bmp280驱动代码
说明：
1、该模块用于获取气压，温度，海拔等数据。
vcc，gnd接电源
sda ，scl 接iic通信引脚
2、该模块使用iic通信，通过iic发送请求相关类的寄存器值，芯片获取对应寄存器返回的数据。
所以使用的时调用HAL_I2C_Mem_Write函数
3、调用：
uint8_t ret = BMP280_Init(); if(ret != 0x58){printf("BMP280传感器初始化错误\n");while(1);}float P,T,ALT;BMP280GetData(&P, &T, &ALT);printf("BMP280传感器测试数据:\n");printf("气压: %0.4f hPa\n",P);printf("温度: %0.2f ℃\n",T);printf("海拔: %0.2f m\n",ALT);printf("\n\n");
.h文件
#define bmp280 hi2c2#define INIT 0xBE //初始化
#define SoftReset 0xBA //软复位
#define StartTest 0xAC //开始测试#define BMP280_SLAVE_ADDRESS 0xec /* I2C从机地址 0xee或0xec *//*calibration parameters */
#define BMP280_DIG_T1_LSB_REG 0x88
#define BMP280_DIG_T1_MSB_REG 0x89
#define BMP280_DIG_T2_LSB_REG 0x8A
#define BMP280_DIG_T2_MSB_REG 0x8B
#define BMP280_DIG_T3_LSB_REG 0x8C
#define BMP280_DIG_T3_MSB_REG 0x8D
#define BMP280_DIG_P1_LSB_REG 0x8E
#define BMP280_DIG_P1_MSB_REG 0x8F
#define BMP280_DIG_P2_LSB_REG 0x90
#define BMP280_DIG_P2_MSB_REG 0x91
#define BMP280_DIG_P3_LSB_REG 0x92
#define BMP280_DIG_P3_MSB_REG 0x93
#define BMP280_DIG_P4_LSB_REG 0x94
#define BMP280_DIG_P4_MSB_REG 0x95
#define BMP280_DIG_P5_LSB_REG 0x96
#define BMP280_DIG_P5_MSB_REG 0x97
#define BMP280_DIG_P6_LSB_REG 0x98
#define BMP280_DIG_P6_MSB_REG 0x99
#define BMP280_DIG_P7_LSB_REG 0x9A
#define BMP280_DIG_P7_MSB_REG 0x9B
#define BMP280_DIG_P8_LSB_REG 0x9C
#define BMP280_DIG_P8_MSB_REG 0x9D
#define BMP280_DIG_P9_LSB_REG 0x9E
#define BMP280_DIG_P9_MSB_REG 0x9F#define BMP280_CHIPID_REG 0xD0 /*Chip ID Register */
#define BMP280_RESET_REG 0xE0 /*Softreset Register */
#define BMP280_STATUS_REG 0xF3 /*Status Register */
#define BMP280_CTRLMEAS_REG 0xF4 /*Ctrl Measure Register */
#define BMP280_CONFIG_REG 0xF5 /*Configuration Register */
#define BMP280_PRESSURE_MSB_REG 0xF7 /*Pressure MSB Register */
#define BMP280_PRESSURE_LSB_REG 0xF8 /*Pressure LSB Register */
#define BMP280_PRESSURE_XLSB_REG 0xF9 /*Pressure XLSB Register */
#define BMP280_TEMPERATURE_MSB_REG 0xFA /*Temperature MSB Reg */
#define BMP280_TEMPERATURE_LSB_REG 0xFB /*Temperature LSB Reg */
#define BMP280_TEMPERATURE_XLSB_REG 0xFC /*Temperature XLSB Reg */#define BMP280_SLEEP_MODE (0x00)
#define BMP280_FORCED_MODE (0x01)
#define BMP280_NORMAL_MODE (0x03)#define BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG (0x88)
#define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH (24)
#define BMP280_DATA_FRAME_SIZE (6)#define BMP280_OVERSAMP_SKIPPED (0x00)
#define BMP280_OVERSAMP_1X (0x01)
#define BMP280_OVERSAMP_2X (0x02)
#define BMP280_OVERSAMP_4X (0x03)
#define BMP280_OVERSAMP_8X (0x04)
#define BMP280_OVERSAMP_16X (0x05)typedef struct
{uint16_t dig_T1;/* calibration T1 data */int16_t dig_T2; /* calibration T2 data */int16_t dig_T3; /* calibration T3 data */uint16_t dig_P1;/* calibration P1 data */int16_t dig_P2; /* calibration P2 data */int16_t dig_P3; /* calibration P3 data */int16_t dig_P4; /* calibration P4 data */int16_t dig_P5; /* calibration P5 data */int16_t dig_P6; /* calibration P6 data */int16_t dig_P7; /* calibration P7 data */int16_t dig_P8; /* calibration P8 data */int16_t dig_P9; /* calibration P9 data */int32_t t_fine; /* calibration t_fine data */
} bmp280Calib;
uint8_t BMP280_Init(void);
void BMP280GetData(float* pressure, float* temperature, float* asl);
.c文件
#include "bmp280.h"static int32_t bmp280RawPressure = 0;
static int32_t bmp280RawTemperature = 0;#define BMP280_PRESSURE_OSR (BMP280_OVERSAMP_8X)
#define BMP280_TEMPERATURE_OSR (BMP280_OVERSAMP_16X)
#define BMP280_MODE (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_NORMAL_MODE)bmp280Calib bmp280Cal;uint8_t BMP280_Init(void)
{uint8_t bmp280_id;uint8_t tmp[10];HAL_I2C_Mem_Read(&bmp280,BMP280_SLAVE_ADDRESS, BMP280_CHIPID_REG, 1, (uint8_t *)&bmp280_id,1,0xff);HAL_I2C_Mem_Read(&bmp280,BMP280_SLAVE_ADDRESS, BMP280_DIG_T1_LSB_REG, 1, (uint8_t *)&bmp280Cal,24,0xff);tmp[0] = BMP280_MODE;HAL_I2C_Mem_Write(&bmp280,BMP280_SLAVE_ADDRESS,BMP280_CTRLMEAS_REG, 1,tmp ,1,0xff);tmp[0] = (5<<2);HAL_I2C_Mem_Write(&bmp280,BMP280_SLAVE_ADDRESS,BMP280_CONFIG_REG, 1,tmp ,1,0xff); /*配置IIR滤波*/return bmp280_id;
}static void BMP280GetPressure2(void)
{uint8_t data[6];// read data from sensorHAL_I2C_Mem_Read(&bmp280,BMP280_SLAVE_ADDRESS, BMP280_PRESSURE_MSB_REG, 6, (uint8_t *)&data,6,0xff);bmp280RawPressure = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));bmp280RawTemperature = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
}static int32_t BMP280CompensateT(int32_t adcT)
{int32_t var1, var2, T;var1 = ((((adcT >> 3) - ((int32_t)bmp280Cal.dig_T1 << 1))) * ((int32_t)bmp280Cal.dig_T2)) >> 11;var2 = (((((adcT >> 4) - ((int32_t)bmp280Cal.dig_T1)) * ((adcT >> 4) - ((int32_t)bmp280Cal.dig_T1))) >> 12) * ((int32_t)bmp280Cal.dig_T3)) >> 14;bmp280Cal.t_fine = var1 + var2;T = (bmp280Cal.t_fine * 5 + 128) >> 8;return T;
}// Returns pressure in Pa as unsigned 32 bit integer in Q24.8 format (24 integer bits and 8 fractional bits).
