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< li class = "navelem" > < a class = "el" href = "dir_3bfaf0217183ded7409ebd120766862d.html" > gitt< / a > < / li > < li class = "navelem" > < a class = "el" href = "dir_876bb78db91ff67e2b56e1228af3574e.html" > MicrochipFor32< / a > < / li > < li class = "navelem" > < a class = "el" href = "dir_2f7647e102f146f5202708a3606f65a7.html" > bscpp_Device< / a > < / li > < li class = "navelem" > < a class = "el" href = "dir_30daf241509c7468077f82cc2dd6aa8a.html" > bscpp_MPU6050< / a > < / li > < / ul >
2022-11-08 01:47:39 +08:00
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< div class = "headertitle" > < div class = "title" > mpu6050.cpp< / div > < / div >
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< a href = "mpu6050_8cpp.html" > 浏览该文件的文档.< / a > < div class = "fragment" > < div class = "line" > < a id = "l00001" name = "l00001" > < / a > < span class = "lineno" > 1< / span > < / div >
< div class = "line" > < a id = "l00012" name = "l00012" > < / a > < span class = "lineno" > 12< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00013" name = "l00013" > < / a > < span class = "lineno" > 13< / span > < span class = "comment" > // 头文件< / span > < / div >
< div class = "line" > < a id = "l00014" name = "l00014" > < / a > < span class = "lineno" > 14< / span > < span class = "preprocessor" > #include " < a class = "code" href = "bscpp___i_i_c___s_t_m32_8h.html" > bscpp_IIC_STM32.h< / a > " < / span > < / div >
< div class = "line" > < a id = "l00015" name = "l00015" > < / a > < span class = "lineno" > 15< / span > < span class = "preprocessor" > #include " < a class = "code" href = "mpu6050_8h.html" > mpu6050.h< / a > " < / span > < / div >
< div class = "line" > < a id = "l00016" name = "l00016" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#ae7d7fd8356f1a04698bf36a2ff087f7b" > 16< / a > < / span > < span class = "preprocessor" > #define delay_ms(var) HAL_Delay(var)< / span > < / div >
< div class = "line" > < a id = "l00017" name = "l00017" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a604895d6ae2b01114260172650252fce" > 17< / a > < / span > < a class = "code hl_class" href = "classbscpp___i_i_c___s_t_m32.html" > bscpp_IIC_STM32< / a > < a class = "code hl_variable" href = "mpu6050_8cpp.html#a604895d6ae2b01114260172650252fce" > mpu6050IIC< / a > (IIC_SCK_GPIO_Port,IIC_SCK_Pin,IIC_SDA_GPIO_Port,IIC_SDA_Pin);< / div >
< div class = "line" > < a id = "l00019" name = "l00019" > < / a > < span class = "lineno" > 19< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00020" name = "l00020" > < / a > < span class = "lineno" > 20< / span > < span class = "comment" > // 函数区< / span > < / div >
< div class = "line" > < a id = "l00025" name = "l00025" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#ab1f8c6111d59b60a2edb4ee3e8aa3113" > 25< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#ab1f8c6111d59b60a2edb4ee3e8aa3113" > MPU_Init< / a > (< span class = "keywordtype" > void< / span > ){< / div >
< div class = "line" > < a id = "l00026" name = "l00026" > < / a > < span class = "lineno" > 26< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > res;< / div >
< div class = "line" > < a id = "l00027" name = "l00027" > < / a > < span class = "lineno" > 27< / span > < span class = "comment" > //MPU_IIC_Init();//初始化IIC总线< / span > < / div >
< div class = "line" > < a id = "l00028" name = "l00028" > < / a > < span class = "lineno" > 28< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#abbe7ea135ee03eb0f1296ecb22be7554" > MPU_PWR_MGMT1_REG< / a > ,0X80); < span class = "comment" > //复位MPU6050< / span > < / div >
< div class = "line" > < a id = "l00029" name = "l00029" > < / a > < span class = "lineno" > 29< / span > < a class = "code hl_define" href = "mpu6050_8cpp.html#ae7d7fd8356f1a04698bf36a2ff087f7b" > delay_ms< / a > (100);< / div >
