stc89C51 MCU displays some parameters of mpu6050 with 1602

The microcontroller source program is as follows:

#include         

#include //Keil library  

#include //Keil library        

#include

#include "lcd1602.h"

typedef unsigned short ushort;

typedef unsigned int uint;

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

#define DataPort P0 //LCD1602 data port

sbit SCL=P2^1; //IIC clock pin definition

sbit SDA=P2^0; //IIC data pin definition

sbit LCM_RS=P3^5; //LCD1602 command port               

sbit LCM_EN=P3^4; //LCD1602 command port

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

//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) 0x09 0x11 0x19 4G 8G 16G

#define ACCEL_XOUT_H 0x3B

#define ACCEL_XOUT_L 0x3C // Acceleration X-axis output

#define ACCEL_YOUT_H 0x3D

#define ACCEL_YOUT_L 0x3E //Acceleration Y axis output

#define ACCEL_ZOUT_H 0x3F

#define ACCEL_ZOUT_L 0x40 // Acceleration Z axis output

#define TEMP_OUT_H 0x41

#define TEMP_OUT_L 0x42

#define GYRO_XOUT_H 0x43

#define GYRO_XOUT_L 0x44 // Angular velocity X-axis output        

#define GYRO_YOUT_H 0x45

#define GYRO_YOUT_L 0x46 // Angular velocity Y axis output

#define GYRO_ZOUT_H 0x47

#define GYRO_ZOUT_L 0x48 // Angular velocity Z axis output

#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 is for reading MPU I2C device address, slave address

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

//Define types and variables

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

uchar dis[6]; //Character array showing numbers (-511 to 512)

int dis_data; //variable

//int Temperature,Temp_h,Temp_l; //Temperature and high and low bit data

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

// Function declaration

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

void delay(unsigned int k); //delay                                                

//void lcd_printf(uchar *s,int temp_data);

//MPU6050 operation function

void InitMPU6050(); //Initialize MPU6050

void Delay5us();

void I2C_Start();

void I2C_Stop();

void I2C_SendACK(bit ack);

bit I2C_RecvACK();

void I2C_SendByte(uchar dat);

uchar I2C_RecvByte();

void I2C_ReadPage();

void I2C_WritePage();

void display_ACCEL_x();

void display_ACCEL_y();

void display_ACCEL_z();

uchar Single_ReadI2C(uchar REG_Address); //Read I2C data

void Single_WriteI2C(uchar REG_Address,uchar REG_data); //Write data to I2C

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

//Integer to string integer split and display on LCD screen

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

void lcd_printf(uchar *s,int temp_data)

{

        if(temp_data<0)

        {

                temp_data=-temp_data;

                *s='-';

        }

        else *s=' ';

        *++s =temp_data/10000+0x30;

        temp_data=temp_data%10000; //Remainder operation

        *++s =temp_data/1000+0x30;

        temp_data=temp_data%1000; //Remainder operation

        *++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 SeriPushSend(uchar send_data)

{

    SBUF=send_data; // Send data

        while(!TI);TI=0; //Wait for data to be sent

}

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

//Delay

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

void delay(unsigned int k)        

{                                                

        unsigned int i,j;                                

        for(i=0;i        {                        

                for(j=0;j<121;j++);

        }                                                

}

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

//Delay 5 microseconds (STC90C52RC@12M) //TX-1C Tcy=1us

//Different working environments require adjustment of this function

//When using 1T MCU, please adjust this delay function

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

void Delay5us()

{

        _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(uchar dat)

{

    uchar 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

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

uchar I2C_RecvByte()

{

    uchar i;

    uchar 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 dat;

}

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

//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 a specific I2C device address + write signal (not plus 1)

    I2C_SendByte(REG_Address); //Internal register address,

    I2C_SendByte(REG_data); //Internal register data,

    I2C_Stop(); //Send stop signal

}

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

//Read a byte of data (8 bits) from the I2C device

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

uchar Single_ReadI2C(uchar REG_Address)

{

        uchar REG_data;

        I2C_Start(); //Start signal

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

        I2C_SendByte(REG_Address); //Send the storage unit address, starting from 0 to find the specific address in the slave (MPU6050 specific internal storage addressing)

        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); // Power management, typical value: 0x00 (normally enabled) Release sleep state

        Single_WriteI2C(SMPLRT_DIV, 0x07); //Gyroscope sampling rate, typical value: 0x07 (125Hz)

        Single_WriteI2C(CONFIG, 0x06); //Low-pass filter frequency, typical value: 0x06 (5Hz)

        Single_WriteI2C(GYRO_CONFIG, 0x18); //Gyroscope self-test and measurement range, typical value: 0x18 (no self-test, 2000deg/s)

        Single_WriteI2C(ACCEL_CONFIG, 0x01); //Accelerometer self-test, measurement range and high-pass filter frequency, typical value: 0x01 (no self-test, 2G, 5Hz) 0x09 0x11 0x19 4G 8G 16G

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