用SPI协议读mpu9250时，发现别人的程序上读取数据时只用了这个函数- MPU9250_ReadRegs(MPU6500_ACCEL_XOUT_H, ReadBuf, 14);
- void IMU_Read( void )
- {
- u8 ReadBuf[24] = {0};
- MPU9250_Read(ReadBuf);
- Acc.X = (s16)Byte16(ReadBuf[0], ReadBuf[1]); // Acc_X
- Acc.Y = (s16)Byte16(ReadBuf[2], ReadBuf[3]); // Acc_Y
- Acc.Z = (s16)Byte16(ReadBuf[4], ReadBuf[5]); // Acc_Z
- Gyr.X = (s16)Byte16(ReadBuf[8], ReadBuf[9]); // Gyr_X
- Gyr.Y = (s16)Byte16(ReadBuf[10], ReadBuf[11]); // Gyr_Y
- Gyr.Z = (s16)Byte16(ReadBuf[12], ReadBuf[13]); // Gyr_Z
- Mag.X = (s16)Byte16(ReadBuf[15], ReadBuf[14]); // Mag_X
- Mag.Y = (s16)Byte16(ReadBuf[17], ReadBuf[16]); // Mag_Y
- Mag.Z = (s16)Byte16(ReadBuf[19], ReadBuf[18]); // Mag_Z
- // Temp = (s16)Byte16(ReadBuf[6], ReadBuf[7]); // Temp
- Acc.TrueX = Acc.X* MPU9250A_4g; // g/LSB
- Acc.TrueY = Acc.Y* MPU9250A_4g; // g/LSB
- Acc.TrueZ = Acc.Z* MPU9250A_4g; // g/LSB
- Gyr.TrueX = Gyr.X* MPU9250G_2000dps; // dps/LSB
- Gyr.TrueY = Gyr.Y* MPU9250G_2000dps; // dps/LSB
- Gyr.TrueZ = Gyr.Z* MPU9250G_2000dps; // dps/LSB
- Mag.TrueX = Mag.X* MPU9250M_4800uT; // uT/LSB
- Mag.TrueY = Mag.Y* MPU9250M_4800uT; // uT/LSB
- Mag.TrueZ = Mag.Z* MPU9250M_4800uT; // uT/LSB
- }
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