// Output value of "24674867" represents 24674867/256 = 96386.2 Pa = 963.862 hPa
static uint32_t BMP280CompensateP(int32_t adcP)
{int64_t var1, var2, p;var1 = ((int64_t)bmp280Cal.t_fine) - 128000;var2 = var1 * var1 * (int64_t)bmp280Cal.dig_P6;var2 = var2 + ((var1*(int64_t)bmp280Cal.dig_P5) << 17);var2 = var2 + (((int64_t)bmp280Cal.dig_P4) << 35);var1 = ((var1 * var1 * (int64_t)bmp280Cal.dig_P3) >> 8) + ((var1 * (int64_t)bmp280Cal.dig_P2) << 12);var1 = (((((int64_t)1) << 47) + var1)) * ((int64_t)bmp280Cal.dig_P1) >> 33;if (var1 == 0)return 0;p = 1048576 - adcP;p = (((p << 31) - var2) * 3125) / var1;var1 = (((int64_t)bmp280Cal.dig_P9) * (p >> 13) * (p >> 13)) >> 25;var2 = (((int64_t)bmp280Cal.dig_P8) * p) >> 19;p = ((p + var1 + var2) >> 8) + (((int64_t)bmp280Cal.dig_P7) << 4);return (uint32_t)p;
}#define CONST_PF 0.1902630958 //(1/5.25588f) Pressure factor
#define FIX_TEMP 25 // Fixed Temperature. ASL is a function of pressure and temperature, but as the temperature changes so much (blow a little towards the flie and watch it drop 5 degrees) it corrupts the ASL estimates.// TLDR: Adjusting for temp changes does more harm than good.
/*** Converts pressure to altitude above sea level (ASL) in meters*/
static float BMP280PressureToAltitude(float* pressure/*, float* groundPressure, float* groundTemp*/)
{if (*pressure > 0){return ((pow((1015.7f / *pressure), CONST_PF) - 1.0f) * (FIX_TEMP + 273.15f)) / 0.0065f;}else{return 0;}
}#define FILTER_NUM 5
#define FILTER_A 0.1f/*限幅平均滤波法*/
static void presssureFilter(float* in, float* out)
{static uint8_t i = 0;static float filter_buf[FILTER_NUM] = {0.0};double filter_sum = 0.0;uint8_t cnt = 0;float deta;if(filter_buf[i] == 0.0f){filter_buf[i] = *in;*out = *in;if(++i >= FILTER_NUM)i=0;}else{if(i)deta = *in-filter_buf[i - 1];elsedeta = *in-filter_buf[FILTER_NUM - 1];if(fabs(deta) < FILTER_A){filter_buf[i] = *in;if(++i >= FILTER_NUM)i = 0;}for(cnt = 0; cnt < FILTER_NUM; cnt++){filter_sum += filter_buf[cnt];}*out = filter_sum / FILTER_NUM;}
}void BMP280GetData(float* pressure, float* temperature, float* asl)
{static float t;static float p;BMP280GetPressure2();t = BMP280CompensateT(bmp280RawTemperature) / 100.0;p = BMP280CompensateP(bmp280RawPressure) / 25600.0;presssureFilter(&p, pressure);*temperature = (float)t;/*单位度*/*asl = BMP280PressureToAltitude(pressure); /*转换成海拔*/
}mpu6050驱动代码
说明：
1、模块主要对外输出加速度，陀螺仪，温度等数据
vcc，gnd 接电源
scl，sda iic通信引脚
xda，xcl，iic主机通信引脚，（作为主机通信使用）
ad0，iic地址配置引脚
int，中断信号输出引脚
明确一点：scl，sda在通信时的目的是配置模块中的寄存器。
2、调用
MPU6050_Init();if (MPU6050ReadID() == 0){ printf("检测不到MPU6050，停机");while(1);}short Accel[3];short Gyro [3];short Temp;MPU6050ReadAcc(Accel); printf("加速度： %d__%d__%d ",Accel[0],Accel[1],Accel[2]);MPU6050ReadGyro(Gyro);printf("陀螺仪:%8d %8d %8d",Gyro[0],Gyro[1],Gyro[2]);MPU6050_ReturnTemp(&Temp);printf("温度：%d",Temp);.h文件
#define MPU6050_ADDRESS 0x68
#define MPU6050_WHO_AM_I 0x75
#define MPU6050_SMPLRT_DIV 0 //8000Hz
#define MPU6050_DLPF_CFG 0
#define MPU6050_GYRO_OUT 0x43 //MPU6050陀螺仪数据寄存器地址
#define MPU6050_ACC_OUT 0x3B //MPU6050加速度数据寄存器地址#define MPU6050_SLAVE_ADDRESS 0xd0 //MPU6050器件读地址#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC)
#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU6050_RA_XA_OFFS_L_TC 0x07
#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU6050_RA_YA_OFFS_L_TC 0x09
#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU6050_RA_XG_OFFS_USRL 0x14
#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU6050_RA_YG_OFFS_USRL 0x16
#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU6050_RA_ZG_OFFS_USRL 0x18
#define MPU6050_RA_SMPLRT_DIV 0x19
#define MPU6050_RA_CONFIG 0x1A
#define MPU6050_RA_GYRO_CONFIG 0x1B
#define MPU6050_RA_ACCEL_CONFIG 0x1C
#define MPU6050_RA_FF_THR 0x1D
#define MPU6050_RA_FF_DUR 0x1E
#define MPU6050_RA_MOT_THR 0x1F
#define MPU6050_RA_MOT_DUR 0x20
#define MPU6050_RA_ZRMOT_THR 0x21
#define MPU6050_RA_ZRMOT_DUR 0x22
#define MPU6050_RA_FIFO_EN 0x23
#define MPU6050_RA_I2C_MST_CTRL 0x24
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
#define MPU6050_RA_I2C_SLV0_REG 0x26
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
#define MPU6050_RA_I2C_SLV1_REG 0x29
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
#define MPU6050_RA_I2C_SLV2_REG 0x2C
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
#define MPU6050_RA_I2C_SLV3_REG 0x2F
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
#define MPU6050_RA_I2C_SLV4_REG 0x32
#define MPU6050_RA_I2C_SLV4_DO 0x33
