基于Altera MAX 10 的MPU6050姿态传感器数据读取

6100308094 · 发表于 2015-1-16 17:41:00

手里头有一个MPU6050，想用max10来读取MPU6050的传感器的数据。
MPU6050是一个I2c的接口，利用FPGA来读取数据是十分方便的。
Verilog设计：
module top( clk, scl, sda, rst_n, ACC_XH_READ, ACC_XL_READ// ACC_YH_READ,// ACC_YL_READ,// ACC_ZH_READ,// ACC_ZL_READ// GYRO_XH_READ,// GYRO_XL_READ,// GYRO_YH_READ,// GYRO_YL_READ,// GYRO_ZH_READ,// GYRO_ZL_READ );input clk,rst_n;output scl;inout sda;output [7:0]ACC_XH_READ;//存储加速度X轴高八位output [7:0]ACC_XL_READ;//存储加速度X轴低八位//output [7:0]ACC_YH_READ;//存储加速度Y轴高八位//output [7:0]ACC_YL_READ;//存储加速度Y轴低八位//output [7:0]ACC_ZH_READ;//存储加速度Z轴高八位//output [7:0]ACC_ZL_READ;//存储加速度Z轴低八位//output [7:0]GYRO_XH_READ;//存储陀螺仪X轴高八位//output [7:0]GYRO_XL_READ;//存储陀螺仪X轴低八位//output [7:0]GYRO_YH_READ;//存储陀螺仪Y轴高八位//output [7:0]GYRO_YL_READ;//存储陀螺仪Y轴低八位//output [7:0]GYRO_ZH_READ;//存储陀螺仪Z轴高八位//output [7:0]GYRO_ZL_READ;//存储陀螺仪Z轴低八位reg [2:0]cnt;//cnt=0，scl上升沿；cnt=1，scl高电平中间；cnt=2，scl下降沿；cnt=3，scl低电平中间reg [8:0]cnt_sum;//产生IIC所需要的时钟reg scl_r;//产生的时钟脉冲reg [19:0]cnt_10ms;always@(posedge clk or negedge rst_n)if(!rst_n) cnt_10ms <= 20'd0;else cnt_10ms <= cnt_10ms+1'b1;always@(posedge clk or negedge rst_n)begin if(!rst_n) cnt_sum <= 0; else if(cnt_sum ==9'd499) cnt_sum <= 0; else cnt_sum <= cnt_sum+1'b1;endalways@(posedge clk or negedge rst_n)begin if(!rst_n) cnt <= 3'd5; else begin case(cnt_sum) 9'd124: cnt<=3'd1;//高电平 9'd249: cnt<=3'd2;//下降沿 9'd374: cnt<=3'd3;//低电平 9'd499: cnt<=3'd0;//上升沿 default: cnt<=3'd5; endcase endend`define SCL_POS (cnt==3'd0)`define SCL_HIG (cnt==3'd1)`define SCL_NEG (cnt==3'd2)`define SCL_LOW (cnt==3'd3)always@(posedge clk or negedge rst_n)begin if(!rst_n) scl_r <= 1'b0; else if(cnt==3'd0) scl_r <= 1'b1; else if(cnt==3'd2) scl_r <= 1'b0;endassign scl = scl_r;//scl时钟信号`define DEVICE_READ 8'hD1//寻址器件，读操作`define DEVICE_WRITE 8'hD0//寻址器件，写操作`define ACC_XH 8'h3B//加速度x轴高位地址`define ACC_XL 8'h3C//加速度x轴低位地址`define ACC_YH 8'h3D//加速度y轴高位地址`define ACC_YL 8'h3E//加速度y轴低位地址`define ACC_ZH 8'h3F//加速度z轴高位地址`define ACC_ZL 8'h40//加速度z轴低位地址`define GYRO_XH 8'h43//陀螺仪x轴高位地址`define GYRO_XL 8'h44//陀螺仪x轴低位地址`define GYRO_YH 8'h45//陀螺仪y轴高位地址`define GYRO_YL 8'h46//陀螺仪y轴低位地址`define GYRO_ZH 8'h47//陀螺仪z轴高位地址`define GYRO_ZL 8'h48//陀螺仪z轴低位地址 //陀螺仪初始化寄存器`define PWR_MGMT_1 8'h6B`define SMPLRT_DIV 8'h19`define CONFIG1 8'h1A`define GYRO_CONFIG 8'h1B`define ACC_CONFIG 8'h1C//陀螺仪初始化对应寄存器值配置`define PWR_MGMT_1_VAL 8'h00`define SMPLRT_DIV_VAL 8'h07`define CONFIG1_VAL 8'h06`define GYRO_CONFIG_VAL 8'h18`define ACC_CONFIG_VAL 8'h01parameter IDLE = 4'd0;parameter START1 = 4'd1; parameter ADD1 = 4'd2;parameter ACK1 = 4'd3;parameter ADD2 = 4'd4;parameter ACK2 = 4'd5;parameter START2 = 4'd6;parameter ADD3 =4'd7;parameter ACK3 = 