本小节主要在上一次的代码框架基础上加上OLED和MPU6050的驱动，这两个模块都已经很成熟了，方便用来验证板子的功能。代码在江科大自化协老师提供的基础上进行了修改，OLED驱动部分的程序包含了三部分，OLED.h，OLED.c和OLED_font.h，MPU6050部分主要包含MPU6050_SI2C.h和MPU6050_SI2C.c两个部分，都是用软件I2C实现
oled.c
#include "main.h"
#include "OLED_Font.h"
#define OLED_I2C_SDA_PORT (GPIOC)
#define OLED_I2C_SDA_PIN (GPIO_PIN_1)
#define OLED_I2C_SCL_PORT (GPIOC)
#define OLED_I2C_SCL_PIN (GPIO_PIN_0)
/*引脚配置*/
#define OLED_W_SCL(x) HAL_GPIO_WritePin(OLED_I2C_SCL_PORT, OLED_I2C_SCL_PIN,(x))
#define OLED_W_SDA(x) HAL_GPIO_WritePin(OLED_I2C_SDA_PORT, OLED_I2C_SDA_PIN,(x))
/*引脚初始化*/
void OLED_I2C_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
__HAL_RCC_GPIOA_CLK_ENABLE();__HAL_RCC_GPIOB_CLK_ENABLE();__HAL_RCC_GPIOC_CLK_ENABLE();
GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.Pin = OLED_I2C_SDA_PIN;
HAL_GPIO_Init(OLED_I2C_SDA_PORT, &GPIO_InitStructure);
GPIO_InitStructure.Pin = OLED_I2C_SCL_PIN;
HAL_GPIO_Init(OLED_I2C_SCL_PORT, &GPIO_InitStructure);
OLED_W_SCL(1);
OLED_W_SDA(1);
}
/**
* @brief I2C开始
* @param 无
* @retval 无
*/
void OLED_I2C_Start(void)
{
OLED_W_SDA(1);
OLED_W_SCL(1);
OLED_W_SDA(0);
OLED_W_SCL(0);
}
/**
* @brief I2C停止
* @param 无
* @retval 无
*/
void OLED_I2C_Stop(void)
{
OLED_W_SDA(0);
OLED_W_SCL(1);
OLED_W_SDA(1);
}
/**
* @brief I2C发送一个字节
* @param Byte 要发送的一个字节
* @retval 无
*/
void OLED_I2C_SendByte(uint8_t Byte)
{
uint8_t i;
for (i = 0; i < 8; i++)
{
OLED_W_SDA(Byte & (0x80 >> i));
OLED_W_SCL(1);
OLED_W_SCL(0);
}
OLED_W_SCL(1); //额外的一个时钟，不处理应答信号
OLED_W_SCL(0);
}
/**
* @brief OLED写命令
* @param Command 要写入的命令
* @retval 无
*/
void OLED_WriteCommand(uint8_t Command)
{
OLED_I2C_Start();
OLED_I2C_SendByte(0x78); //从机地址
OLED_I2C_SendByte(0x00); //写命令
OLED_I2C_SendByte(Command);
OLED_I2C_Stop();
}
/**
* @brief OLED写数据
* @param Data 要写入的数据
* @retval 无
*/
void OLED_WriteData(uint8_t Data)
{
OLED_I2C_Start();
OLED_I2C_SendByte(0x78); //从机地址
OLED_I2C_SendByte(0x40); //写数据
OLED_I2C_SendByte(Data);
OLED_I2C_Stop();
}
/**
* @brief OLED设置光标位置
* @param Y 以左上角为原点，向下方向的坐标，范围：0~7
* @param X 以左上角为原点，向右方向的坐标，范围：0~127
* @retval 无
*/
void OLED_SetCursor(uint8_t Y, uint8_t X)
{
OLED_WriteCommand(0xB0 | Y); //设置Y位置
OLED_WriteCommand(0x10 | ((X & 0xF0) >> 4)); //设置X位置高4位
OLED_WriteCommand(0x00 | (X & 0x0F)); //设置X位置低4位
}
/**
* @brief OLED清屏
* @param 无
* @retval 无
*/
void OLED_Clear(void)
{
uint8_t i, j;
for (j = 0; j < 8; j++)
{
OLED_SetCursor(j, 0);
for(i = 0; i < 128; i++)
{
OLED_WriteData(0x00);
}
}
}
/**
* @brief OLED显示一个字符
* @param Line 行位置，范围：1~4
* @param Column 列位置，范围：1~16
* @param Char 要显示的一个字符，范围：ASCII可见字符
* @retval 无
*/
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char)
{
uint8_t i;
OLED_SetCursor((Line - 1) * 2, (Column - 1) * 8); //设置光标位置在上半部分
for (i = 0; i < 8; i++)
{
OLED_WriteData(OLED_F8x16[Char - ' '][i]); //显示上半部分内容
}
OLED_SetCursor((Line - 1) * 2 + 1, (Column - 1) * 8); //设置光标位置在下半部分
for (i = 0; i < 8; i++)
{
OLED_WriteData(OLED_F8x16[Char - ' '][i + 8]); //显示下半部分内容
}
}
/**
* @brief OLED显示字符串
* @param Line 起始行位置，范围：1~4
* @param Column 起始列位置，范围：1~16
* @param String 要显示的字符串，范围：ASCII可见字符
* @retval 无
*/
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String)
{
uint8_t i;
for (i = 0; String[i] != '\0'; i++)
{
OLED_ShowChar(Line, Column + i, String[i]);
}
}
/**
* @brief OLED次方函数
* @retval 返回值等于X的Y次方
*/
uint32_t OLED_Pow(uint32_t X, uint32_t Y)
{
uint32_t Result = 1;
while (Y--)
{
Result *= X;
}
return Result;
}
/**
* @brief OLED显示数字（十进制，正数）
* @param Line 起始行位置，范围：1~4
* @param Column 起始列位置，范围：1~16