< div class = "line" > < a id = "l00030" name = "l00030" > < / a > < span class = "lineno" > 30< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#abbe7ea135ee03eb0f1296ecb22be7554" > MPU_PWR_MGMT1_REG< / a > ,0X00); < span class = "comment" > //唤醒MPU6050 < / span > < / div >
< div class = "line" > < a id = "l00031" name = "l00031" > < / a > < span class = "lineno" > 31< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#aa27cc30326ce4980b289a0e1c3f76b5e" > MPU_Set_Gyro_Fsr< / a > (3); < span class = "comment" > //陀螺仪传感器,±2000dps< / span > < / div >
< div class = "line" > < a id = "l00032" name = "l00032" > < / a > < span class = "lineno" > 32< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a6c391137bc5880c3b5e15e84c5a3380f" > MPU_Set_Accel_Fsr< / a > (0); < span class = "comment" > //加速度传感器,±2g< / span > < / div >
< div class = "line" > < a id = "l00033" name = "l00033" > < / a > < span class = "lineno" > 33< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a04e58232ce838e94d54aa2b53287cb41" > MPU_Set_Rate< / a > (50); < span class = "comment" > //设置采样率50Hz< / span > < / div >
< div class = "line" > < a id = "l00034" name = "l00034" > < / a > < span class = "lineno" > 34< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#afa56d3602a6044562c45cecf6403fb8b" > MPU_INT_EN_REG< / a > ,0X00); < span class = "comment" > //关闭所有中断< / span > < / div >
< div class = "line" > < a id = "l00035" name = "l00035" > < / a > < span class = "lineno" > 35< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#a0146ef35d7ff0b037eafb0a5dac53b0f" > MPU_USER_CTRL_REG< / a > ,0X00); < span class = "comment" > //I2C主模式关闭< / span > < / div >
< div class = "line" > < a id = "l00036" name = "l00036" > < / a > < span class = "lineno" > 36< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#a6ac27367cd834a85810e99df72b97621" > MPU_FIFO_EN_REG< / a > ,0X00); < span class = "comment" > //关闭FIFO< / span > < / div >
< div class = "line" > < a id = "l00037" name = "l00037" > < / a > < span class = "lineno" > 37< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#a41676476ba5dbb1b213f8f8e252d17f9" > MPU_INTBP_CFG_REG< / a > ,0X80); < span class = "comment" > //INT引脚低电平有效< / span > < / div >
< div class = "line" > < a id = "l00038" name = "l00038" > < / a > < span class = "lineno" > 38< / span > res=< a class = "code hl_function" href = "mpu6050_8cpp.html#a17c11d19a2bb21d61610f08cb2cbe2f7" > MPU_Read_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#a9668e5ccfcfb0aa64da044a381a56f9c" > MPU_DEVICE_ID_REG< / a > );< / div >
< div class = "line" > < a id = "l00039" name = "l00039" > < / a > < span class = "lineno" > 39< / span > < span class = "keywordflow" > if< / span > (res==< a class = "code hl_define" href = "mpu6050_8h.html#ac3281ee64415e63422da7d65db161891" > MPU_ADDR< / a > )< span class = "comment" > //器件ID正确< / span > < / div >
< div class = "line" > < a id = "l00040" name = "l00040" > < / a > < span class = "lineno" > 40< / span > {< / div >
< div class = "line" > < a id = "l00041" name = "l00041" > < / a > < span class = "lineno" > 41< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#abbe7ea135ee03eb0f1296ecb22be7554" > MPU_PWR_MGMT1_REG< / a > ,0X01); < span class = "comment" > //设置CLKSEL,PLL X轴为参考< / span > < / div >
< div class = "line" > < a id = "l00042" name = "l00042" > < / a > < span class = "lineno" > 42< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#a3fa9eb0485744e73d0274b198f0ad705" > MPU_PWR_MGMT2_REG< / a > ,0X00); < span class = "comment" > //加速度与陀螺仪都工作< / span > < / div >
< div class = "line" > < a id = "l00043" name = "l00043" > < / a > < span class = "lineno" > 43< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a04e58232ce838e94d54aa2b53287cb41" > MPU_Set_Rate< / a > (50); < span class = "comment" > //设置采样率为50Hz< / span > < / div >
