瑞萨单片机（R5F100LE） 使用MPU6050
MPU-6050为全球首例整合性6轴运动处理组件，相较于多组件方案，免除了组合陀螺仪与加速器时之轴间差的问题，减少了大量的封装空间。能测量三个方向的加速度，角加速度，角度以及温度。这篇文章介绍如何使用瑞萨单片机使用MPU6050。模块的工作原理不多说，介绍如何使用。
MPU-6050可以使用UART通信和I2C通信，这里使用UART通信波特率9600。使用MPU-6050时可以先用上位机，把波特率设为9600，他会掉电保存这个设置。9600波特率时MPU6050每隔50个ms和回复一个数据包，在串口中断中解析它。
引脚分配：
P02 TXD1接MPU6050的RX
P03 RXD1接MPU6050的TX
下面是代码生成器的设置。
主函数中没有什么内容初始化，仅仅写初始化函数就行然后等待中断，我用定时器产生了一个1ms的中断，在中断中，让GlobalTime加1，作为全局时间戳。P13.0是测试用LED灯。
/***********************************************************************************************************************
* File Name : r_main.c
* Version : CodeGenerator for RL78/G13 V2.00.00.07 [22 Feb 2013]
* Device(s) : R5F100LE
* Tool-Chain : CA78K0R
* Description : This file implements main function.
* Creation Date: 2015/7/15
***********************************************************************************************************************/
/***********************************************************************************************************************
Pragma directive
***********************************************************************************************************************/
/* Start user code for pragma. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
/***********************************************************************************************************************
Includes
***********************************************************************************************************************/
#include "r_cg_macrodriver.h"
#include "r_cg_cgc.h"
#include "r_cg_port.h"
#include "r_cg_serial.h"
#include "r_cg_timer.h"
/* Start user code for include. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
#include "r_cg_userdefine.h"
/***********************************************************************************************************************
Global variables and functions
***********************************************************************************************************************/
/* Start user code for global. Do not edit comment generated here */
extern uint32_t GlobalTime;
/* End user code. Do not edit comment generated here */
void R_MAIN_UserInit(void);
/***********************************************************************************************************************
* Function Name: main
* Description : This function implements main function.
* Arguments : None
* Return Value : None
***********************************************************************************************************************/
void main(void)
{
/* Start user code. Do not edit comment generated here */
uint32_t nowTime=0, lastTime=0;
R_MAIN_UserInit();
R_TAU0_Channel0_Start();
R_UART1_Start();
while (1U)
{
nowTime=GlobalTime;
if((nowTime-lastTime)>500)
{
lastTime = GlobalTime;
P13.0 = ~P13.0;
}
}
/* End user code. Do not edit comment generated here */
}
/***********************************************************************************************************************
* Function Name: R_MAIN_UserInit
* Description : This function adds user code before implementing main function.
* Arguments : None
* Return Value : None
***********************************************************************************************************************/
void R_MAIN_UserInit(void)
{
/* Start user code. Do not edit comment generated here */
EI();
/* End user code. Do not edit comment generated here */
}
/* Start user code for adding. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
定时器用户文件r_cg_time_user.c，仅仅自加GlobalTime。
/***********************************************************************************************************************
* File Name : r_cg_timer_user.c
* Version : CodeGenerator for RL78/G13 V2.00.00.07 [22 Feb 2013]
* Device(s) : R5F100LE
* Tool-Chain : CA78K0R
* Description : This file implements device driver for TAU module.
* Creation Date: 2015/7/15
***********************************************************************************************************************/
/***********************************************************************************************************************
Pragma directive
***********************************************************************************************************************/
#pragma interrupt INTTM00 r_tau0_channel0_interrupt
/* Start user code for pragma. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
/***********************************************************************************************************************
Includes
***********************************************************************************************************************/
#include "r_cg_macrodriver.h"
#include "r_cg_timer.h"
/* Start user code for include. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
#include "r_cg_userdefine.h"
/***********************************************************************************************************************
Global variables and functions
***********************************************************************************************************************/
/* Start user code for global. Do not edit comment generated here */
uint32_t GlobalTime;
/* End user code. Do not edit comment generated here */
/***********************************************************************************************************************
* Function Name: r_tau0_channel0_interrupt
* Description : This function is INTTM00 interrupt service routine.
* Arguments : None
* Return Value : None
***********************************************************************************************************************/
__interrupt static void r_tau0_channel0_interrupt(void)
{
/* Start user code. Do not edit comment generated here */
++GlobalTime;
/* End user code. Do not edit comment generated here */
}
/* Start user code for adding. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
最关键的数据解析中串口中断函数中，注意这里改写了中断服务函数，没有用代码生成器给的中断接收函数。采集的数据放在全局变量中，注意用了一个自定义的函数MPU6050RecvEnd（），要在头文件中声明。
double Acceleration[3]={0};//XYZ轴的加速度
double AngularAcceleration[3]={0};//XYZ 轴的角加速度
double Angle[3]={0};//XYZ轴的角度
double Temperature=0;//温度
/***********************************************************************************************************************
* File Name : r_cg_serial_user.c
* Version : CodeGenerator for RL78/G13 V2.00.00.07 [22 Feb 2013]
* Device(s) : R5F100LE
* Tool-Chain : CA78K0R
* Description : This file implements device driver for Serial module.