* @param Number 要显示的数字，范围：0~4294967295
* @param Length 要显示数字的长度，范围：1~10
* @retval 无
*/
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i;
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i, Number / OLED_Pow(10, Length - i - 1) % 10 + '0');
}
}
/**
* @brief OLED显示数字（十进制，带符号数）
* @param Line 起始行位置，范围：1~4
* @param Column 起始列位置，范围：1~16
* @param Number 要显示的数字，范围：-2147483648~2147483647
* @param Length 要显示数字的长度，范围：1~10
* @retval 无
*/
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length)
{
uint8_t i;
uint32_t Number1;
if (Number >= 0)
{
OLED_ShowChar(Line, Column, '+');
Number1 = Number;
}
else
{
OLED_ShowChar(Line, Column, '-');
Number1 = -Number;
}
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i + 1, Number1 / OLED_Pow(10, Length - i - 1) % 10 + '0');
}
}
/**
* @brief OLED显示数字（十六进制，正数）
* @param Line 起始行位置，范围：1~4
* @param Column 起始列位置，范围：1~16
* @param Number 要显示的数字，范围：0~0xFFFFFFFF
* @param Length 要显示数字的长度，范围：1~8
* @retval 无
*/
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i, SingleNumber;
for (i = 0; i < Length; i++)
{
SingleNumber = Number / OLED_Pow(16, Length - i - 1) % 16;
if (SingleNumber < 10)
{
OLED_ShowChar(Line, Column + i, SingleNumber + '0');
}
else
{
OLED_ShowChar(Line, Column + i, SingleNumber - 10 + 'A');
}
}
}
/**
* @brief OLED显示数字（二进制，正数）
* @param Line 起始行位置，范围：1~4
* @param Column 起始列位置，范围：1~16
* @param Number 要显示的数字，范围：0~1111 1111 1111 1111
* @param Length 要显示数字的长度，范围：1~16
* @retval 无
*/
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length)
{
uint8_t i;
for (i = 0; i < Length; i++)
{
OLED_ShowChar(Line, Column + i, Number / OLED_Pow(2, Length - i - 1) % 2 + '0');
}
}
/**
* @brief OLED初始化
* @param 无
* @retval 无
*/
void OLED_Init(void)
{
uint32_t i, j;
for (i = 0; i < 1000; i++) //上电延时
{
for (j = 0; j < 1000; j++);
}
OLED_I2C_Init(); //端口初始化
OLED_WriteCommand(0xAE); //关闭显示
OLED_WriteCommand(0xD5); //设置显示时钟分频比/振荡器频率
OLED_WriteCommand(0x80);
OLED_WriteCommand(0xA8); //设置多路复用率
OLED_WriteCommand(0x3F);
OLED_WriteCommand(0xD3); //设置显示偏移
OLED_WriteCommand(0x00);
OLED_WriteCommand(0x40); //设置显示开始行
OLED_WriteCommand(0xA1); //设置左右方向，0xA1正常 0xA0左右反置
OLED_WriteCommand(0xC8); //设置上下方向，0xC8正常 0xC0上下反置
OLED_WriteCommand(0xDA); //设置COM引脚硬件配置
OLED_WriteCommand(0x12);
OLED_WriteCommand(0x81); //设置对比度控制
OLED_WriteCommand(0xCF);
OLED_WriteCommand(0xD9); //设置预充电周期
OLED_WriteCommand(0xF1);
OLED_WriteCommand(0xDB); //设置VCOMH取消选择级别
OLED_WriteCommand(0x30);
OLED_WriteCommand(0xA4); //设置整个显示打开/关闭
OLED_WriteCommand(0xA6); //设置正常/倒转显示
OLED_WriteCommand(0x8D); //设置充电泵
OLED_WriteCommand(0x14);
OLED_WriteCommand(0xAF); //开启显示
OLED_Clear(); //OLED清屏
}
oled.h
#ifndef __OLED_H
#define __OLED_H
void OLED_Init(void);
void OLED_Clear(void);
void OLED_ShowChar(uint8_t Line, uint8_t Column, char Char);
void OLED_ShowString(uint8_t Line, uint8_t Column, char *String);
void OLED_ShowNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowSignedNum(uint8_t Line, uint8_t Column, int32_t Number, uint8_t Length);
void OLED_ShowHexNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
void OLED_ShowBinNum(uint8_t Line, uint8_t Column, uint32_t Number, uint8_t Length);
#endif
OLED_font.h
#ifndef __OLED_FONT_H
#define __OLED_FONT_H
/*OLED字模库，宽8像素，高16像素*/
const uint8_t OLED_F8x16[][16]=
{
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,
0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,
0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,
0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,