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
#define MPU6050_RA_I2C_SLV4_DI 0x35
#define MPU6050_RA_I2C_MST_STATUS 0x36
#define MPU6050_RA_INT_PIN_CFG 0x37
#define MPU6050_RA_INT_ENABLE 0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS 0x3A
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
#define MPU6050_RA_TEMP_OUT_H 0x41
#define MPU6050_RA_TEMP_OUT_L 0x42
#define MPU6050_RA_GYRO_XOUT_H 0x43
#define MPU6050_RA_GYRO_XOUT_L 0x44
#define MPU6050_RA_GYRO_YOUT_H 0x45
#define MPU6050_RA_GYRO_YOUT_L 0x46
#define MPU6050_RA_GYRO_ZOUT_H 0x47
#define MPU6050_RA_GYRO_ZOUT_L 0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
#define MPU6050_RA_I2C_SLV0_DO 0x63
#define MPU6050_RA_I2C_SLV1_DO 0x64
#define MPU6050_RA_I2C_SLV2_DO 0x65
#define MPU6050_RA_I2C_SLV3_DO 0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
#define MPU6050_RA_USER_CTRL 0x6A
#define MPU6050_RA_PWR_MGMT_1 0x6B
#define MPU6050_RA_PWR_MGMT_2 0x6C
#define MPU6050_RA_BANK_SEL 0x6D
#define MPU6050_RA_MEM_START_ADDR 0x6E
#define MPU6050_RA_MEM_R_W 0x6F
#define MPU6050_RA_DMP_CFG_1 0x70
#define MPU6050_RA_DMP_CFG_2 0x71
#define MPU6050_RA_FIFO_COUNTH 0x72
#define MPU6050_RA_FIFO_COUNTL 0x73
#define MPU6050_RA_FIFO_R_W 0x74
#define MPU6050_RA_WHO_AM_I 0x75#define MPU6050_TC_PWR_MODE_BIT 7
#define MPU6050_TC_OFFSET_BIT 6
#define MPU6050_TC_OFFSET_LENGTH 6
#define MPU6050_TC_OTP_BNK_VLD_BIT 0#define MPU6050_VDDIO_LEVEL_VLOGIC 0
#define MPU6050_VDDIO_LEVEL_VDD 1#define MPU6050_CFG_EXT_SYNC_SET_BIT 5
#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3
#define MPU6050_CFG_DLPF_CFG_BIT 2
#define MPU6050_CFG_DLPF_CFG_LENGTH 3#define MPU6050_EXT_SYNC_DISABLED 0x0
#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1
#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2
#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3
#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4
#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5
#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6
#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7#define MPU6050_DLPF_BW_256 0x00
#define MPU6050_DLPF_BW_188 0x01
#define MPU6050_DLPF_BW_98 0x02
#define MPU6050_DLPF_BW_42 0x03
#define MPU6050_DLPF_BW_20 0x04
#define MPU6050_DLPF_BW_10 0x05
#define MPU6050_DLPF_BW_5 0x06#define MPU6050_GCONFIG_FS_SEL_BIT 4
#define MPU6050_GCONFIG_FS_SEL_LENGTH 2#define MPU6050_GYRO_FS_250 0x00
#define MPU6050_GYRO_FS_500 0x01
#define MPU6050_GYRO_FS_1000 0x02
#define MPU6050_GYRO_FS_2000 0x03#define MPU6050_ACONFIG_XA_ST_BIT 7
#define MPU6050_ACONFIG_YA_ST_BIT 6
#define MPU6050_ACONFIG_ZA_ST_BIT 5
#define MPU6050_ACONFIG_AFS_SEL_BIT 4
#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2
#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2
#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3#define MPU6050_ACCEL_FS_2 0x00
#define MPU6050_ACCEL_FS_4 0x01
#define MPU6050_ACCEL_FS_8 0x02
#define MPU6050_ACCEL_FS_16 0x03#define MPU6050_DHPF_RESET 0x00
#define MPU6050_DHPF_5 0x01
#define MPU6050_DHPF_2P5 0x02
#define MPU6050_DHPF_1P25 0x03
#define MPU6050_DHPF_0P63 0x04
#define MPU6050_DHPF_HOLD 0x07#define MPU6050_TEMP_FIFO_EN_BIT 7
#define MPU6050_XG_FIFO_EN_BIT 6
#define MPU6050_YG_FIFO_EN_BIT 5
#define MPU6050_ZG_FIFO_EN_BIT 4
#define MPU6050_ACCEL_FIFO_EN_BIT 3
#define MPU6050_SLV2_FIFO_EN_BIT 2
#define MPU6050_SLV1_FIFO_EN_BIT 1
#define MPU6050_SLV0_FIFO_EN_BIT 0#define MPU6050_MULT_MST_EN_BIT 7
#define MPU6050_WAIT_FOR_ES_BIT 6
#define MPU6050_SLV_3_FIFO_EN_BIT 5
#define MPU6050_I2C_MST_P_NSR_BIT 4
#define MPU6050_I2C_MST_CLK_BIT 3
#define MPU6050_I2C_MST_CLK_LENGTH 4#define MPU6050_CLOCK_DIV_348 0x0
#define MPU6050_CLOCK_DIV_333 0x1
#define MPU6050_CLOCK_DIV_320 0x2
#define MPU6050_CLOCK_DIV_308 0x3
#define MPU6050_CLOCK_DIV_296 0x4
#define MPU6050_CLOCK_DIV_286 0x5
#define MPU6050_CLOCK_DIV_276 0x6
#define MPU6050_CLOCK_DIV_267 0x7
#define MPU6050_CLOCK_DIV_258 0x8
#define MPU6050_CLOCK_DIV_500 0x9
#define MPU6050_CLOCK_DIV_471 0xA
#define MPU6050_CLOCK_DIV_444 0xB
#define MPU6050_CLOCK_DIV_421 0xC
#define MPU6050_CLOCK_DIV_400 0xD
#define MPU6050_CLOCK_DIV_381 0xE
#define MPU6050_CLOCK_DIV_364 0xF#define MPU6050_I2C_SLV_RW_BIT 7
#define MPU6050_I2C_SLV_ADDR_BIT 6
#define MPU6050_I2C_SLV_ADDR_LENGTH 7
#define MPU6050_I2C_SLV_EN_BIT 7
#define MPU6050_I2C_SLV_BYTE_SW_BIT 6
#define MPU6050_I2C_SLV_REG_DIS_BIT 5
#define MPU6050_I2C_SLV_GRP_BIT 4
#define MPU6050_I2C_SLV_LEN_BIT 3
