Cảm biến gia tốc góc MPU6050_Pic16F887

[levui2009]

Giao tiếp MPU0650 với Pic16F887 dùng Hitech - C. Không biết lỗi chỗ nào chương trình chưa chạy. Mong các bạn giúp. Cám ơn.

#include <htc.h>
#include <stdio.h>
#include "uart.h"
#include "i2c.h"
//#include "lcd.h"

__CONFIG(INTIO & WDTDIS & PWRTEN & MCLREN & UNPROTECT & DUNPROTECT & BORDIS & IESODIS & FCMDIS & LVPDIS);

//baudrate 19200

//+++++++++++++++++++++++++DEFINE MPU6050+++++++++++++++++++++++++++
#define SMPLRT_DIV 0x19 //0x07(125Hz)
#define CONFIG 0x1A //0x06(5Hz)
#define GYRO_CONFIG 0x1B //0x18(2000deg/s)
#define ACCEL_CONFIG 0x1C //0x01(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 //
#define WHO_AM_I 0x75 //
#define MPU6050_ADD 0x68
#define MPU6050_SLAVE_WRT 0xD0 //dia chi cua cam bien mpu6050
#define MPU6050_SLAVE_RD 0xD1


int Mpu6050_Read(unsigned char address){
char lsb, msb;

i2c_start();
i2c_write(MPU6050_SLAVE_WRT);
i2c_write(address);
i2c_start();
i2c_write(MPU6050_SLAVE_RD);
msb = i2c_read(1);
lsb = i2c_read(0);
i2c_stop();
return ((msb<<8) | lsb);
}
void Mpu6050_Write(unsigned char address,unsigned char Data) {
i2c_start();
i2c_write(MPU6050_SLAVE_WRT);
i2c_write(address);
i2c_write(Data);
i2c_stop();
}
int GetData(unsigned char address){
char H,L;
H=Mpu6050_Read(address);
L=Mpu6050_Read(address+1);
return (H<<8)+L;
}

void Mpu6050_init(){
Mpu6050_Write(PWR_MGMT_1, 0x00); // internal 8MHz, disabled SLEEP mode, disable CYCLE mode
Mpu6050_Write(SMPLRT_DIV, 0x07); //sample rate: 8khz
Mpu6050_Write(CONFIG, 0x06); //DLPF disable
Mpu6050_Write(GYRO_CONFIG, 0x18); //full scale range mode 3 +-2000do/s
Mpu6050_Write(ACCEL_CONFIG, 0x01); //full scale range mode 1 +-4g

// Acc_MPU6050_init
//0x00: +-2g 16384 LSB/g
//0x08: +-4g 8192 LSB/g
//0x10: +-8g 4096 LSB/g
//0x18: +-16g 2048 LSB/g

}

//===================================
void main(){
int x_accel,y_accel,z_accel,x_gyro,y_gyro,z_gyro;

//lcd_init();
uart_init();
i2c_init();
Mpu6050_init();

while(1){
x_accel = GetData(ACCEL_XOUT_H);
//// y_accel = GetData(ACCEL_YOUT_H);
//// z_accel = GetData(ACCEL_ZOUT_H);
// x_gyro = GetData(GYRO_XOUT_H);
//// y_gyro = GetData(GYRO_YOUT_H);
z_gyro = GetData(GYRO_ZOUT_H);
//

printf("Ax= %u\r\n",x_accel);
__delay_ms(100);
}

}

void putch(unsigned char byte){
// output one byte
while(!TXIF) // set when register is empty
continue;
TXREG = byte;
}