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#include <mega128.h>
#include <delay.h>
#include <stdio.h>
#define SDAO PORTB.0 //Data Out port Á¤ÀÇ
#define SDAI PINB.0 //Data In port Á¤ÀÇ
#define SCL PORTB.1 //SCL port Á¤ÀÇ
#define MODE DDRB.0 //Æ÷Æ®B.0ÀÇ ÀÔÃâ·Â °áÁ¤
#define IN 0;
#define OUT 1;
void Init_USART0(void); //UARTÅë½Å ÃʱâÈ
void putch_USART0(char data); //¹®ÀÚÇϳªÀü¼Û
void puts_USART0(char *str); //¹®ÀÚ¿Àü¼Û
void StartI2C(void); //½ºÅ¸Æ® ½ÅÈ£ S
void StopI2C(void); //½ºÅ¾½ÅÈ£ P
void SendAck(void); // ACK ¸¶½ºÅÍ -> ½½·¹À̺ê (¾ÆÆ®¸Þ°¡128 -> MPU6050)
void SendNack(void); // NACK ¸¶½ºÅÍ -> ½½·¹À̺ê (¾ÆÆ®¸Þ°¡128 -> MPU6050)
void DATA_W(unsigned char); //µ¥ÀÌÅ;²±â AD+W, RA, AD+R µî¿¡ ¾²ÀÌ°í ½½·¹À̺꿡¼ º¸³»ÁÖ´Â ACK¸¦ ¹Þ´Â ºÎºÐ±îÁö ÄÚµùÇÔ
unsigned char DATA_R(void); //µ¥ÀÌÅÍ Àб⠽½·¹À̺꿡¼ DATA ¸¦ º¸³»ÁÖ¸é Àд º¸µå
void REG_R(unsigned char); // ¸ðµç ÇÔ¼ö¸¦ Çѹø¿¡ ½á¼ µ¥ÀÌÅ͸¦ ¹Þ°ÔÇÔ
typedef union accel_t_gyro_union //ÀÚÀÌ·Î, °¡¼Óµµ µ¥ÀÌÅÍ º¯¼ö¸¦ ¹Þ´Â ±¸Á¶Ã¼
{
struct
{
unsigned char x_accel_h;
unsigned char x_accel_l;
unsigned char y_accel_h;
unsigned char y_accel_l;
unsigned char z_accel_h;
unsigned char z_accel_l;
unsigned char t_h;
unsigned char t_l;
unsigned char x_gyro_h;
unsigned char x_gyro_l;
unsigned char y_gyro_h;
unsigned char y_gyro_l;
unsigned char z_gyro_h;
unsigned char z_gyro_l;
} reg;
struct
{
int x_accel;
int y_accel;
int z_accel;
int temperature;
int x_gyro;
int y_gyro;
int z_gyro;
} value;
}ATG;
ATG atg; //µ¥ÀÌÅ͸¦ ÀúÀåÇÒº¯¼ö
char str[100];
void main(void){
Init_USART0();
DDRB = 0xff;
MODE = OUT;
PORTB.3 = 1; //¼¾¼ÀÇ Àü¿ø
SDAO = 1; //ÃʱⰪ
SCL = 1; //ÃʱⰪ
while(1)
{
REG_R(0x3B); //·¹Áö½ºÅÍ ÁÖ¼Ò 0x3bºÎÅÍ ~0x48±îÁö µ¥ÀÌÅ͸¦ Àоî¿È
sprintf(str, "accel x:%f y:%f z:%f\r\ngyro x:%f y:%f z:%f\r\ntemp : %f\r\n",
atg.value.x_accel/16384, atg.value.y_accel/16384, (float)(atg.value.z_accel/16384), (float)(atg.value.x_gyro/131), (float)(atg.value.y_gyro/131), (float)(atg.value.z_gyro/131), (float)(atg.value.temperature/340));
puts_USART0(str);
}
}
void StartI2C(void){ //Start ÇÔ¼ö
MODE = OUT;
SDAO = 1;
SCL = 1;
delay_us(5);
SDAO = 0;
delay_us(5);
SCL=0;
}
void StopI2C(void){ //Stop ÇÔ¼ö
delay_us(5);
SCL = 1;
delay_us(5);
SDAO = 1;
delay_us(5);
}