#define MPU6050_I2C_SLV_LEN_LENGTH 4#define MPU6050_I2C_SLV4_RW_BIT 7
#define MPU6050_I2C_SLV4_ADDR_BIT 6
#define MPU6050_I2C_SLV4_ADDR_LENGTH 7
#define MPU6050_I2C_SLV4_EN_BIT 7
#define MPU6050_I2C_SLV4_INT_EN_BIT 6
#define MPU6050_I2C_SLV4_REG_DIS_BIT 5
#define MPU6050_I2C_SLV4_MST_DLY_BIT 4
#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5#define MPU6050_MST_PASS_THROUGH_BIT 7
#define MPU6050_MST_I2C_SLV4_DONE_BIT 6
#define MPU6050_MST_I2C_LOST_ARB_BIT 5
#define MPU6050_MST_I2C_SLV4_NACK_BIT 4
#define MPU6050_MST_I2C_SLV3_NACK_BIT 3
#define MPU6050_MST_I2C_SLV2_NACK_BIT 2
#define MPU6050_MST_I2C_SLV1_NACK_BIT 1
#define MPU6050_MST_I2C_SLV0_NACK_BIT 0#define MPU6050_INTCFG_INT_LEVEL_BIT 7
#define MPU6050_INTCFG_INT_OPEN_BIT 6
#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5
#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4
#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3
#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2
#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1
#define MPU6050_INTCFG_CLKOUT_EN_BIT 0#define MPU6050_INTMODE_ACTIVEHIGH 0x00
#define MPU6050_INTMODE_ACTIVELOW 0x01#define MPU6050_INTDRV_PUSHPULL 0x00
#define MPU6050_INTDRV_OPENDRAIN 0x01#define MPU6050_INTLATCH_50USPULSE 0x00
#define MPU6050_INTLATCH_WAITCLEAR 0x01#define MPU6050_INTCLEAR_STATUSREAD 0x00
#define MPU6050_INTCLEAR_ANYREAD 0x01#define MPU6050_INTERRUPT_FF_BIT 7
#define MPU6050_INTERRUPT_MOT_BIT 6
#define MPU6050_INTERRUPT_ZMOT_BIT 5
#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4
#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3
#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2
#define MPU6050_INTERRUPT_DMP_INT_BIT 1
#define MPU6050_INTERRUPT_DATA_RDY_BIT 0#define MPU6050_DMPINT_5_BIT 5
#define MPU6050_DMPINT_4_BIT 4
#define MPU6050_DMPINT_3_BIT 3
#define MPU6050_DMPINT_2_BIT 2
#define MPU6050_DMPINT_1_BIT 1
#define MPU6050_DMPINT_0_BIT 0#define MPU6050_MOTION_MOT_XNEG_BIT 7
#define MPU6050_MOTION_MOT_XPOS_BIT 6
#define MPU6050_MOTION_MOT_YNEG_BIT 5
#define MPU6050_MOTION_MOT_YPOS_BIT 4
#define MPU6050_MOTION_MOT_ZNEG_BIT 3
#define MPU6050_MOTION_MOT_ZPOS_BIT 2
#define MPU6050_MOTION_MOT_ZRMOT_BIT 0#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7
#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4
#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3
#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2
#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1
#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0#define MPU6050_PATHRESET_GYRO_RESET_BIT 2
#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1
#define MPU6050_PATHRESET_TEMP_RESET_BIT 0#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5
#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2
#define MPU6050_DETECT_FF_COUNT_BIT 3
#define MPU6050_DETECT_FF_COUNT_LENGTH 2
#define MPU6050_DETECT_MOT_COUNT_BIT 1
#define MPU6050_DETECT_MOT_COUNT_LENGTH 2#define MPU6050_DETECT_DECREMENT_RESET 0x0
#define MPU6050_DETECT_DECREMENT_1 0x1
#define MPU6050_DETECT_DECREMENT_2 0x2
#define MPU6050_DETECT_DECREMENT_4 0x3#define MPU6050_USERCTRL_DMP_EN_BIT 7
#define MPU6050_USERCTRL_FIFO_EN_BIT 6
#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5
#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4
#define MPU6050_USERCTRL_DMP_RESET_BIT 3
#define MPU6050_USERCTRL_FIFO_RESET_BIT 2
#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1
#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0#define MPU6050_PWR1_DEVICE_RESET_BIT 7
#define MPU6050_PWR1_SLEEP_BIT 6
#define MPU6050_PWR1_CYCLE_BIT 5
#define MPU6050_PWR1_TEMP_DIS_BIT 3
#define MPU6050_PWR1_CLKSEL_BIT 2
#define MPU6050_PWR1_CLKSEL_LENGTH 3#define MPU6050_CLOCK_INTERNAL 0x00
#define MPU6050_CLOCK_PLL_XGYRO 0x01
#define MPU6050_CLOCK_PLL_YGYRO 0x02
#define MPU6050_CLOCK_PLL_ZGYRO 0x03
#define MPU6050_CLOCK_PLL_EXT32K 0x04
#define MPU6050_CLOCK_PLL_EXT19M 0x05
#define MPU6050_CLOCK_KEEP_RESET 0x07#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7
#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2
#define MPU6050_PWR2_STBY_XA_BIT 5
#define MPU6050_PWR2_STBY_YA_BIT 4
#define MPU6050_PWR2_STBY_ZA_BIT 3
#define MPU6050_PWR2_STBY_XG_BIT 2
#define MPU6050_PWR2_STBY_YG_BIT 1
#define MPU6050_PWR2_STBY_ZG_BIT 0#define MPU6050_WAKE_FREQ_1P25 0x0
#define MPU6050_WAKE_FREQ_2P5 0x1
#define MPU6050_WAKE_FREQ_5 0x2
#define MPU6050_WAKE_FREQ_10 0x3#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6
