I2C - IMU 6DOF

[ngohoainguyen]

Posted on March 11, 2015 at 05:00

Dear all,

I am doing a project that control a quadcopter using STM32F103. At this moment, I have done about the control of DC motor. However, my quad. is not stable when it takes off. I am going to use IMU 6DOF ( ADXL345 / ITG3200) to solve this problem. I have read a code of I2C library ( for AN2824 ) but it seems difficult to understand. I don't know clearly in this function:   Status I2C_Read(I2C_TypeDef* I2Cx, uint8_t *buf,uint32_t nbyte, uint8_t SlaveAddress)   Can you give me some ideas about that ? Thank you.

[ngohoainguyen]

Posted on March 13, 2015 at 05:15

I get stuck at

I2C_Send7bitAddress(I2C1,0xA6,I2C_Direction_Transmitter);
while(!I2C_CheckEvent(I2C1,I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));

What problem is that ?

[g535343589]

Posted on March 18, 2015 at 16:44

*�?始化I2C1对外�?�线*/

static void I2C_GPIO_Config(void) {     GPIO_InitTypeDef GPIO_InitStructure;     RCC_APB2PeriphClockCmd  (RCC_APB2Periph_GPIOB, ENABLE );//使能与 I2C1 有关的时钟     RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1,ENABLE);       GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;//PB6-I2C1_SCL�?PB7-I2C1_SDA     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;     GPIO_Init(GPIOB, &GPIO_InitStructure); } /*硬件�?置I2C1*/ static void I2C_Mode_Config(void) {     I2C_InitTypeDef I2C_InitStructure;       I2C_InitStructure.I2C_Mode = I2C_Mode_I2C ; //I2C �?置     I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;     I2C_InitStructure.I2C_OwnAddress1 = MPU_ADRESS;     I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;     I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;     I2C_InitStructure.I2C_ClockSpeed = I2C_Speed;              I2C_Cmd(I2C1,ENABLE);//使能 I2C1     I2C_Init(I2C1, &I2C_InitStructure);//I2C1 �?始化            I2C_AcknowledgeConfig(I2C1, ENABLE);//�?许应答模�?   } /*  * 函数�??：I2C_MPU6050_ByteWrite  * �??述  ：写一个字节到I2C MPU6050寄存器中  * 输入  ：-pBuffer 缓冲区指针  *         -WriteAddr 接收数�?�的MPU6050寄存器的地�?�  * 输出  ：无  * 返回  ：无  * 调用  ：内部调用  */     static void I2C_MPU_ByteWrite(u8 pBuffer, u8 WriteAddr) {   while(I2C_GetFlagStatus(I2C1,I2C_FLAG_BUSY));/*wait until I2C bus is not busy*///等待iic总线是�?�忙碌   I2C_GenerateSTART(I2C1, ENABLE);/* Send START condition *///�?��?开始�?�件   while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));/* Test on EV5 and clear it *///事件   I2C_Send7bitAddress(I2C1, MPU_ADRESS, I2C_Direction_Transmitter);/* Send MMA address for write *///�?��?设备�?   while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));/* Test on EV6 and clear it *///事件       I2C_SendData(I2C1, WriteAddr);/* Send the MMA's Register address to write to *///�?��?设备寄存器地�?�   while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));/* Test on EV8 and clear it *///事件      I2C_SendData(I2C1, pBuffer);/* Send the byte to be written *///�?��?写入设备寄存器的数�?�   while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));/* Test on EV8 and clear it *///事件       I2C_GenerateSTOP(I2C1, ENABLE);/* Send STOP condition *///�?�止信�?� } /*  * 函数�??：I2C_MMA_ByteRead  * �??述  ：从MMA寄存器里�?�读�?�一�?�数�?�。  * 输入  ： -ReadAddr 接收数�?�的MMA寄存器的地�?�。          * 输出  ：无  * 返回  ：读�?�出的寄存器数�?�  * 调用  ：内部调用  */     void I2C_MPU_ByteRead(uint32_t* pBuffer, uint32_t ReadAddr, uint32_t NumByteToRead)//第一个�?�数是指针�?��?，读第一个地�?��?�加1，                                                                                    //第二个�?�数是寄存器地�?�，�?�需�?填入第一个地�?��?��?�                                                                                    //在读第二个地�?�，第三个�?�数是多少个8�?，指针好累加 {       while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));//检测忙碌      I2C_GenerateSTART(I2C1, ENABLE);//开始信�?�     while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));//应答   I2C_Send7bitAddress(I2C1, MPU_ADRESS, I2C_Direction_Transmitter);//�?��?设备地�?�   while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));//应答   I2C_Cmd(I2C1, ENABLE);//使能iic   I2C_SendData(I2C1, ReadAddr);//�?��?设备寄存器地�?�     while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));//应答       I2C_GenerateSTART(I2C1, ENABLE);//开始信�?�     while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));//应答     I2C_Send7bitAddress(I2C1, MPU_ADRESS, I2C_Direction_Receiver);//�?��?设备地�?��?+1，读信�?�     while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));//应答     while(NumByteToRead)     {     if(NumByteToRead == 1)//如果就读一个一节     {       I2C_AcknowledgeConfig(I2C1, DISABLE);//�?�应答             I2C_GenerateSTOP(I2C1, ENABLE);//�?�止信�?�     }     if(I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED))//应答       {             *pBuffer = I2C_ReceiveData(I2C1);//读出数�?�传给指针�?��?       pBuffer++;//指针�?��?地�?�+1              NumByteToRead--;//�?读的地�?�里�?�的数�?�个数-1             }      }   I2C_AcknowledgeConfig(I2C1, ENABLE);//�?�应答 }