
 */
#include "iic_ctrl.h"


void IIC_Start(void)
{
    SDA_OUT();
    SDA_HIGH();
    SCL_HIGH();
    Delay_Us(160,4);
    SDA_LOW();
    Delay_Us(160,4);
    SCL_LOW();
    Delay_Us(160,2);
}

void IIC_Stop(void)
{
    SDA_OUT();
    SCL_LOW();
    SDA_LOW();
    Delay_Us(160,4);
    SCL_HIGH();
    SDA_HIGH();
    Delay_Us(160,4);
}

// 1，接收应答失败
// 0，接收应答成功
uint8_t IIC_Wait_Ack(void)
{
    uint8_t ucErrTime=0;

    SDA_OUT();
    SDA_HIGH();
    Delay_Us(160,1);
    SCL_HIGH();
    Delay_Us(160,1);
    SDA_IN();
    while(SDA_READ())
    {
        ucErrTime++;
        if(ucErrTime > 250)
        {
            IIC_Stop();
            return 1;
        }
    }
    SCL_LOW();
    return 0;
}

//产生ACK应答
void IIC_Ack(void)
{
    SCL_LOW();
    SDA_OUT();
    SDA_LOW();
    Delay_Us(160,2);
    SCL_HIGH();
    Delay_Us(160,2);
    SCL_LOW();
}
//不产生ACK应答
void IIC_NAck(void)
{
    SCL_LOW();
    SDA_OUT();
    SDA_HIGH();
    Delay_Us(160,2);
    SCL_HIGH();
    Delay_Us(160,2);
    SCL_LOW();
}

void IIC_Write_Byte(uint8_t data)
{
    uint8_t  i = 0;

    SDA_OUT();
    SCL_LOW();
    for(i=0; i<8; i++)
    {
        if(data & 0x80 )
            SDA_HIGH();
        else
            SDA_LOW();
        data <<= 1;
        Delay_Us(160,2);
        SCL_HIGH();
        Delay_Us(160,2);
        SCL_LOW();
        Delay_Us(160,2);
    }
}

// ack = 1，发送 ACK
// ack = 0，发送 nACK
uint8_t IIC_Read_Byte(uint8_t ack)
{
    uint8_t i = 0, data = 0;

    SDA_IN();
    for(i = 0; i < 8; i++)
    {
        SCL_LOW();
        Delay_Us(160,2);
         SCL_HIGH();
        data <<= 1;
        if(SDA_READ())
            data++;
        Delay_Us(160,1);
    }
    if(!ack)
        IIC_NAck();
    else
        IIC_Ack();
    return data;
}

void IIC_Write_UINT16(uint8_t dev_addr, uint8_t wr_addr, uint16_t data)
{
    IIC_Start();
    IIC_Write_Byte(dev_addr);
    IIC_Wait_Ack();
    IIC_Write_Byte(wr_addr);
    IIC_Wait_Ack();
    IIC_Write_Byte(data >> 8);
    IIC_Wait_Ack();
    IIC_Write_Byte(data & 0xFF);
    IIC_Wait_Ack();
    IIC_Stop();
    Delay_Us(160,800);
}

uint16_t IIC_Read_UINT16(uint8_t dev_addr, uint8_t rd_addr)
{
    uint16_t data;

    IIC_Start();
    IIC_Write_Byte(dev_addr);
    IIC_Wait_Ack();
    IIC_Write_Byte(rd_addr);
    IIC_Wait_Ack();

    IIC_Start();
    IIC_Write_Byte(dev_addr + 1);
    IIC_Wait_Ack();
    data = IIC_Read_Byte(1);
    data = (data <<8 ) + IIC_Read_Byte(0);
    IIC_Stop();

    return data;
}

void Delay_Us(uint8_t freq,uint32_t time)
{
    uint32_t i;
    uint16_t num = 90;
    switch(freq)
    {
        case 240: num = 80;break;
        case 160: num = 53;break;
        default: printf("delay input freq err...default set 240MHZ us time \r\n ");break;
    }
    
    for (i = 0; i < (num)*time; i++)
    {
        __NOP();
    }
}

void Delay_Ms(uint8_t freq,uint32_t time)
{
    uint32_t i;
    uint16_t num = 90;
    switch(freq)
    {
        case 240: num = 80;break;
        case 160: num = 53;break;
        default: printf("delay input freq err...default set 240MHZ us time \r\n ");break;
    }
    
    for (i = 0; i < (num)*time*1000; i++)
    {
        __NOP();
    }
}

iic_ctrl.h

/**
 * Copyright (c) 2022-2023£¬HelloAlpha
 *
 * Change Logs:
 * Date           Author       Notes
 */
#ifndef __I2C_CTRL_H__
#define __I2C_CTRL_H__