#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5
#define MPU6050_BANKSEL_MEM_SEL_BIT 4
#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5#define MPU6050_WHO_AM_I_BIT 6
#define MPU6050_WHO_AM_I_LENGTH 6#define MPU6050_DMP_MEMORY_BANKS 8
#define MPU6050_DMP_MEMORY_BANK_SIZE 256
#define MPU6050_DMP_MEMORY_CHUNK_SIZE 16#define mpu_6050 hi2c4
void I2C_MPU6050_WriteData(uint16_t Addr, uint8_t Reg, uint8_t Value);
HAL_StatusTypeDef I2C_MPU6050_WriteBuffer(uint16_t Addr, uint8_t Reg, uint16_t RegSize, uint8_t *pBuffer, uint16_t Length);
uint8_t I2C_MPU6050_ReadData(uint16_t Addr, uint8_t Reg);
HAL_StatusTypeDef I2C_MPU6050_ReadBuffer(uint16_t Addr, uint8_t Reg, uint16_t RegSize, uint8_t *pBuffer, uint16_t Length);
HAL_StatusTypeDef I2C_MPU6050_IsDeviceReady(uint16_t DevAddress, uint32_t Trials);void WriteData(uint8_t Byte);
void WriteCommand(uint8_t Command);void MPU6050ReadTemp(short *tempData);
void MPU6050ReadGyro(short *gyroData);
void MPU6050ReadAcc(short *accData);
void MPU6050_ReturnTemp(short*Temperature);
void MPU6050_Init(void);
uint8_t MPU6050ReadID(void);
void PMU6050_ReadData(uint8_t reg_add,unsigned char*Read,uint8_t num);
void PMU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat);void MPU6050_PWR_MGMT_1_INIT(void);
.c文件
//用于向设备发送指令。
void WriteCommand(uint8_t Command)
{uint8_t date=0;HAL_I2C_Mem_Write(&mpu_6050, 0x69,0x00, I2C_MEMADD_SIZE_8BIT,(uint8_t *)&Command, 1, 0xff);if(HAL_I2C_IsDeviceReady(&mpu_6050,0x69,100,0xffff)==HAL_OK){}}
//用于向从设备发送数据
void WriteData(uint8_t Byte)
{HAL_I2C_Master_Transmit(&mpu_6050, 0x69,(uint8_t *)&Byte, 1, 0xff);if(HAL_I2C_IsDeviceReady(&mpu_6050,0x69,100,0xffff)==HAL_OK){}}/*** 函数功能: I2C通信错误处理函数* 输入参数: 无* 返 回 值: 无* 说 明: 一般在I2C通信超时时调用该函数*/
static void I2C_MPU6050_Error (void)
{/* 反初始化I2C通信总线 */HAL_I2C_DeInit(&mpu_6050);/* 重新初始化I2C通信总线*/MX_I2C2_Init();printf("MPU6050 I2C通信超时！！！ 重新启动I2C...\n");
}/*** 函数功能: 通过I2C写入一个值到指定寄存器内* 输入参数: Addr：I2C设备地址* Reg：目标寄存器* Value：值* 返 回 值: 无* 说 明: 无*/
void I2C_MPU6050_WriteData(uint16_t Addr, uint8_t Reg, uint8_t Value)
{HAL_StatusTypeDef status = HAL_OK;status = HAL_I2C_Mem_Write(&mpu_6050, Addr, (uint16_t)Reg, I2C_MEMADD_SIZE_8BIT, &Value, 1, 1000);/* 检测I2C通信状态 */if(status != HAL_OK){/* 调用I2C通信错误处理函数 */I2C_MPU6050_Error();}
}/*** 函数功能: 通过I2C写入一段数据到指定寄存器内* 输入参数: Addr：I2C设备地址* Reg：目标寄存器* RegSize：寄存器尺寸(8位或者16位)* pBuffer：缓冲区指针* Length：缓冲区长度* 返 回 值: HAL_StatusTypeDef：操作结果* 说 明: 在循环调用是需加一定延时时间*/
HAL_StatusTypeDef I2C_MPU6050_WriteBuffer(uint16_t Addr, uint8_t Reg, uint16_t RegSize, uint8_t *pBuffer, uint16_t Length)
{HAL_StatusTypeDef status = HAL_OK;status = HAL_I2C_Mem_Write(&mpu_6050, Addr, (uint16_t)Reg, RegSize, pBuffer, Length, 1000); /* 检测I2C通信状态 */if(status != HAL_OK){/* 调用I2C通信错误处理函数 */I2C_MPU6050_Error();} return status;
}/*** 函数功能: 通过I2C读取一个指定寄存器内容* 输入参数: Addr：I2C设备地址* Reg：目标寄存器* 返 回 值: uint8_t：寄存器内容* 说 明: 无*/
uint8_t I2C_MPU6050_ReadData(uint16_t Addr, uint8_t Reg)
{HAL_StatusTypeDef status = HAL_OK;uint8_t value = 0;status = HAL_I2C_Mem_Read(&mpu_6050, Addr, Reg, I2C_MEMADD_SIZE_8BIT, &value, 1, 1000);/* 检测I2C通信状态 */if(status != HAL_OK){/* 调用I2C通信错误处理函数 */I2C_MPU6050_Error();}return value;
}/*** 函数功能: 通过I2C读取一段寄存器内容存放到指定的缓冲区内* 输入参数: Addr：I2C设备地址* Reg：目标寄存器* RegSize：寄存器尺寸(8位或者16位)* pBuffer：缓冲区指针* Length：缓冲区长度* 返 回 值: HAL_StatusTypeDef：操作结果* 说 明: 无*/
HAL_StatusTypeDef I2C_MPU6050_ReadBuffer(uint16_t Addr, uint8_t Reg, uint16_t RegSize, uint8_t *pBuffer, uint16_t Length)
{HAL_StatusTypeDef status = HAL_OK;status = HAL_I2C_Mem_Read(&mpu_6050, Addr, (uint16_t)Reg, RegSize, pBuffer, Length, 1000);/* 检测I2C通信状态 */if(status != HAL_OK){/* 调用I2C通信错误处理函数 */I2C_MPU6050_Error();} return status;
}/*** 函数功能: 检测I2C设备是否处于准备好可以通信状态* 输入参数: DevAddress：I2C设备地址* Trials：尝试测试次数* 返 回 值: HAL_StatusTypeDef：操作结果* 说 明: 无*/
HAL_StatusTypeDef I2C_MPU6050_IsDeviceReady(uint16_t DevAddress, uint32_t Trials)
{ return (HAL_I2C_IsDeviceReady(&mpu_6050, DevAddress, Trials, 1000));
}/*** 函数功能: 写数据到MPU6050寄存器* 输入参数: 无* 返 回 值: 无* 说 明: 无*/
void MPU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat)
{I2C_MPU6050_WriteData(MPU6050_SLAVE_ADDRESS,reg_add,reg_dat);
}/*** 函数功能: 从MPU6050寄存器读取数据* 输入参数: 无* 返 回 值: 无* 说 明: 无*/
void MPU6050_ReadData(uint8_t reg_add,unsigned char *Read,uint8_t num)
{I2C_MPU6050_ReadBuffer(MPU6050_SLAVE_ADDRESS,reg_add,I2C_MEMADD_SIZE_8BIT,Read,num);
}/*** 函数功能: 初始化MPU6050芯片* 输入参数: 无* 返 回 值: 无* 说 明: 无*/
void MPU6050_Init(void)
