51 single chip microcomputer MPU6050 digital gyroscope and LCD12864 display

#include

#include      

#include    

#include

typedef unsigned char  uchar;

typedef unsigned short ushort;

typedef unsigned int   uint;

#define DataPort P0     

sbit    SCL=P2^6;           

sbit SDA=P2^5;         

sbit LCM_RS   = P3^7;   

sbit LCM_RW   = P3^6;              

sbit LCM_EN = P3^5;            

sbit LCD12864_PSB = P1^5;

sbit LCD12864_RSET = P1^3;

//****************************************

//Define the internal address of MPU6050

//****************************************

#define SMPLRT_DIV 0x19 //Gyroscope sampling rate, typical value: 0x07 (125Hz)

#define CONFIG 0x1A //Low-pass filter frequency, typical value: 0x06 (5Hz)

#define GYRO_CONFIG 0x1B //Gyroscope self-test and measurement range, typical value: 0x18 (no self-test, 2000deg/s)

#define ACCEL_CONFIG 0x1C //Accelerometer self-test, measurement range and high-pass filter frequency, typical value: 0x01 (no self-test, 2G, 5Hz)

#define ACCEL_XOUT_H    0x3B

#define ACCEL_XOUT_L    0x3C

#define ACCEL_YOUT_H    0x3D

#define ACCEL_YOUT_L    0x3E

#define ACCEL_SALT_H 0x3F

#define ACCEL_SALT_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_SALT_H 0x47

#define GYRO_SALT_L 0x48

#define PWR_MGMT_1 0x6B //Power management, typical value: 0x00 (normally enabled)

#define WHO_AM_I 0x75 //IIC address register (default value 0x68, read-only)

#define SlaveAddress 0xD0 //Address byte data when IIC writes, +1 for reading

fly dis[4];                          

int dis_data;                     

//****************************************

//Integer to string

//****************************************

void lcd_printf(uchar *s,int temp_data)

{

    if(temp_data<0)

    {

        temp_data=-temp_data;

        *s='-';

    }

    else *s=' ';

    *++s =temp_data/100+0x30;

    temp_data=temp_data%100; //Remainder operation

    *++s =temp_data/10+0x30;

    temp_data=temp_data%10; //Remainder operation

    *++s =temp_data+0x30;   

}  

void delay(unsigned int k)  

{                       

    unsigned int i,j;               

    for(i=0;i    {           

        for(j=0;j<121;j++);

    }                       

}

void WaitForEnable(void)   

{                  

    DataPort=0xff;      

    LCM_RS=0;LCM_RW=1;_nop_();

    LCM_EN=1;_nop_();_nop_();

    while(DataPort&0x80);   

    LCM_EN=0;               

}                  

void WriteCommandLCM(uchar CMD)

{                  

    WaitForEnable();

    LCM_RS=0;LCM_RW=0;_nop_();

    DataPort=CMD;_nop_();   

    LCM_EN=1;_nop_();_nop_();LCM_EN=0;

}                  

void WriteDataLCM(uchar dataW)

{                  

    WaitForEnable();        

    LCM_EN=0;LCM_RS=1;LCM_RW=0;_nop_();

    DataPort=dataW;_nop_();

    LCM_EN=1;_nop_();LCM_EN=0;_nop_();

}      

void LcdPos_xy(unsigned char x,unsigned char y)

{

    unsigned char pos;

    switch(x)

    {

        case 1:pos=0x80+y-1;break;

        case 2:pos=0x90+y-1;break;

        case 3:pos=0x88+y-1;break;

        case 4:pos=0x98+y-1;break;

        default:pos=0x80+y-1;break;

    }

    WriteCommandLCM(pos|0x80);

}

void DisplayListChar(float X, float Y, float *DData)

{

    LcdPos_xy(X,Y);

    while(*DData)

    {

        WriteDataLCM(*DData++);

    }

}

void InitLcd()              

{           

        LCD12864_PSB = 1; //parallel communication

        LCD12864_RSET = 0;

        delay(10);

        LCD12864_RSET = 1;

        WriteCommandLCM(0x30);

        delay(5);

        WriteCommandLCM(0x30);

        delay(5);

        WriteCommandLCM(0x18);

        delay(5);

        WriteCommandLCM(0x10);

        delay(5);

        WriteCommandLCM(0x01);

        delay(5);

        WriteCommandLCM(0x06);

        delay(5);

        WriteCommandLCM(0x0c);

        delay(5);

        DisplayListChar(1,2,"acceleration");

        DisplayListChar(1,6,"angular velocity");

        DisplayListChar(2,1,"X:");

        DisplayListChar(3,1,"Y:");

        DisplayListChar(4,1,"Z:");

}           

void Delay5us()

{

    _nop_();_nop_();_nop_();_nop_();

    _nop_();_nop_();_nop_();_nop_();

    _nop_();_nop_();_nop_();_nop_();

    _nop_();_nop_();_nop_();_nop_();

    _nop_();_nop_();_nop_();_nop_();

    _nop_();_nop_();_nop_();_nop_();

}

//**************************************

//I2C start signal

//**************************************

void I2C_Start()