0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,
0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,
0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,
0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,
0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,
0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,
0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,
0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,
0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,
0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,
0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,
0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,
0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,
0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,
0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,
0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,
0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,
0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,
0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,
0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,
0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,
0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,
0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,
0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,
0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,
0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,
0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,
0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,
0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,
0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,
0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,
0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,
0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,
0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,
0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,
0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,
0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,
0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,
0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,
0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,
0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,
0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,
0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,
0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,
0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,
0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,
0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,
0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,
0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,
0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,
0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,
0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,
0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,
0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,
0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,
0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,
0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,
0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,
0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,
0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,
0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,
0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,
0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,
0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,
0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,
0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,
0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,
0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,
0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,
0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,
0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,
0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,
0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,
0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,
0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,
0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,
0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,
0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};
#endif
mpu6050_si2c.c
#include "stm32wbxx_hal.h"
#include "MPU6050_SI2C.h"
#define SCL_PORT GPIOC
#define SCL_PIN GPIO_PIN_3
#define SDA_PORT GPIOC
#define SDA_PIN GPIO_PIN_2
void MPU6050_W_SCL(uint8_t BitValue)
{
HAL_GPIO_WritePin(SCL_PORT, SCL_PIN, (GPIO_PinState) BitValue);
//HAL_Delay(1);
}
void MPU6050_W_SDA(uint8_t BitValue)
{
HAL_GPIO_WritePin(SDA_PORT, SDA_PIN, (GPIO_PinState) BitValue);
//HAL_Delay(1);
}
uint8_t MPU6050_R_SDA(void)
{
uint8_t bitValue;
bitValue = HAL_GPIO_ReadPin( SDA_PORT, SDA_PIN);
//HAL_Delay(1);
return bitValue;
}
void MPU6050_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
__HAL_RCC_GPIOC_CLK_ENABLE();
GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD;
GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_MEDIUM;
GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.Pin = SDA_PIN;
HAL_GPIO_Init(SDA_PORT, &GPIO_InitStructure);
GPIO_InitStructure.Pin = SCL_PIN;
HAL_GPIO_Init(SCL_PORT, &GPIO_InitStructure);
MPU6050_W_SCL(1);
MPU6050_W_SDA(1);
}
void MPU6050_Start(void)
{
MPU6050_W_SDA(1);
MPU6050_W_SCL(1);
MPU6050_W_SDA(0);
MPU6050_W_SCL(0);
}
void MPU6050_Stop(void)
{
MPU6050_W_SCL(0);
MPU6050_W_SDA(0);
MPU6050_W_SCL(1);
MPU6050_W_SDA(1);
}
void MPU6050_SendByte(uint8_t byte)
{
uint8_t i;
for( i=0; i<8; i++)
{
MPU6050_W_SDA(byte & ( 0x80 >> i)); //高位先行
MPU6050_W_SCL(1);
MPU6050_W_SCL(0);
}
}
uint8_t MPU6050_ReceiveByte(void)
{
uint8_t byte = 0x00,i;
MPU6050_W_SDA(1); //释放总线
for(i=0;i<8;i++)
{
MPU6050_W_SCL(1); // read
if(MPU6050_R_SDA() == 1){
byte |= (0x80 >> i);
}
MPU6050_W_SCL(0); // prepare
}
return byte;
}
void MPU6050_SendAck(uint8_t ack)
{
MPU6050_W_SDA(ack); //高位先行
MPU6050_W_SCL(1);
MPU6050_W_SCL(0);
}
uint8_t MPU6050_ReceiveAck(void)
{
uint8_t ack;
MPU6050_W_SDA(1); //释放总线
MPU6050_W_SCL(1); // read
ack = MPU6050_R_SDA();
MPU6050_W_SCL(0); // prepare
return ack;
}
/*******************************************************************
* extern MPU6050 Function
*******************************************************************/
void MPU6050_Init(void)
{
MPU6050_GPIO_Init();
MPU6050_Write(PWR_MGMT_1, 0x00); // 解除睡眠模式
MPU6050_Write(SMPLRT_DIV, 0x07); //陀螺仪采样率 0x07
MPU6050_Write(CONFIG, 0x1A); //低通滤波器 0x06 - 5Hz
MPU6050_Write(GYRO_CONFIG, 0x18); //陀螺仪不自检 陀螺仪测量范围2000deg/s
MPU6050_Write(ACCEL_CONFIG, 0x01);// 不自检，陀螺仪减速度计范围 2G，5Hz
}
void MPU6050_Write(uint8_t address, uint8_t data)
{
MPU6050_Start();
MPU6050_SendByte(MPU6050_I2C_SLAVE_ADDRESS);
MPU6050_ReceiveAck();
MPU6050_SendByte(address);
MPU6050_ReceiveAck();
MPU6050_SendByte(data);
MPU6050_ReceiveAck();