{int i=0,j=0;//在初始化之前要延时一段时间，若没有延时，则断电后再上电数据可能会出错for(i=0;i<1000;i++){for(j=0;j<1000;j++){;}}// HAL_Delay(50);MPU6050_WriteReg(MPU6050_RA_PWR_MGMT_1, 0x00); //解除休眠状态MPU6050_WriteReg(MPU6050_RA_SMPLRT_DIV , 0x07); //陀螺仪采样率，1KHzMPU6050_WriteReg(MPU6050_RA_CONFIG , 0x06); //低通滤波器的设置，截止频率是1K，带宽是5KMPU6050_WriteReg(MPU6050_RA_ACCEL_CONFIG , 0x00); //配置加速度传感器工作在2G模式，不自检MPU6050_WriteReg(MPU6050_RA_GYRO_CONFIG, 0x18); //陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
}/*** 函数功能: 读取MPU6050的ID* 输入参数: 无* 返 回 值: 无* 说 明: 无*/
uint8_t MPU6050ReadID(void)
{unsigned char Re = 0;MPU6050_ReadData(MPU6050_RA_WHO_AM_I,&Re,1); //读器件地址if(Re != 0x68){printf("MPU6050 dectected error!\r\n检测不到MPU6050模块，请检查模块与开发板的接线");return 0;}else{printf("MPU6050 ID = %d\r\n",Re);return 1;}}/*** 函数功能: 读取MPU6050的加速度数据* 输入参数: 无* 返 回 值: 无* 说 明: 无*/
void MPU6050ReadAcc(short *accData)
{uint8_t buf[6];MPU6050_ReadData(MPU6050_ACC_OUT, buf, 6);accData[0] = (buf[0] << 8) | buf[1];accData[1] = (buf[2] << 8) | buf[3];accData[2] = (buf[4] << 8) | buf[5];
}/*** 函数功能: 读取MPU6050的角速度数据* 输入参数: 无* 返 回 值: 无* 说 明: 无*/
void MPU6050ReadGyro(short *gyroData)
{uint8_t buf[6];MPU6050_ReadData(MPU6050_GYRO_OUT,buf,6);gyroData[0] = (buf[0] << 8) | buf[1];gyroData[1] = (buf[2] << 8) | buf[3];gyroData[2] = (buf[4] << 8) | buf[5];
}/*** 函数功能: 读取MPU6050的原始温度数据* 输入参数: 无* 返 回 值: 无* 说 明: 无*/
void MPU6050ReadTemp(short *tempData)
{uint8_t buf[2];MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2); //读取温度值*tempData = (buf[0] << 8) | buf[1];
}/*** 函数功能: 读取MPU6050的温度数据，转化成摄氏度* 输入参数: 无* 返 回 值: 无* 说 明: 无*/
void MPU6050_ReturnTemp(short*Temperature)
{short temp3;uint8_t buf[2];MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2); //读取温度值temp3= (buf[0] << 8) | buf[1];*Temperature=(((double) (temp3 + 13200)) / 280)-13;
}
ATH20驱动文件
说明：
vcc，gnd供电相关
scl，sda iic通信相关引脚
该模块用于获取温湿度，使用iic通信，通过配置模块中芯片的寄存器来获取数据。
调用
ATH20_Init();float temperaut,humtidiy;ATH20_Read_CTdata(&temperaut,&humtidiy);printf("温度: %.3lf ℃\n",temperaut);printf("湿度: %.3lf %%\n",humtidiy);
.h文件
#define ATH20_SLAVE_ADDRESS 0x70 /* I2C从机地址 */#define INIT 0xBE //初始化
#define SoftReset 0xBA //软复位
#define StartTest 0xAC //开始测试uint8_t ATH20_Init(void);
void ATH20_Read_CTdata(float *temperature,float *Humidity);
.c文件
void ATH20_Read_CTdata(float *temperature,float *Humidity) //读取AHT10的温度和湿度数据
{uint32_t RetuData = 0;uint8_t Data[6]={0};static uint8_t tmp[3]={0xac,0x33,0x00};HAL_I2C_Master_Transmit(&hi2cx,ATH20_SLAVE_ADDRESS,tmp,3,0xffff);HAL_Delay(75);//等待75msHAL_I2C_Master_Receive(&hi2cx,ATH20_SLAVE_ADDRESS,Data,6,0xffff);if((Data[0]&0x80)==0x00){RetuData = 0;RetuData = ((uint32_t)Data[3]>>4)+((uint32_t)Data[2]<<4)+((uint32_t)Data[1]<<12);*Humidity = RetuData*100.0f/(1<<20);RetuData = (((uint32_t)Data[3]&0x0f)<<16)+((uint32_t)Data[4]<<8)+((uint32_t)Data[5]);*temperature = RetuData*200.0f/(1<<20)-50;}
}uint8_t ATH20_Init(void)
{static uint8_t tmp[3]={0xbe,0x08,0x00};uint8_t read_buf={0};HAL_Delay(40);HAL_I2C_Master_Receive(&hi2cx,ATH20_SLAVE_ADDRESS,&read_buf,1,0xffff);if((read_buf&0x80)==0x00){HAL_I2C_Master_Transmit(&hi2cx,ATH20_SLAVE_ADDRESS,tmp,3,0xffff);}
}uint8_t ATH20_Read_Status(void)//读取AHT10的状态寄存器
{uint8_t Byte_first;HAL_I2C_Mem_Read(&hi2cx,ATH20_SLAVE_ADDRESS,0x00,1,&Byte_first,1,0xff);return Byte_first;
}uint8_t ATH20_Read_Cal_Enable(void)
{uint8_t val = 0;//ret = 0,val = ATH20_Read_Status();if((val & 0x68) == 0x08) //判断NOR模式和校准输出是否有效return 1;elsereturn 0;
}void ATH20_Read_CTdata1(uint32_t *ct) //读取AHT10的温度和湿度数据
{uint32_t RetuData = 0;uint16_t cnt = 0;uint8_t Data[10];uint8_t tmp[10];tmp[0] = 0x33;tmp[1] = 0x00;HAL_I2C_Mem_Write(&hi2cx,ATH20_SLAVE_ADDRESS,StartTest,1,tmp,2,0xff);HAL_Delay(75);//等待75mscnt = 0;while(((ATH20_Read_Status()&0x80) == 0x80))//等待忙状态结束{HAL_Delay(1);if(cnt++ >= 100){break;}}HAL_I2C_Mem_Read(&hi2cx,ATH20_SLAVE_ADDRESS,0,1,Data,7,0xff);RetuData = 0;RetuData = (RetuData|Data[1]) << 8;RetuData = (RetuData|Data[2]) << 8;RetuData = (RetuData|Data[3]);RetuData = RetuData >> 4;ct[0] = RetuData;RetuData = 0;RetuData = (RetuData|Data[3]) << 8;RetuData = (RetuData|Data[4]) << 8;RetuData = (RetuData|Data[5]);RetuData = RetuData&0xfffff;ct[1] = RetuData;
}uint8_t count;
uint8_t ATH20_Init1(void)
{uint8_t tmp[10];HAL_Delay(40);tmp[0] = 0x08;tmp[1] = 0x00;HAL_I2C_Mem_Write(&hi2cx,ATH20_SLAVE_ADDRESS,INIT,1,tmp,2,0xff);HAL_Delay(500);count = 0;while(ATH20_Read_Cal_Enable() == 0)//需要等待状态字status的Bit[3]=1时才去读数据。如果Bit[3]不等于1 ，发软件复位0xBA给AHT10，再重新初始化AHT10，直至Bit[3]=1{HAL_I2C_Mem_Write(&hi2cx,ATH20_SLAVE_ADDRESS,SoftReset,1,tmp,2,0xff);HAL_Delay(200);HAL_I2C_Mem_Write(&hi2cx,ATH20_SLAVE_ADDRESS,INIT,1,tmp,2,0xff);count++;if(count >= 10)return 0;HAL_Delay(500);}return 1;