< div class = "line" > < a id = "l00044" name = "l00044" > < / a > < span class = "lineno" > 44< / span > }< span class = "keywordflow" > else< / span > < span class = "keywordflow" > return< / span > 1;< / div >
< div class = "line" > < a id = "l00045" name = "l00045" > < / a > < span class = "lineno" > 45< / span > < span class = "keywordflow" > return< / span > 0;}< / div >
< div class = "line" > < a id = "l00046" name = "l00046" > < / a > < span class = "lineno" > 46< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00055" name = "l00055" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#aa27cc30326ce4980b289a0e1c3f76b5e" > 55< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#aa27cc30326ce4980b289a0e1c3f76b5e" > MPU_Set_Gyro_Fsr< / a > (< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > fsr){< / div >
< div class = "line" > < a id = "l00056" name = "l00056" > < / a > < span class = "lineno" > 56< / span > < span class = "keywordflow" > return< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#ac8ce2e66126327cf30cfba19c4c38db5" > MPU_GYRO_CFG_REG< / a > ,fsr< < 3);< span class = "comment" > //设置陀螺仪满量程范围 < / span > < / div >
< div class = "line" > < a id = "l00057" name = "l00057" > < / a > < span class = "lineno" > 57< / span > }< / div >
< div class = "line" > < a id = "l00058" name = "l00058" > < / a > < span class = "lineno" > 58< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00067" name = "l00067" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a6c391137bc5880c3b5e15e84c5a3380f" > 67< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a6c391137bc5880c3b5e15e84c5a3380f" > MPU_Set_Accel_Fsr< / a > (< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > fsr){< / div >
< div class = "line" > < a id = "l00068" name = "l00068" > < / a > < span class = "lineno" > 68< / span > < span class = "keywordflow" > return< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#a7bc1a37b846a3869f13a29e00072bbc7" > MPU_ACCEL_CFG_REG< / a > ,fsr< < 3);< span class = "comment" > //设置加速度传感器满量程范围 < / span > < / div >
< div class = "line" > < a id = "l00069" name = "l00069" > < / a > < span class = "lineno" > 69< / span > }< / div >
< div class = "line" > < a id = "l00070" name = "l00070" > < / a > < span class = "lineno" > 70< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00076" name = "l00076" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a2fb9973c9f5ea5327649d0eef5e96217" > 76< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a2fb9973c9f5ea5327649d0eef5e96217" > MPU_Set_LPF< / a > (< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > lpf){< / div >
< div class = "line" > < a id = "l00077" name = "l00077" > < / a > < span class = "lineno" > 77< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > data=0;< / div >
< div class = "line" > < a id = "l00078" name = "l00078" > < / a > < span class = "lineno" > 78< / span > < span class = "keywordflow" > if< / span > (lpf> =188)data=1;< / div >
< div class = "line" > < a id = "l00079" name = "l00079" > < / a > < span class = "lineno" > 79< / span > < span class = "keywordflow" > else< / span > < span class = "keywordflow" > if< / span > (lpf> =98)data=2;< / div >
< div class = "line" > < a id = "l00080" name = "l00080" > < / a > < span class = "lineno" > 80< / span > < span class = "keywordflow" > else< / span > < span class = "keywordflow" > if< / span > (lpf> =42)data=3;< / div >
< div class = "line" > < a id = "l00081" name = "l00081" > < / a > < span class = "lineno" > 81< / span > < span class = "keywordflow" > else< / span > < span class = "keywordflow" > if< / span > (lpf> =20)data=4;< / div >
