对于我的业余爱好项目，我尝试制造一款能够与MPU-6050保持平衡的四轴飞行器。飞行控制器应该是FPGA Altera旋风IV，因为它很有趣。我正在VHDL中对其进行编码。
无论如何，我一直无法与MPU-6050进行I2C通信。作为基础，我使用了https://api.github.com/repos/mozilla/geckodriver/releases中的I2C主VHDL代码。
我尝试读取陀螺仪寄存器并将其打印在8个LED上，以查看是否有通信进入。
我尝试使用1Hz预分频器运行状态机中的所有I2C相位，并点亮一些led只是为了查看所有相位是否都通过。就是这种情况。我已将引脚默认设置为2.5V，我使用了10k上拉电阻。 MPU6050可在arduino上运行。
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
entity mpu6050_2 is
port( clk_50 : in std_logic;
areset : in std_logic;
i2c_SDA : INOUT STD_LOGIC;
i2c_SCL : INOUT STD_LOGIC;
leds : out std_LOGIC_VECTOR(7 downto 0)
);
end entity mpu6050_2;
architecture struc of mpu6050_2 is
component i2c_master is
GENERIC(
input_clk : INTEGER := 50_000_000;
bus_clk : INTEGER := 400_000);
PORT(
clk : IN STD_LOGIC;
reset_n : IN STD_LOGIC;
ena : IN STD_LOGIC;
addr : IN STD_LOGIC_VECTOR(6 DOWNTO 0);
rw : IN STD_LOGIC;
data_wr : IN STD_LOGIC_VECTOR(7 DOWNTO 0);
busy : OUT STD_LOGIC;
data_rd : OUT STD_LOGIC_VECTOR(7 DOWNTO 0);
ack_error : BUFFER STD_LOGIC;
sda : INOUT STD_LOGIC;
scl : INOUT STD_LOGIC);
end component ;
type machine is (config1, config2, gyroH, gyroL);
signal state : machine:= config1; --current state
signal SDA_int : std_LOGIC;
signal SCL_int : std_LOGIC;
signal i2c_ena : std_LOGIC;
signal i2c_busy : std_LOGIC;
signal busy_prev : std_LOGIC;
signal i2c_rw : std_LOGIC;
signal i2c_data_wr : STD_LOGIC_VECTOR(7 DOWNTO 0);
signal gyro_data : std_LOGIC_VECTOR(15 downto 0);
signal i2c_data_rd : std_LOGIC_VECTOR (7 downto 0);
signal i2c_addr : STD_LOGIC_VECTOR(6 DOWNTO 0);
begin
process(areset, clk_50)
VARIABLE busy_cnt : INTEGER := 0; --keeps track of i2c busy signals during transaction
begin
if areset = '0' then
busy_cnt := 0;
i2c_ena <= '0';
state <= config1;
elsif rising_edge(clk_50) then
case state is
when config1 =>
busy_prev <= i2c_busy;
if (busy_prev = '0' and i2c_busy = '1') then
busy_cnt := busy_cnt + 1;
end if;
case busy_cnt is
when 0 =>
i2c_ena <= '1';
i2c_addr <= "1101000"; --MPU6050 adress
i2c_rw <= '0'; --write
i2c_data_wr <= x"6B"; -- hex6B powermanagement
when 1 =>
i2c_rw <= '0'; --write
i2c_data_wr <= "00000000"; -- ON with internal clock
when 2 =>
i2c_ena <= '0';
if(i2c_busy = '0') then
busy_cnt := 0;
state <= config2;
end if;
when others => NULL;
end case;
when config2 =>
busy_prev <= i2c_busy;
if (busy_prev = '0' and i2c_busy = '1') then
busy_cnt := busy_cnt + 1;
end if;
case busy_cnt is
when 0 =>
i2c_ena <= '1';
i2c_addr <= "1101000"; --MPU6050 adress
i2c_rw <= '0'; --write
i2c_data_wr <= x"1B"; -- Gyro config
when 1 =>
i2c_rw <= '0'; --write
i2c_data_wr <= "00000000"; -- 250 degree/sec, no self test
when 2 =>
i2c_ena <= '0';
if(i2c_busy = '0') then
busy_cnt := 0;
state <= gyroH;
end if;
when others => NULL;
end case;
when gyroH =>
busy_prev <= i2c_busy;
if (busy_prev = '0' and i2c_busy = '1') then
busy_cnt := busy_cnt + 1;
end if;
case busy_cnt is
when 0 =>
i2c_ena <= '1';
i2c_addr <= "1101000"; --MPU6050 adress
i2c_rw <= '0'; --write
i2c_data_wr <= x"43"; -- hex43 GYRO_OUT[15:8]
when 1 =>
i2c_rw <= '1'; --read
when 2 =>
i2c_ena <= '0';
if(i2c_busy = '0') then
gyro_data(15 downto 8) <= i2c_data_rd;
busy_cnt := 0;
state <= gyroL;
end if;
when others => NULL;
end case;
when gyroL =>
busy_prev <= i2c_busy;
if (busy_prev = '0' and i2c_busy = '1') then
busy_cnt := busy_cnt + 1;
end if;
case busy_cnt is
when 0 =>
i2c_ena <= '1';
i2c_addr <= "1101000"; --MPU6050 adress
i2c_rw <= '0'; --write
i2c_data_wr <= x"44"; -- hex44 GYRO_OUT[7:0]
when 1 =>
i2c_rw <= '1'; --read
when 2 =>
i2c_ena <= '0';
if(i2c_busy = '0') then
gyro_data(7 downto 0) <= i2c_data_rd;
busy_cnt := 0;
state <= gyroH;
end if;
when others => NULL;
end case;
end case;
end if;
end process;
u0: i2c_master
port map(clk => clk_50, reset_n => areset, ena => i2c_ena, addr => i2c_addr, rw => i2c_rw, data_wr => i2c_data_wr, busy => i2c_busy, data_rd => i2c_data_rd
, sda => SDA_int, scl => SCL_int);
leds(7) <= gyro_data(0); --D4
leds(6) <= gyro_data(1); -- D5
leds(5) <= gyro_data(4); -- D6
leds(4) <= gyro_data(7); -- D7
leds(3) <= gyro_data(8); -- D8
leds(2) <= gyro_data(11); -- D9
leds(1) <= gyro_data(13); -- D10
leds(0) <= gyro_data(15); -- D11
i2c_SDA <= SDA_int;
i2c_SCL <= SCL_int;
end struc;
结果： 即使我旋转MPU6050，所有LED都不会改变状态。所以没有沟通。谁能帮我我在做什么错？
答案 0 :(得分：0)
首先：我在一个设计中使用了相同的组件，并确认它可以工作。
我认为您使用的是错误的i2c地址。
在数据表中，通常给出i2c地址，包括读/写位（对于MPU-6050，这是0x68/01101000和0x69/01101001）。但是，所使用的i2c主组件希望通过将i2c rw位附加（&）到给定地址（请参见原始源代码的第124行）本身来构建最终的i2c地址。从数据表移了一位。
尝试使用0x34/0110100作为i2c地址进行读写。
我只是非常简要地查看了其余代码（因此可能还会有其他罪魁祸首），但这足以使您开始工作。