}
ads1115驱动文件
说明：
该模块是adc采集模块精度为16bit，使用iic进行数据通信
vcc，gnd供电
scl，sda iic通信
addr，配置模块iic地址
alrt，比较器输出/转换状态就绪引脚
a0~a3，adc采集通道
调用：
float A0_Voltage;char buffer[]="";//显示存储数组A0_Voltage=ADS1115_Read_average_ADC(0); //读取A0通道输入的电压,选择6.144V最大量程 sprintf(buffer,"%5.3f",A0_Voltage);//浮点型数据转为指定格式的字符串,5位,3位小数点printf("a0:%s\n",buffer);HAL_Delay(100);//等待100ms
.h文件
#define ADS1115_DEV_ADDR_GND 0x90//ADDR接GND，ADS1115地址
#define ADS1115_DEV_ADDR_VDD 0x92//ADDR接VDD，ADS1115地址
#define ADS1115_DEV_ADDR_SDA 0x94//ADDR接SDA，ADS1115地址
#define ADS1115_DEV_ADDR_SCL 0x96//ADDR接SCL，ADS1115地址#define ADS1115_DEV_ADDR 0x90//ADDR接GND决定ADS1115的7位地址，如果是写命令就是0x90,读命令就是0x91 #define ADS1115_Conversion 0x00 //转换寄存器地址
#define ADS1115_Config 0x01 //配置寄存器地址#define REG_L_thresh 0x02// Low threshold value
#define REG_H_thresh 0x03 // High threshold valueextern uint8_t BYTE_BUF[2];//读取转换寄存器的数组值
float ADS1115_Read_ADC(uint8_t channel);
float ADS1115_Read_average_ADC(uint8_t channel);.c文件
/*********************************************************************************
描述：配置01H寄存器，实现单次转换，读取00H寄存器，实现电压采样，并转换成电压值
输入：channel:需要采集的通道号，ADS1115是4通道，所以是0~3，分别代表A0~A3通道
返回:浮点数，对应通道采集到的电压值，单位V//配置寄存器说明//config register
/*CRH[15:8](R/W)BIT 15 14 13 12 11 10 9 8NAME OS MUX2 MUX1 MUX0 PGA2 PGA1 PGA0 MODE
CRL[7:0] (R/W)BIT 7 6 5 4 3 2 1 0NAME DR0 DR1 DR0 COM_MODE COM_POL COM_LAT COM_QUE1 COM_QUE0-----------------------------------------------------------------------------------* 15 | OS | 运行状态会单词转换开始* | | 写时:* | | 0 : 无效* | | 1 : 开始单次转换处于掉电状态时* | | 读时:* | | 0 : 正在转换* | | 1 : 未执行转换* -----------------------------------------------------------------------------------* 14:12 | MUX [2:0] | 输入复用多路配置* | | 000 : AINP = AIN0 and AINN = AIN1 (default)* | | 001 : AINP = AIN0 and AINN = AIN3* | | 010 : AINP = AIN1 and AINN = AIN3* | | 011 : AINP = AIN2 and AINN = AIN3* | | 100 : AINP = AIN0 and AINN = GND* | | 101 : AINP = AIN1 and AINN = GND* | | 110 : AINP = AIN2 and AINN = GND* | | 111 : AINP = AIN3 and AINN = GND* -----------------------------------------------------------------------------------* 11:9 | PGA [2:0] | 可编程增益放大器配置(FSR full scale range)* | | 000 : FSR = В±6.144 V* | | 001 : FSR = В±4.096 V* | | 010 : FSR = В±2.048 V (默认)* | | 011 : FSR = В±1.024 V* | | 100 : FSR = В±0.512 V* | | 101 : FSR = В±0.256 V* | | 110 : FSR = В±0.256 V* | | 111 : FSR = В±0.256 V* -----------------------------------------------------------------------------------* 8 | MODE | 工作模式* | | 0 : 连续转换* | | 1 : 单词转换* -----------------------------------------------------------------------------------* 7:5 | DR [2:0] | 采样频率* | | 000 : 8 SPS* | | 001 : 16 SPS* | | 010 : 32 SPS* | | 011 : 64 SPS* | | 100 : 128 SPS (默认)* | | 101 : 250 SPS* | | 110 : 475 SPS* | | 111 : 860 SPS* -----------------------------------------------------------------------------------* 4 | COMP_MODE | 比较器模式* | | 0 : 传统比较器 (default)* | | 1 : 窗口比较器* -----------------------------------------------------------------------------------* 3 | COMP_POL | Comparator polarity* | | 0 : 低电平有效 (default)* | | 1 : 高电平有效* -----------------------------------------------------------------------------------* 2 | COMP_LAT | Latching comparator* | | 0 : 非锁存比较器. (default)* | | 1 : 锁存比较器.* -----------------------------------------------------------------------------------* 1:0 | COMP_QUE [1:0] | Comparator queue and disable* | | 00 : Assert after one conversion* | | 01 : Assert after two conversions* | | 10 : Assert after four conversions* | | 11 : 禁用比较器并将ALERT/RDY设置为高阻抗 (default)* -----------------------------------------------------------------------------------**********************************************************************************/
float ADS1115_Read_ADC(uint8_t channel)//选择一个通道的单次转换