{

    SDA = 1; //Pull up the data line

    SCL = 1; //Pull the clock line high

    Delay5us(); //Delay

    SDA = 0; //Generate falling edge

    Delay5us(); //Delay

    SCL = 0; //Pull the clock line low

}

//**************************************

//I2C stop signal

//**************************************

void I2C_Stop()

{

    SDA = 0; //Pull the data line low

    SCL = 1; //Pull the clock line high

    Delay5us(); //Delay

    SDA = 1; //Generate rising edge

    Delay5us(); //Delay

}

//**************************************

//I2C sends response signal

//Input parameter: ack (0:ACK 1:NAK)

//**************************************

void I2C_SendACK(bit ack)

{

    SDA = ack; //Write response signal

    SCL = 1; //Pull the clock line high

    Delay5us(); //Delay

    SCL = 0; //Pull the clock line low

    Delay5us(); //Delay

}

//**************************************

//I2C receives the response signal

//**************************************

bit I2C_RecvACK()

{

    SCL = 1; //Pull the clock line high

    Delay5us(); //Delay

    CY = SDA; //Read response signal

    SCL = 0; //Pull the clock line low

    Delay5us(); //Delay

    return CY;

}

//**************************************

//Send a byte of data to the I2C bus

//**************************************

void I2C_SendByte(float dat)

{

    flying i;

    for (i=0; i<8; i++) //8-bit counter

    {

        dat <<= 1; //Move out the highest bit of the data

        SDA = CY; //Send data port

        SCL = 1; //Pull the clock line high

        Delay5us(); //Delay

        SCL = 0; //Pull the clock line low

        Delay5us(); //Delay

    }

    I2C_RecvACK();

}

//**************************************

//Receive a byte of data from the I2C bus

//**************************************

fly I2C_RecvByte()

{

    flying i;

    float dat = 0;

    SDA = 1; // Enable internal pull-up and prepare to read data.

    for (i=0; i<8; i++) //8-bit counter

    {

        dat <<= 1;

        SCL = 1; //Pull the clock line high

        Delay5us(); //Delay

        dat |= SDA; //read data               

        SCL = 0; //Pull the clock line low

        Delay5us(); //Delay

    }

    return that;

}

//**************************************

//Write a byte of data to the I2C device

//**************************************

void Single_WriteI2C(uchar REG_Address,uchar REG_data)

{

    I2C_Start(); //Start signal

    I2C_SendByte(SlaveAddress); //Send device address + write signal

    I2C_SendByte(REG_Address); //Internal register address,

    I2C_SendByte(REG_data); //Internal register data,

    I2C_Stop(); //Send stop signal

}

//**************************************

//Read a byte of data from the I2C device

//**************************************

uchar Single_ReadI2C(uchar REG_Address)

{

    float REG_data;

    I2C_Start(); //Start signal

    I2C_SendByte(SlaveAddress); //Send device address + write signal

    I2C_SendByte(REG_Address); //Send storage unit address, starting from 0  

    I2C_Start(); //Start signal

    I2C_SendByte(SlaveAddress+1); //Send device address + read signal

    REG_data=I2C_RecvByte(); //Read register data

    I2C_SendACK(1); //Receive the response signal

    I2C_Stop(); //Stop signal

    return REG_data;

}

//**************************************

//Initialize MPU6050

//**************************************

void InitMPU6050()

{

    Single_WriteI2C(PWR_MGMT_1, 0x00); //Release sleep state

    Single_WriteI2C(SMPLRT_DIV, 0x07);

    Single_WriteI2C(CONFIG, 0x06);

    Single_WriteI2C(GYRO_CONFIG, 0x18);

    Single_WriteI2C(ACCEL_CONFIG, 0x01);

}

//**************************************

//Synthetic data

//**************************************

int GetData(uchar REG_Address)

{

    char H,L;

    H=Single_ReadI2C(REG_Address);

    L=Single_ReadI2C(REG_Address+1);

    return (H<<8)+L; //synthesized data

}

//**************************************

//Display 10 digits on 12864

//**************************************

void Display10BitData(float x, float y, int value)

{

    value/=64; //Convert to 10-bit data

    lcd_printf(dis, value); //Convert data to display

    DisplayListChar(x,y,dis);

}

void main()

{

    delay(500); //Power-on delay      

    InitLcd(); //lcd12864 LCD initialization

    InitMPU6050(); //Initialize MPU6050

    delay(150);

    while(1)

    {

        Display10BitData(2,2,GetData(ACCEL_XOUT_H)); //Display X-axis acceleration

        Display10BitData(3,2,GetData(ACCEL_YOUT_H)); //Display Y-axis acceleration   

        Display10BitData(4,2,GetData(ACCEL_ZOUT_H)); //Display Z-axis acceleration

        Display10BitData(2,6,GetData(GYRO_XOUT_H)); //Display X-axis angular velocity

        Display10BitData(3,6,GetData(GYRO_YOUT_H)); //Display Y-axis angular velocity

        Display10BitData(4,6,GetData(GYRO_ZOUT_H)); //Display Z-axis angular velocity

        delay(500);

    }

}