- #include "my_i2c.h"
- #include "mpu6050.h"
- #include "usart.h"
- #include <stdio.h>
- uint8_t mpu6050_init()
- {
- uint8_t id,data;
-
- IIC_gpio_init();
-
- mpu6050_read_len(MPU6050_ADDR,MPU_DEVICE_ID_REG,1,&id);
- if(id == 0x68){
- mpu6050_reset(); /* mpu6050软件复位 0x6B */
-
- mpu6050_set_rate(100); /* 设置陀螺仪采样频率为100Hz 0x19 */
-
- mpu6050_set_accelerated_speed(0); /* 设置加速度量程范围：±2g 0x1C */
-
- mpu6050_set_gyroscope(3); /* 设置陀螺仪量程范围：±2000dps 0x1B */
-
- /* 关闭所有中断 */
- data = 0;
- mpu6050_write_len(MPU6050_ADDR,MPU_INT_EN_REG,1,&data);
-
- /* 关闭IIC主模式 */
- data = 0;
- mpu6050_write_len(MPU6050_ADDR,MPU_USER_CTRL_REG,1,&data);
-
- /* 关闭FIFO */
- data = 0;
- mpu6050_write_len(MPU6050_ADDR,MPU_FIFO_EN_REG,1,&data);
-
- /* 设置CLKSEL，PLL X轴为参考 */
- data = 0x01;
- mpu6050_write_len(MPU6050_ADDR,MPU_PWR_MGMT1_REG,1,&data);
-
- /* 加速度与陀螺仪都工作 */
- data = 0;
- mpu6050_write_len(MPU6050_ADDR,MPU_PWR_MGMT2_REG,1,&data);
-
- return 0;
-
- }
-
- return 1;
- }
- /* mpu6050软件复位 */
- void mpu6050_reset()
- {
- uint8_t data;
- data = 0x80;
- mpu6050_write_len(MPU6050_ADDR,MPU_PWR_MGMT1_REG,1,&data); // 复位mpu6050
-
- HAL_Delay(100);
-
- data = 0x00;
- // 唤醒mpu6050
- }
- /* 设置数字低通滤波器频率(陀螺仪输出频率) */
- void mpu6050_set_lpf(uint16_t lpf)
- {
- // 该函数设置陀螺仪输出频率为1000Hz
- uint8_t data;
- mpu6050_write_len(MPU6050_ADDR,MPU_CFG_REG,1,&data);
- }
- /* 设置陀螺仪采样频率：4~1000Hz */
- void mpu6050_set_rate(uint16_t rata)
- {
- // 陀螺仪采样率rate = 陀螺仪输出频率（1000Hz或8000Hz,mpu6050_set_lpf函数设定为1000Hz） / (SMPLPT_DIV + 1)(采样周期)
- uint8_t data;
- if(rata >= 1000) rata = 1000;
- if(rata <= 4) rata = 4;
-
- data = 1000/rata - 1;
- mpu6050_write_len(MPU6050_ADDR,MPU_SAMPLE_RATE_REG,1,&data);
-
- mpu6050_set_lpf(rata / 2); // 自动设置低通滤波频率为采样率的一半
-
- }
- /*
- 设置加速度量程范围：
- data:
- 0 --> ±2g
- 1 --> ±4g
- 2 --> ±8g
- 3 --> ±16g
- */
- void mpu6050_set_accelerated_speed(uint8_t data)
- {
- data <<= 3;
- mpu6050_write_len(MPU6050_ADDR,MPU_ACCEL_CFG_REG,1,&data);
- }
- /*
- 设置陀螺仪量程范围：
- fsr:
- 0 --> ±250dps
- 1 --> ±500dps
- 2 --> ±1000dps
- 3 --> ±2000dps
- */
- void mpu6050_set_gyroscope(uint8_t data)
- {
- data <<= 3;
- mpu6050_write_len(MPU6050_ADDR,MPU_GYRO_CFG_REG,1,&data);
- }
- /* 获取mpu6050的原始数据 */
- void mpu6050_read_accelerated_speed(int16_t *accelerated_speed_x,int16_t *accelerated_speed_y,int16_t *accelerated_speed_z)
- {
- uint8_t rev_buf[6];
-
- mpu6050_read_len(MPU6050_ADDR,MPU_ACCEL_XOUTH_REG,6,rev_buf); //读取x，y，z三轴的加速度值
-
- *accelerated_speed_x = (int16_t)(rev_buf[0] << 8 | rev_buf[1]);
- *accelerated_speed_y = (int16_t)(rev_buf[2] << 8 | rev_buf[3]);
- *accelerated_speed_z = (int16_t)(rev_buf[4] << 8 | rev_buf[5]);
- }
- void mpu6050_read_gyroscope(int16_t *gyroscope_x,int16_t *gyroscope_y,int16_t *gyroscope_z)
- {
- uint8_t rev_buf[6];
-
- mpu6050_read_len(MPU6050_ADDR,MPU_GYRO_XOUTH_REG,6,rev_buf); //读取x，y，z三轴的陀螺仪值
-
- *gyroscope_x = (int16_t)(rev_buf[0] << 8 | rev_buf[1]);
- *gyroscope_y = (int16_t)(rev_buf[2] << 8 | rev_buf[3]);
- *gyroscope_z = (int16_t)(rev_buf[4] << 8 | rev_buf[5]);
- }
- float mpu6050_read_temperature()
- {
- uint8_t rev_buf[2];
- int16_t *temperature;
-
- mpu6050_read_len(MPU6050_ADDR,MPU_TEMP_OUTH_REG,2,rev_buf);
-
- *temperature = (int16_t)(rev_buf[0] << 8 | rev_buf[1]);
- return 36.53 + *temperature / 340;
- }
- /* 下面两个函数用来代替dmp库中内容 */
- uint8_t mpu6050_write_len(uint8_t addr,uint8_t reg,uint8_t len,uint8_t *buf)
- {
- uint8_t i;
-
- IIC_start();
- IIC_send_byte((addr | 0));
- if (IIC_wait_ack() == 1)
- {
- IIC_stop();
- return 1;
- }
- IIC_send_byte(reg);
- if (IIC_wait_ack() == 1)
- {
- IIC_stop();
- return 1;
- }
- for (i=0; i<len; i++)
- {
- IIC_send_byte(buf[i]);
- if (IIC_wait_ack() == 1)
- {
- IIC_stop();
- return 1;
- }
- }
- IIC_stop();
- return 0;
- }
- uint8_t mpu6050_read_len(uint8_t addr,uint8_t reg,uint8_t len,uint8_t *buf)
- {
- IIC_start();
- IIC_send_byte(addr | 0);
- if (IIC_wait_ack() == 1)
- {
- IIC_stop();
- return 1;
- }
- IIC_send_byte(reg);
- if (IIC_wait_ack() == 1)
- {
- IIC_stop();
- return 1;
- }
- IIC_start();
- IIC_send_byte(addr | 1);
- if (IIC_wait_ack() == 1)
- {
- IIC_stop();
- return 1;
- }
- while (len)
- {
- *buf = IIC_read_byte((len > 1) ? 1 : 0);
- len--;
- buf++;
- }
- IIC_stop();
- return 0;
- }
楼主