MPU6050_Stop();
}
uint8_t MPU6050_Read(uint8_t address)
{
uint8_t ret = 0x00;
MPU6050_Start();
MPU6050_SendByte(MPU6050_I2C_SLAVE_ADDRESS);
MPU6050_ReceiveAck();
MPU6050_SendByte(address);
MPU6050_ReceiveAck();
MPU6050_Start();
MPU6050_SendByte(MPU6050_I2C_SLAVE_ADDRESS | 0x01);
MPU6050_ReceiveAck();
ret = MPU6050_ReceiveByte();
MPU6050_SendAck(0); //给0 给从机应答，结束
MPU6050_Stop();
return ret;
}
void MPU6050_GetData(struct tag_MPU6050_Data_Struct *pMPU6050_Data)
{
uint16_t data_h, data_l;
data_h = MPU6050_Read(ACCEL_XOUT_H);
data_l = MPU6050_Read(ACCEL_XOUT_L);
pMPU6050_Data->acc_x = (data_h << 8) | data_l;
data_h = MPU6050_Read(ACCEL_YOUT_H);
data_l = MPU6050_Read(ACCEL_YOUT_L);
pMPU6050_Data->acc_y = (data_h << 8) | data_l;
data_h = MPU6050_Read(ACCEL_ZOUT_H);
data_l = MPU6050_Read(ACCEL_ZOUT_L);
pMPU6050_Data->acc_z = (data_h << 8) | data_l;
data_h = MPU6050_Read(GYRO_XOUT_H);
data_l = MPU6050_Read(GYRO_XOUT_L);
pMPU6050_Data->gyro_x = (data_h << 8) | data_l;
data_h = MPU6050_Read(GYRO_YOUT_H);
data_l = MPU6050_Read(GYRO_YOUT_L);
pMPU6050_Data->gyro_y = (data_h << 8) | data_l;
data_h = MPU6050_Read(GYRO_ZOUT_H);
data_l = MPU6050_Read(GYRO_ZOUT_L);
pMPU6050_Data->gyro_z = (data_h << 8) | data_l;
}
mpu6050_si2c.h
#ifndef _MPU6050_SI2C_H
#define _MPU6050_SI2C_H
#include "stdint.h"
void MPU6050_GPIO_Init(void);
void MPU6050_Start(void);
void MPU6050_Stop(void);
void MPU6050_SendByte(uint8_t byte);
uint8_t MPU6050_ReceiveByte(void);
void MPU6050_SendAck(uint8_t ack);
uint8_t MPU6050_ReceiveAck(void);
#define SMPLRT_DIV 0x19 // 陀螺仪采样率，典型值：0x07(125Hz)
#define CONFIG 0x1A // 低通滤波频率，典型值：0x06(5Hz)
#define GYRO_CONFIG 0x1B // 陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
#define ACCEL_CONFIG 0x1C // 加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
#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 // 电源管理，典型值：0x00(正常启用)
#define WHO_AM_I 0x75 // IIC地址寄存器(默认数值0x68，只读)
#define MPU6050_I2C_SLAVE_ADDRESS 0xD0
struct tag_MPU6050_Data_Struct{
int16_t acc_x;
int16_t acc_y;
int16_t acc_z;
int16_t gyro_x;
int16_t gyro_y;
int16_t gyro_z;
};
uint8_t MPU6050_Read(uint8_t address);
void MPU6050_Write(uint8_t address, uint8_t data);
void MPU6050_Init(void);
void MPU6050_GetData(struct tag_MPU6050_Data_Struct *pMPU6050_Data);
#endif
修改task.c中的配置
#define TASK_TIMER_CNT 5 //任务定时器个数,增加任务时须修改该宏值
//...
void oled_test_task_callback(void);//任务回调函数声明
//...
task_timer_parameter task_timer_para[TASK_TIMER_CNT] =
{
/*{timeout_cb, timeout(ms), repeat(ms)}*/
{led0_task_timer_callback, 1000, 1000},
{led1_task_timer_callback, 500, 500},
{led2_task_timer_callback, 200, 200},
{uart_task_timer_callback, 1000, 1000},
{oled_test_task_callback, 1000, 120},
/*{timeout_cb, timeout(ms), repeat(ms)}*/
};
void oled_test_task_callback(void){
static uint32_t oled_excute_time = 0;
static char oled_str[32];
//OLED_Clear(); //OLED清屏
// sprintf(oled_str,"timer=%d",oled_excute_time++);
// OLED_ShowString(1, 3, "HelloWorld!");
// OLED_ShowString(2, 1, oled_str);
static struct tag_MPU6050_Data_Struct MPU6050_Data;
MPU6050_GetData(&MPU6050_Data);
OLED_ShowSignedNum(2,1,MPU6050_Data.acc_x,5);
OLED_ShowSignedNum(3,1,MPU6050_Data.acc_y,5);
OLED_ShowSignedNum(4,1,MPU6050_Data.acc_z,5);
OLED_ShowSignedNum(2,8,MPU6050_Data.gyro_x,5);
OLED_ShowSignedNum(3,8,MPU6050_Data.gyro_y,5);
OLED_ShowSignedNum(4,8,MPU6050_Data.gyro_z,5);
}
代码链接：https://pan.baidu.com/s/1XIL05fENVazx1zorvdAJ1g
提取码：g7ck
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