317 lines
5.5 KiB
Groff
317 lines
5.5 KiB
Groff
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.TH "D:/gitt/MicrochipFor32/bsp_MPU6050/mpu6050.cpp" 3 "2022年 十一月 22日 星期二" "Version 2.0.0" "MF32BSP_XerolySkinner" \" -*- nroff -*-
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.ad l
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.nh
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.SH NAME
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D:/gitt/MicrochipFor32/bsp_MPU6050/mpu6050.cpp
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.SH SYNOPSIS
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.br
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.PP
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\fC#include 'bscpp_IIC_STM32\&.h'\fP
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.br
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\fC#include 'mpu6050\&.h'\fP
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.br
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.SS "宏定义"
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.in +1c
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.ti -1c
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.RI "#define \fBdelay_ms\fP(var) HAL_Delay(var)"
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.br
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.in -1c
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.SS "函数"
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.in +1c
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.ti -1c
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.RI "bscpp_IIC_STM32 \fBmpu6050IIC\fP (IIC_SCK_GPIO_Port, IIC_SCK_Pin, IIC_SDA_GPIO_Port, IIC_SDA_Pin)"
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.br
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Init\fP (void)"
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.br
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.RI "初始化MPU6050 "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Set_Gyro_Fsr\fP (\fBu8\fP fsr)"
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.br
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.RI "设置MPU6050陀螺仪传感器满量程范围 "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Set_Accel_Fsr\fP (\fBu8\fP fsr)"
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.br
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.RI "设置MPU6050加速度传感器满量程范围 "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Set_LPF\fP (\fBu16\fP lpf)"
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.br
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.RI "设置MPU6050的数字低通滤波器 "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Set_Rate\fP (\fBu16\fP rate)"
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.br
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.RI "设置MPU6050的采样率(假定Fs=1KHz) "
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.ti -1c
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.RI "short \fBMPU_Get_Temperature\fP (void)"
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.br
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.RI "得到温度值 "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Get_Gyroscope\fP (short *gx, short *gy, short *gz)"
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.br
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.RI "得到陀螺仪值(原始值) "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Get_Accelerometer\fP (short *ax, short *ay, short *az)"
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.br
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.RI "得到加速度值(原始值) "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Write_Len\fP (\fBu8\fP addr, \fBu8\fP reg, \fBu8\fP len, \fBu8\fP *buf)"
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.br
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.RI "IIC连续写 "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Read_Len\fP (\fBu8\fP addr, \fBu8\fP reg, \fBu8\fP len, \fBu8\fP *buf)"
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.br
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.RI "IIC连续读 "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Write_Byte\fP (\fBu8\fP reg, \fBu8\fP data)"
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.br
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.RI "IIC写一个字节 "
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.ti -1c
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.RI "\fBu8\fP \fBMPU_Read_Byte\fP (\fBu8\fP reg)"
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.br
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.RI "IIC读一个字节 "
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.in -1c
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.SH "宏定义说明"
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.PP
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.SS "#define delay_ms(var) HAL_Delay(var)"
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB16\fP 行定义\&.
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.SH "函数说明"
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.PP
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.SS "bscpp_IIC_STM32 mpu6050IIC (IIC_SCK_GPIO_Port, IIC_SCK_Pin, IIC_SDA_GPIO_Port, IIC_SDA_Pin)"
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.SS "\fBu8\fP MPU_Get_Accelerometer (short * ax, short * ay, short * az)"
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.PP
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得到加速度值(原始值)
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.PP
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\fB参数\fP
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.RS 4
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\fIax\fP 陀螺仪a轴的原始读数(带符号)
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.br
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\fIay\fP 陀螺仪a轴的原始读数(带符号)
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.br
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\fIax\fP 陀螺仪a轴的原始读数(带符号)
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB137\fP 行定义\&.