void SendNack(void){ //Nack Àü¼Û ÇÔ¼ö
MODE = OUT;
delay_us(5);
SDAO = 1;
delay_us(5);
SCL = 1;
delay_us(10);
SCL = 0;
delay_us(5);
SDAO = 0;
}
void SendAck(void){ //Ack Àü¼Û ÇÔ¼ö
MODE = OUT;
delay_us(5);
SDAO = 0;
delay_us(5);
SCL = 1;
delay_us(10);
SCL = 0;
delay_us(5);
SDAO = 1;
}
unsigned char DATA_R(void){ //PIN¸ðµå·Î Àüȯ ÈÄ µ¥ÀÌÅÍ ¹Þ±â
unsigned char i;
unsigned char temp = 0x00;
MODE = IN;
delay_us(5);
for(i = 0; i < 8; i++){
temp <<= 1;
SCL = 1;
delay_us(5);
if(SDAI){
temp |= 0x01;
// puts_USART0("1");
}
else {
// puts_USART0("0");
}
SCL = 0;
delay_us(5);
}
//puts_USART0("\n\r");
return temp;
}
void DATA_W(unsigned char data){ //PORT¸ðµå·Î Àüȯ
unsigned char i;
MODE = OUT;
SCL = 0;
delay_us(5);
for(i = 0; i < 8 ; i++){
if(0x80&data) SDAO = 1;
else SDAO = 0;
data <<= 1;
delay_us(5);
SCL = 1;
delay_us(10);
SCL = 0;
delay_us(5);
}
SDAO = 1;
MODE = IN;
delay_us(5);
SCL = 1;
while(SDAI); //°ªÀÌ Åë°ú
delay_us(10);
SCL = 0;
delay_us(5);
}
void REG_R(unsigned char addr){ //ÃÖÁ¾ÀûÀ¸·Î ·¹Áö½ºÅÍ°ªÀ» Àоî¿À´Â ÇÔ¼ö.(°¡¼Óµµ, ¿Âµµ, ÀÚÀÌ·ÎÀÇ µ¥ÀÌÅÍ°ª)
StartI2C();
DATA_W(0xD0);
DATA_W(addr);
StartI2C();
DATA_W(0xD1);
atg.reg.x_accel_h = DATA_R();
SendAck();
atg.reg.x_accel_l = DATA_R();
SendAck();
atg.reg.y_accel_h = DATA_R();
SendAck();
atg.reg.y_accel_l = DATA_R();
SendAck();
atg.reg.z_accel_h = DATA_R();
SendAck();
atg.reg.z_accel_l = DATA_R();
SendAck();
atg.reg.t_h = DATA_R();
SendAck();
atg.reg.t_l = DATA_R();
SendAck();
atg.reg.x_gyro_h = DATA_R();
SendAck();
atg.reg.x_gyro_l = DATA_R();
SendAck();
atg.reg.y_gyro_h = DATA_R();
SendAck();
atg.reg.y_gyro_l = DATA_R();
SendAck();
atg.reg.y_gyro_h = DATA_R();
SendAck();
atg.reg.y_gyro_l = DATA_R();
SendNack();
StopI2C();
}
void Init_USART0(void)
{
UCSR0B=0x18; //¼Û¼ö½ÅÇã°¡
UCSR0A=0x00;
UCSR0C=(1<<UCSZ01)|(1<<UCSZ00); //Àü¼Û¹®ÀÚ±æÀÌ 8ºñÆ®
UBRR0H=0x00;
UBRR0L=0x08; //Àü¼Û¼Ûµµ 115200bps
}
void puts_USART0(char *str)
{
while(*str!=0){
putch_USART0(*str);
str++;
}
}
void putch_USART0(char data)
{
while(!(UCSR0A & (1<<UDRE0))); //µ¥ÀÌÅÍ ·¹Áö½ºÅÍ Áغñ°¡ µÇ¾ú´ÂÁö È®ÀÎ
UDR0=data; //Àü¼ÛÇÒµ¥ÀÌÅÍ Àü¼Ûµ¥ÀÌÅÍ·¹Áö½ºÅÍ¿¡ ¾²±â
}
112
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2013-03-23
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