4'd8;parameter DATA = 4'd9;parameter ACK4 = 4'd10;parameter STOP1 = 4'd11;parameter STOP2 = 4'd12;parameter ADD_EXT = 4'd13;parameter ACK_EXT = 4'd14;reg [3:0]state;//状态寄存器reg sda_r;//输出reg sda_link;//sda_link=1,sda输出;sda_link=0,sda高阻态reg [3:0]num;reg [7:0]db_r;reg [7:0]ACC_XH_READ;//存储加速度X轴高八位reg [7:0]ACC_XL_READ;//存储加速度X轴低八位reg [7:0]ACC_YH_READ;//存储加速度Y轴高八位reg [7:0]ACC_YL_READ;//存储加速度Y轴低八位reg [7:0]ACC_ZH_READ;//存储加速度Z轴高八位reg [7:0]ACC_ZL_READ;//存储加速度Z轴低八位reg [7:0]GYRO_XH_READ;//存储陀螺仪X轴高八位reg [7:0]GYRO_XL_READ;//存储陀螺仪X轴低八位reg [7:0]GYRO_YH_READ;//存储陀螺仪Y轴高八位reg [7:0]GYRO_YL_READ;//存储陀螺仪Y轴低八位reg [7:0]GYRO_ZH_READ;//存储陀螺仪Z轴高八位reg [7:0]GYRO_ZL_READ;//存储陀螺仪Z轴低八位reg [4:0]times;//记录已初始化配置的寄存器个数always@(posedge clk or negedge rst_n)begin if(!rst_n) begin state <= IDLE; sda_r <= 1'b1;//拉高数据线 sda_link <= 1'b0;//高阻态 num <= 4'd0; //初始化寄存器 ACC_XH_READ <= 8'h00; ACC_XL_READ <= 8'h00; ACC_YH_READ <= 8'h00; ACC_YL_READ <= 8'h00; ACC_ZH_READ <= 8'h00; ACC_ZL_READ <= 8'h00; GYRO_XH_READ <= 8'h00; GYRO_XL_READ <= 8'h00; GYRO_YH_READ <= 8'h00; GYRO_YL_READ <= 8'h00; GYRO_ZH_READ <= 8'h00; GYRO_ZL_READ <= 8'h00; times <= 5'b0; end else case(state) IDLE: begin times <= times+1'b1; sda_link <= 1'b1;//sda为输出 sda_r <= 1'b1;//拉高sda db_r <= `DEVICE_WRITE;//向从机写入数据地址 state = START1; end START1:begin//IIC start if(`SCL_HIG)//scl为高电平 begin sda_link <= 1'b1;//sda输出 sda_r <= 1'b0;//拉低sda，产生start信号 state <= ADD1; num <= 4'd0; end else state <= START1; end ADD1: begin//数据写入 if(`SCL_LOW)//scl为低电平 begin if(num == 4'd8)//当8位全部输出 begin num <= 4'd0;//计数清零 sda_r <= 1'b1; sda_link <= 1'b0;//sda高阻态 state <= ACK1; end else begin state <= ADD1; num <= num+1'b1; sda_r <= db_r[4'd7-num];//按位输出 end end else state <= ADD1; end ACK1: begin//应答 if(`SCL_NEG) begin state <= ADD2; case(times)//选择下一个写入寄存器地址 5'd1: db_r <= `PWR_MGMT_1; 5'd2: db_r <= `SMPLRT_DIV; 5'd3: db_r <= `CONFIG1; 5'd4: db_r <= `GYRO_CONFIG; 5'd5: db_r <= `ACC_CONFIG; 5'd6: db_r <= `ACC_XH; 5'd7: db_r <= `ACC_XL; 5'd8: db_r <= `ACC_YH; 5'd9: db_r <= `ACC_YL; 5'd10: db_r <= `ACC_ZH; 5'd11: db_r <= `ACC_ZL; 5'd12: db_r <= `GYRO_XH; 5'd13: db_r <= `GYRO_XL; 5'd14: db_r <= `GYRO_YH; 5'd15: db_r <= `GYRO_YL; 5'd16: db_r <= `GYRO_ZH; 5'd17: db_r <= `GYRO_ZL; default: begin db_r <= `PWR_MGMT_1; times <= 5'd1; end endcase end else state <= ACK1;//等待响应 end ADD2: begin if(`SCL_LOW)//scl为低 begin if(num == 4'd8) begin num <= 4'd0; sda_r <= 1'b1; sda_link <= 1'b0; state <= ACK2; end else begin sda_link <= 1'b1; state <= ADD2; num <= num+1'b1; sda_r <= db_r[4'd7-num];//按位送寄存器地址 end end else state <= ADD2; end ACK2: begin//应答 if(`SCL_NEG) begin case(times)//对应寄存器的设定值 3'd1: db_r <= `PWR_MGMT_1_VAL; 3'd2: db_r <= `SMPLRT_DIV_VAL; 3'd3: db_r <= `CONFIG1_VAL; 3'd4: db_r <= `GYRO_CONFIG_VAL; 3'd5: db_r <= `ACC_CONFIG_VAL; 3'd6: db_r <= `DEVICE_READ; default: db_r <= `DEVICE_READ; endcase if(times >= 5'd6) state <= START2; else state <= ADD_EXT; end else state <= ACK2;//等待响应 end ADD_EXT:begin//初始化一些设定寄存器 if(`SCL_LOW) begin if(num == 4'd8) begin num <= 4'd0; sda_r <= 1'b1; sda_link <= 1'b0;//sda高阻态 state <= ACK_EXT; end else begin sda_link <= 1'b1; state <= ADD_EXT; num <= num+1'b1; sda_r <= db_r[4'd7-num];//按位设定寄存器工作方式 end end else state <= ADD_EXT; end ACK_EXT:begin if(`SCL_NEG) begin sda_r <= 1'b1;//拉高sda state <= STOP1; end else state <= ACK_EXT;//等待响应 end START2:begin if(`SCL_LOW)//scl为低 begin sda_link <= 1'b1;//sda为输出 sda_r <= 1'b1;//拉高sda state <= START2; end else if(`SCL_HIG)//scl为高 begin sda_r <= 1'b0;//拉低sda，产生start信号 state <= ADD3; end else state <= START2; end ADD3: begin if(`SCL_LOW)//scl位低 begin if(num == 4'd8) begin num <= 4'd0; sda_r <= 1'b1;//拉高sda sda_link <= 1'b0;//scl高阻态 state <= ACK3; end else begin num <= num+1'b1; sda_r <= db_r[4'd7-num];//按位写入读取寄存器地址 state <= ADD3; end end else state <= ADD3; end ACK3: begin if(`SCL_NEG) begin state <= DATA; sda_link <= 1'b0;//sda高阻态 end else state <= ACK3;//等待响应 end DATA: begin if(num <= 4'd7) begin state <= DATA; if(`SCL_HIG) begin num <= num+1'b1; case(times) 5'd6: ACC_XH_READ[4'd7-num] <= sda; 5'd7: ACC_XL_READ[4'd7-num] <= sda; 5'd8: ACC_YH_READ[4'd7-num] <= sda; 5'd9: ACC_YL_READ[4'd7-num] <= sda; 5'd10: ACC_ZH_READ[4'd7-num] <= sda; 5'd11: ACC_ZL_READ[4'd7-num] <= sda; 5'd12: GYRO_XH_READ[4'd7-num] <= sda; 5'd13: GYRO_XL_READ[4'd7-num] <= sda; 5'd14: GYRO_YH_READ[4'd7-num] <= sda; 5'd15: GYRO_YL_READ[4'd7-num] <= sda; 5'd16: GYRO_ZH_READ[4'd7-num] <= sda; 5'd17: GYRO_ZL_READ[4'd7-num] <= sda; default: ;//暂时未考虑，可添加代码提高系统稳定性 endcase end end else if((`SCL_LOW)&&(num == 4'd8)) begin sda_link <= 1'b1;//sda为输出 num <= 4'd0;//计数清零 state <= ACK4; end else state <= DATA; end ACK4: begin if(times == 5'd17) times <= 5'd0; if(`SCL_NEG) begin sda_r <= 1'b1;//拉高sda state <= STOP1; end else state <= ACK4;//等待响应 end STOP1:begin if(`SCL_LOW)//scl为低 begin sda_link <= 1'b1;//sda输出 sda_r <= 1'b0;//拉低sda state <= STOP1; end else if(`SCL_HIG)//sda为高 begin sda_r <= 1'b1;//拉高sda,产生stop信号 state <= STOP2; end else state <= STOP1; end STOP2:begin if(`SCL_LOW) sda_r <= 1'b1; else if(cnt_10ms == 20'hffff0)//约10ms得一个数据 state <= IDLE; else state <= STOP2; end default:state <= IDLE; endcaseendassign sda = sda_link?sda_r:1'bz;endmodule由于max10这块评估板没有什么外设可以显示我们读出的结果，这里使用signaltap观察数据

重新编译，生成sof文件、
接好VCC，GND，scl，sda这四根线，有点难看，哈哈。

signaltap抓到的数据：

基于Altera MAX 10 的MPU6050姿态传感器数据读取

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