{uint8_t ConfigBuff[2];uint8_t PGA=0;//配置PGA[2:0]为000，采用FSR = ±6.144 Vint16_t tempData;float voltage;//实际电压值switch (channel){case 0:ConfigBuff[0] = (0xC0&0xf1)|(PGA<<1); //bit[15]=OS=1：开始单次转换0xC1[单次]//bit[14:12]=MUX[2:0]=100 : AINP = AIN0 and AINN = GND，采集A0通道//bit[11:9]=PGA[2:0]=000 : FSR = ±6.144 V//bit[8]=MODE=1：单次模式或掉电状态break;case 1:ConfigBuff[0] =(0xD1&0xf1)|(PGA<<1) ; //bit[15]=OS=1：开始单次转换0xD1[单次]//bit[14:12]=MUX[2:0]=101 : AINP = AIN1 and AINN = GND，采集A1通道//bit[11:9]=PGA[2:0]=000 : FSR = ±6.144 V//bit[8]=MODE=1：单次模式或掉电状态break;case 2:ConfigBuff[0] =(0xE1&0xf1)|(PGA<<1); //bit[15]=OS=1：开始单次转换0xE1[单次]//bit[14:12]=MUX[2:0]=110 : AINP = AIN2 and AINN = GND，采集A2通道//bit[11:9]=PGA[2:0]=000 : FSR = ±6.144 V//bit[8]=MODE=1：单次模式或掉电状态break;case 3:ConfigBuff[0] =(0xF1&0xf1)|(PGA<<1); //bit[15]=OS=1：开始单次转换0xF1[单次]//bit[14:12]=MUX[2:0]=111 : AINP = AIN3 and AINN = GND，采集A3通道//bit[11:9]=PGA[2:0]=000 : FSR = ±6.144 V//bit[8]=MODE=1：单次模式或掉电状态break; }ConfigBuff[1] = 0xE3; //bit[7:5]=DR[2:0]=111：860 SPS//bit[1:0]=COMP_QUE[1:0]=11：不使能比较器HAL_I2C_Mem_Write(&hi2c5,ADS1115_DEV_ADDR,ADS1115_Config,1,ConfigBuff,2,1000);//调用HAL库IIC写函数，按上面的参数，配置01H寄存器HAL_Delay(2);// 延时一定时间 HAL_I2C_Mem_Read(&hi2c5,ADS1115_DEV_ADDR,ADS1115_Conversion,1,BYTE_BUF,2,1000);//调用HAL库IIC读函数读取,00H寄存器的AD转换值，放入BYTE_BUFtempData = (int16_t)(BYTE_BUF[0] << 8) + (int16_t)BYTE_BUF[1];//FSR ±6.144 V，LSB 187.5 μV//FSR ±4.096 V，LSB 125 μV//FSR ±2.048 V，LSB 62.5 μV//FSR ±1.024 V，LSB 31.25 μV//FSR ±0.512 V，LSB 15.625 μV//FSR ±0.256 V，LSB 7.8125 μVswitch (PGA)//根据量程，采样值*LSB就是采集到的电压值{case 5:voltage = tempData * 0.0000078125;//单位Vbreak;case 4:voltage = tempData * 0.000015625;//单位Vbreak;case 3:voltage = tempData * 0.00003125;//单位Vbreak;case 2:voltage = tempData * 0.0000625;//单位Vbreak;case 1:voltage = tempData * 0.000125;//单位Vbreak;case 0:voltage = tempData * 0.0001875;//单位Vbreak;default:voltage = 0;break;}return voltage;}
/*********************************************************************************
描述：计算平均数
输入：channel:需要采集的通道号，ADS1115是4通道，所以是0~3，分别代表A0~A3通道
返回:浮点数，求平均后的电压，单位V
**********************************************************************************/
float ADS1115_Read_average_ADC(uint8_t channel)
{float sum[10],average;for(int i=0;i<10;i++){sum[i]=ADS1115_Read_ADC(channel);}average=(sum[3]+sum[4]+sum[5]+sum[6]+sum[7]+sum[8])/6;return average;
}
pcf8591驱动文件
说明：
该模块集成adc和dac转换功能，使用iic进行通信
vcc，gnd 供电
scl，sda iic通信
aout，输出dac电压
ain0~ain3，adc采集输入（跳线帽可接到对应adc采集通道）
调用：
uint8_t Lival[4]={0};IICWriteOneByte(PCF8591Add,MODE0|CHNL1); // Using channel 1HAL_Delay(350);Lival[0] = IICReadOneByte(PCF8591Add|0x01); //光敏信号The analog value of channel 0 is read and converted to a digital valueIICWriteOneByte(PCF8591Add,MODE0|CHNL2); // Using channel 2HAL_Delay(350);Lival[1] = IICReadOneByte(PCF8591Add|0x01); //热敏信号The analog value of channel 1 is read and converted to a digital valueIICWriteOneByte(PCF8591Add,MODE0|CHNL3); // Using channel 3HAL_Delay(350);Lival[2] = IICReadOneByte(PCF8591Add|0x01); //外部adc采集信号The analog value of channel 2 is read and converted to a digital valueIICWriteOneByte(PCF8591Add,MODE0|CHNL0); // Using channel 0HAL_Delay(350);Lival[3] = IICReadOneByte(PCF8591Add|0x01); //滑动变阻器信号&dac输出信号 The analog value of channel 3 is read and converted to a digital valueIICWriteTwoByte(PCF8591Add,DAouputEn,Lival[3]); //Converts the converted digital value to an analog valueHAL_Delay(100);printf("光敏信号channel0:%f \n 热敏信号channel1:%f \n 外部adc采集信号channel2:%d \n 滑动变阻器信号channel3:%f \n dac输出信号channel4:%f v\n",100.0-(float)Lival[0]*0.39,100.0-(float)Lival[1]*0.39,Lival[2],(float)Lival[3]*0.39,(float)Lival[3]*0.01294);.h文件
//控制寄存器的模式
#define MODE0 0x00 //Channel0 = AIN0; 全部开启//Channel1 = AIN1;//Channel2 = AIN2;//Channel3 = AIN3;
#define MODE1 0x10 //Channel0 = AIN3-AIN0;开启0 1 2通道//Channel1 = AIN3-AIN1//Channel2 = AIN3-AIN2;
#define MODE2 0x20 //Channel0 = AIN0;开启 0 1 3通道//Channel1 = AIN1;//Channel2 = AIN3-AIN2;//3 2通道合并
#define MODE3 0x30 //Channel0 = AIN1-AIN0;开启 0 1通道//Channel1 = AIN3-AIN2;合并1 0 ，3 2为两个通道#define CHNL0 0 //Using Channel0
#define CHNL1 1 //Using Channel1
#define CHNL2 2 //Using Channel2
#define CHNL3 3 //Using Channel3/*
当使用dac是控制寄存器需配置为0x40 才不影响其他通道
b{ 0‘111’（控制模式） 00‘11’(通道)}
*/
#define DAouputEn 0x40//0x50 or 0x60 or 0x70 is also ok!#define PCF8591Add 0x90 //为默认写时设备地址0x90，当进行读取时设备地址为0x91uint8_t IICReadOneByte(uint8_t DevAddress);
void IICWriteTwoByte(uint8_t DevAddress,uint8_t control,uint8_t D_value);
void IICWriteOneByte(uint8_t DevAddress,uint8_t control);.c文件
void IICWriteOneByte(uint8_t DevAddress,uint8_t control)
{HAL_I2C_Master_Transmit(&hi2c4,DevAddress, &control,1,1000);
}void IICWriteTwoByte(uint8_t DevAddress,uint8_t control,uint8_t D_value) //WriteTwoByte
{uint8_t data[2]={0};data[0] = control;data[1] = D_value;HAL_I2C_Master_Transmit(&hi2c4,DevAddress,data,2,100);
}
uint8_t IICReadOneByte(uint8_t DevAddress)
{uint8_t buf[1]={0}; HAL_I2C_Master_Receive(&hi2c4,DevAddress,buf,1,1000);return buf[0];
}
