verilog mpu6050
时间: 2023-08-04 10:09:22 浏览: 44
Verilog code for MPU6050 is used to interface the MPU6050 sensor with the FPGA board. Here is the sample code:
```
module MPU6050(clk, reset, sda, scl, interrupt, data);
input clk, reset, sda, scl;
output interrupt;
output [13:0] data;
reg [7:0] reg_addr;
reg [7:0] reg_data;
reg [13:0] accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z, temperature;
reg [3:0] state;
wire sda_w, scl_w, ack_w;
parameter IDLE = 4'b0000, START = 4'b0001, READ_DATA = 4'b0010, ACK = 4'b0011, STOP = 4'b0100;
assign sda_w = (state == START || state == READ_DATA) ? 1'b0 : sda;
assign scl_w = (state == STOP) ? 1'b1 : scl;
assign interrupt = (reg_data[7] == 1'b1) ? 1'b1 : 1'b0;
assign data = (reg_data[7] == 1'b1) ? {accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z, temperature} : 0;
always @(posedge clk) begin
if (reset == 1'b1) begin
state <= IDLE;
reg_addr <= 8'b0;
reg_data <= 8'b0;
accel_x <= 14'b0;
accel_y <= 14'b0;
accel_z <= 14'b0;
gyro_x <= 14'b0;
gyro_y <= 14'b0;
gyro_z <= 14'b0;
temperature <= 14'b0;
end else begin
case (state)
IDLE: begin
if (sda_w == 1'b0 && scl_w == 1'b0) begin
state <= START;
end else begin
state <= IDLE;
end
end
START: begin
reg_addr <= 8'b11010000;
reg_data <= 8'b11010100;
state <= ACK;
end
READ_DATA: begin
case (reg_addr)
8'b11010000: begin
accel_x <= (sda_w << 8) | sda;
reg_addr <= 8'b11010001;
end
8'b11010001: begin
accel_x <= accel_x | sda;
accel_y <= (sda_w << 8) | sda;
reg_addr <= 8'b11010010;
end
8'b11010010: begin
accel_y <= accel_y | sda;
accel_z <= (sda_w << 8) | sda;
reg_addr <= 8'b11010011;
end
8'b11010011: begin
accel_z <= accel_z | sda;
temperature <= (sda_w << 8) | sda;
reg_addr <= 8'b11010100;
end
8'b11010100: begin
temperature <= temperature | sda;
gyro_x <= (sda_w << 8) | sda;
reg_addr <= 8'b11010101;
end
8'b11010101: begin
gyro_x <= gyro_x | sda;
gyro_y <= (sda_w << 8) | sda;
reg_addr <= 8'b11010110;
end
8'b11010110: begin
gyro_y <= gyro_y | sda;
gyro_z <= (sda_w << 8) | sda;
reg_addr <= 8'b11010111;
end
8'b11010111: begin
gyro_z <= gyro_z | sda;
state <= STOP;
end
endcase
end
ACK: begin
state <= READ_DATA;
end
STOP: begin
state <= IDLE;
end
endcase
end
end
assign ack_w = (state == READ_DATA) ? 1'b0 : 1'b1;
wire [7:0] i2c_addr;
assign i2c_addr = reg_addr[7:1];
wire [7:0] i2c_data;
assign i2c_data = reg_data;
I2C i2c(.clk(clk), .reset(reset), .sda(sda_w), .scl(scl_w), .ack(ack_w), .i2c_addr(i2c_addr), .i2c_data(i2c_data), .ack_w(ack_w));
```
This code reads the accelerometer and gyroscope data from the MPU6050 sensor and sends it to the FPGA board. It uses I2C protocol to communicate with the sensor.