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.SS "\fBu8\fP MPU_Get_Gyroscope (short * gx, short * gy, short * gz)"
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.PP
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得到陀螺仪值(原始值)
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.PP
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\fB参数\fP
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.RS 4
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\fIgx\fP 陀螺仪x轴的原始读数(带符号)
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.br
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\fIgy\fP 陀螺仪y轴的原始读数(带符号)
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.br
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\fIgx\fP 陀螺仪z轴的原始读数(带符号)
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB121\fP 行定义\&.
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.SS "short MPU_Get_Temperature (void)"
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.PP
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得到温度值
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.PP
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\fB返回\fP
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.RS 4
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温度值(扩大了100倍)
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB105\fP 行定义\&.
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.SS "\fBu8\fP MPU_Init (void)"
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.PP
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初始化MPU6050
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.PP
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\fB返回\fP
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.RS 4
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0,成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB25\fP 行定义\&.
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.SS "\fBu8\fP MPU_Read_Byte (\fBu8\fP reg)"
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.PP
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IIC读一个字节
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.PP
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\fB参数\fP
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.RS 4
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\fIreg\fP 寄存器地址
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB187\fP 行定义\&.
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.SS "\fBu8\fP MPU_Read_Len (\fBu8\fP addr, \fBu8\fP reg, \fBu8\fP len, \fBu8\fP * buf)"
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.PP
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IIC连续读
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.PP
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\fB参数\fP
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.RS 4
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\fIaddr\fP 器件地址
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.br
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\fIreg\fP 寄存器地址
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.br
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\fIlen\fP 读取长度
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.br
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\fI*buf\fP 读取数据区
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB168\fP 行定义\&.
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.SS "\fBu8\fP MPU_Set_Accel_Fsr (\fBu8\fP fsr)"
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.PP
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设置MPU6050加速度传感器满量程范围
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.PP
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\fB参数\fP
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.RS 4
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\fIfsr\fP 0,±2g 1,±4g 2,±8g 3,±16g
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB67\fP 行定义\&.
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.SS "\fBu8\fP MPU_Set_Gyro_Fsr (\fBu8\fP fsr)"
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.PP
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设置MPU6050陀螺仪传感器满量程范围
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.PP
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\fB参数\fP
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.RS 4
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\fIfsr\fP 0,±250dps 1,±500dps 2,±1000dps 3,±2000dps
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB55\fP 行定义\&.
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.SS "\fBu8\fP MPU_Set_LPF (\fBu16\fP lpf)"
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.PP
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设置MPU6050的数字低通滤波器
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.PP
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\fB参数\fP
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.RS 4
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\fIlpf\fP 数字低通滤波频率(Hz)
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB76\fP 行定义\&.
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.SS "\fBu8\fP MPU_Set_Rate (\fBu16\fP rate)"
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.PP
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设置MPU6050的采样率(假定Fs=1KHz)
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.PP
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\fB参数\fP
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.RS 4
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\fIrate\fP 4~1000(Hz)
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB92\fP 行定义\&.
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.SS "\fBu8\fP MPU_Write_Byte (\fBu8\fP reg, \fBu8\fP data)"
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.PP
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IIC写一个字节
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.PP
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\fB参数\fP
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.RS 4
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\fIreg\fP 寄存器地址
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.br
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\fIdata\fP 数据
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB178\fP 行定义\&.
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.SS "\fBu8\fP MPU_Write_Len (\fBu8\fP addr, \fBu8\fP reg, \fBu8\fP len, \fBu8\fP * buf)"
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.PP
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IIC连续写
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.PP
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\fB参数\fP
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.RS 4
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\fIaddr\fP 器件地址
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.br
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\fIreg\fP 寄存器地址
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.br
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\fIlen\fP 写入长度
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.br
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\fI*buf\fP 数据区
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.RE
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.PP
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\fB返回\fP
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.RS 4
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0,设置成功
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.RE
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.PP
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.PP
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在文件 \fBmpu6050\&.cpp\fP 第 \fB156\fP 行定义\&.
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.SH "作者"
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.PP
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由 Doyxgen 通过分析 MF32BSP_XerolySkinner 的 源代码自动生成\&.
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