* Creation Date: 2015/7/15
***********************************************************************************************************************/
/***********************************************************************************************************************
Pragma directive
***********************************************************************************************************************/
#pragma interrupt INTST1 r_uart1_interrupt_send
#pragma interrupt INTSR1 r_uart1_interrupt_receive
/* Start user code for pragma. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
/***********************************************************************************************************************
Includes
***********************************************************************************************************************/
#include "r_cg_macrodriver.h"
#include "r_cg_serial.h"
/* Start user code for include. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
#include "r_cg_userdefine.h"
/***********************************************************************************************************************
Global variables and functions
***********************************************************************************************************************/
extern volatile uint8_t * gp_uart1_tx_address; /* uart1 send buffer address */
extern volatile uint16_t g_uart1_tx_count; /* uart1 send data number */
extern volatile uint8_t * gp_uart1_rx_address; /* uart1 receive buffer address */
extern volatile uint16_t g_uart1_rx_count; /* uart1 receive data number */
extern volatile uint16_t g_uart1_rx_length; /* uart1 receive data length */
/* Start user code for global. Do not edit comment generated here */
double Acceleration[3]={0};
double AngularAcceleration[3]={0};
double Angle[3]={0};
double Temperature=0;
/* End user code. Do not edit comment generated here */
/***********************************************************************************************************************
* Function Name: r_uart1_interrupt_receive
* Description : This function is INTSR1 interrupt service routine.
* Arguments : None
* Return Value : None
***********************************************************************************************************************/
__interrupt static void r_uart1_interrupt_receive(void)
{
/* Start user code. Do not edit comment generated here */
uint8_t rx_data, sum=0, j=0;
static uint8_t rightFlag = 0, recvData[11]={0}, i=0;
rx_data = RXD1;
if(rx_data == 0x55 || rightFlag)
{
rightFlag = 1;
recvData[i]=rx_data;
if(++i == 11)
{
rightFlag = 0;
i=0;
for(j=0; j<10; j++)
sum += recvData[j];
if(sum == recvData[10])
MPU6050RecvEnd(recvData);
}
}
/* End user code. Do not edit comment generated here */
}
/***********************************************************************************************************************
* Function Name: r_uart1_interrupt_send
* Description : This function is INTST1 interrupt service routine.
* Arguments : None
* Return Value : None
***********************************************************************************************************************/
__interrupt static void r_uart1_interrupt_send(void)
{
if (g_uart1_tx_count > 0U)
{
TXD1 = *gp_uart1_tx_address;
gp_uart1_tx_address++;
g_uart1_tx_count--;
}
else
{
r_uart1_callback_sendend();
}
}
/***********************************************************************************************************************
* Function Name: r_uart1_callback_receiveend
* Description : This function is a callback function when UART1 finishes reception.
* Arguments : None
* Return Value : None
***********************************************************************************************************************/
static void r_uart1_callback_receiveend(void)
{
/* Start user code. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
}
/***********************************************************************************************************************
* Function Name: r_uart1_callback_softwareoverrun
* Description : This function is a callback function when UART1 receives an overflow data.
* Arguments : rx_data -
* receive data
* Return Value : None
***********************************************************************************************************************/
static void r_uart1_callback_softwareoverrun(uint16_t rx_data)
{
/* Start user code. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
}
/***********************************************************************************************************************
* Function Name: r_uart1_callback_sendend
* Description : This function is a callback function when UART1 finishes transmission.
* Arguments : None
* Return Value : None
***********************************************************************************************************************/
static void r_uart1_callback_sendend(void)
{
/* Start user code. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
}
/***********************************************************************************************************************
* Function Name: r_uart1_callback_error
* Description : This function is a callback function when UART1 reception error occurs.
* Arguments : err_type -
* error type value
* Return Value : None
***********************************************************************************************************************/
static void r_uart1_callback_error(uint8_t err_type)
{
/* Start user code. Do not edit comment generated here */
/* End user code. Do not edit comment generated here */
}
/* Start user code for adding. Do not edit comment generated here */
static void MPU6050RecvEnd(uint8_t data[])
{
switch(data [1])
{
case 0x51:
Acceleration[0] = ((short)(data [3]<<8| data [2]))/32768.0*16*9.8;
Acceleration[1] = ((short)(data [5]<<8| data [4]))/32768.0*16*9.8;
Acceleration[2] = ((short)(data [7]<<8| data [6]))/32768.0*16*9.8;
Temperature = ((short)(data [9]<<8| data [8]))/340.0+36.25;
break;
case 0x52:
AngularAcceleration[0] = ((short)(data [3]<<8| data [2]))/32768.0*2000;
AngularAcceleration[1] = ((short)(data [5]<<8| data [4]))/32768.0*2000;
AngularAcceleration[2] = ((short)(data [7]<<8| data [6]))/32768.0*2000;
Temperature = ((short)(data [9]<<8| data [8]))/340.0+36.25;
break;
case 0x53:
Angle[0] = ((short)(data [3]<<8| data [2]))/32768.0*180;
Angle[1] = ((short)(data [5]<<8| data [4]))/32768.0*180;
Angle[2] = ((short)(data [7]<<8| data [6]))/32768.0*180;
Temperature = ((short)(data [9]<<8| data [8]))/340.0+36.25;
break;
}
}
/* End user code. Do not edit comment generated here */
瑞萨单片机R5F100LE使用MPU6050cubesuite+工程链接。