#include "iic_io.h"

void IIC_Start(void);
void IIC_Stop(void);
uint8_t IIC_Wait_Ack(void);
void IIC_Ack(void);
void IIC_NAck(void);
void IIC_Write_Byte(uint8_t value );
uint8_t IIC_Read_Byte(uint8_t addr);
void IIC_Write_UINT16(uint8_t dev_addr, uint8_t wr_addr, uint16_t data);
uint16_t IIC_Read_UINT16(uint8_t dev_addr, uint8_t rd_addr);
void Delay_Us(uint8_t freq,uint32_t time);
void Delay_Ms(uint8_t freq,uint32_t time);
#endif

iic_io.c

/**
 * Copyright (c) 2022-2023£¬HelloAlpha
 *
 * Change Logs:
 * Date           Author       Notes
 */
#include "iic_io.h"


void SCL_OUT(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};											//初始化GPIO结构体
	
	__HAL_RCC_GPIO_CLK_ENABLE();													//打开GPIO时钟

	GPIO_InitStruct.Pin = GPIO_PIN_0;												//配置引脚
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT;										//配置成输出模式
	GPIO_InitStruct.Pull = GPIO_NOPULL;												//不拉
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);											//引脚初始化
}

void SCL_HIGH(void)
{
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);
}

void SCL_LOW(void)
{
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_RESET);
}

void SDA_IN(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};											//初始化GPIO结构体
	
	__HAL_RCC_GPIO_CLK_ENABLE();													//打开GPIO时钟

	GPIO_InitStruct.Pin = GPIO_PIN_1;												//配置引脚
	GPIO_InitStruct.Mode = GPIO_MODE_INPUT;											//配置成输入模式
	GPIO_InitStruct.Pull = GPIO_NOPULL;												//不拉
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);											//引脚初始化
}

uint32_t SDA_READ(void)
{
    return HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1);
}

void SDA_OUT(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};											//初始化GPIO结构体
	
	__HAL_RCC_GPIO_CLK_ENABLE();													//打开GPIO时钟

	GPIO_InitStruct.Pin = GPIO_PIN_1;												//配置引脚
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT;										//配置成输出模式
	GPIO_InitStruct.Pull = GPIO_NOPULL;												//不拉
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);											//引脚初始化
}

void SDA_HIGH(void)
{
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);
}

void SDA_LOW(void)
{
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_RESET);
}

int IIC_Init(void)
{
    SCL_OUT();
    SCL_HIGH();
    SDA_OUT();
    SDA_HIGH();

    return 0;
}

void Gpio_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStruct = {0};											//初始化GPIO结构体
	
	__HAL_RCC_GPIO_CLK_ENABLE();													//打开GPIO时钟

	GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_1;									//配置引脚
	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT;										//配置成输出模式
	GPIO_InitStruct.Pull = GPIO_NOPULL;												//不拉
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);											//引脚初始化
//	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0 | GPIO_PIN_1, GPIO_PIN_SET);				//输出高电平

}

iic_io.h

/**
 * Copyright (c) 2022-2023£¬HelloAlpha
 *
 * Change Logs:
 * Date           Author       Notes
 */
#ifndef __IIC_IO_H__
#define __IIC_IO_H__

#include "wm_hal.h"

#define SCL_PIN           GPIO_PIN_0
#define SDA_PIN           GPIO_PIN_1

#define GPIO_MODEL_INPUT        0
#define GPIO_MODEL_OUTPUT       1

#define GPIO_OUTPUT_DISABLE     0
#define GPIO_OUTPUT_ENABLE      1

#define GPIO_RESET              0
#define GPIO_SET                1


void SCL_OUT(void);
void SCL_HIGH(void);
void SCL_LOW(void);

void SDA_IN(void);
uint32_t SDA_READ(void);

void SDA_OUT(void);
void SDA_HIGH(void);
void SDA_LOW(void);

int IIC_Init(void);
void Gpio_Init(void);
#endif