< div class = "line" > < a id = "l00082" name = "l00082" > < / a > < span class = "lineno" > 82< / span > < span class = "keywordflow" > else< / span > < span class = "keywordflow" > if< / span > (lpf> =10)data=5;< / div >
< div class = "line" > < a id = "l00083" name = "l00083" > < / a > < span class = "lineno" > 83< / span > < span class = "keywordflow" > else< / span > data=6; < / div >
< div class = "line" > < a id = "l00084" name = "l00084" > < / a > < span class = "lineno" > 84< / span > < span class = "keywordflow" > return< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#a5034e2fc680fc68faa369a48f6955837" > MPU_CFG_REG< / a > ,data);< span class = "comment" > //设置数字低通滤波器 < / span > < / div >
< div class = "line" > < a id = "l00085" name = "l00085" > < / a > < span class = "lineno" > 85< / span > }< / div >
< div class = "line" > < a id = "l00086" name = "l00086" > < / a > < span class = "lineno" > 86< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00092" name = "l00092" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a04e58232ce838e94d54aa2b53287cb41" > 92< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a04e58232ce838e94d54aa2b53287cb41" > MPU_Set_Rate< / a > (< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > rate){< / div >
< div class = "line" > < a id = "l00093" name = "l00093" > < / a > < span class = "lineno" > 93< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > data;< / div >
< div class = "line" > < a id = "l00094" name = "l00094" > < / a > < span class = "lineno" > 94< / span > < span class = "keywordflow" > if< / span > (rate> 1000)rate=1000;< / div >
< div class = "line" > < a id = "l00095" name = "l00095" > < / a > < span class = "lineno" > 95< / span > < span class = "keywordflow" > if< / span > (rate< 4)rate=4;< / div >
< div class = "line" > < a id = "l00096" name = "l00096" > < / a > < span class = "lineno" > 96< / span > data=1000/rate-1;< / div >
< div class = "line" > < a id = "l00097" name = "l00097" > < / a > < span class = "lineno" > 97< / span > data=< a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#a4b95cfafadb4b30146a17fac36819ca3" > MPU_SAMPLE_RATE_REG< / a > ,data); < span class = "comment" > //设置数字低通滤波器< / span > < / div >
< div class = "line" > < a id = "l00098" name = "l00098" > < / a > < span class = "lineno" > 98< / span > < span class = "keywordflow" > return< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a2fb9973c9f5ea5327649d0eef5e96217" > MPU_Set_LPF< / a > (rate/2); < span class = "comment" > //自动设置LPF为采样率的一半< / span > < / div >
< div class = "line" > < a id = "l00099" name = "l00099" > < / a > < span class = "lineno" > 99< / span > }< / div >
< div class = "line" > < a id = "l00100" name = "l00100" > < / a > < span class = "lineno" > 100< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00105" name = "l00105" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a41eaf87c26b1281d9d5fc6a06abcf2a8" > 105< / a > < / span > < span class = "comment" > < / span > < span class = "keywordtype" > short< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a41eaf87c26b1281d9d5fc6a06abcf2a8" > MPU_Get_Temperature< / a > (< span class = "keywordtype" > void< / span > ){< / div >
< div class = "line" > < a id = "l00106" name = "l00106" > < / a > < span class = "lineno" > 106< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > buf[2]; < / div >
< div class = "line" > < a id = "l00107" name = "l00107" > < / a > < span class = "lineno" > 107< / span > < span class = "keywordtype" > short< / span > raw;< / div >
< div class = "line" > < a id = "l00108" name = "l00108" > < / a > < span class = "lineno" > 108< / span > < span class = "keywordtype" > float< / span > temp;< / div >
< div class = "line" > < a id = "l00109" name = "l00109" > < / a > < span class = "lineno" > 109< / span > < a class = "code hl_function" href = "mpu6050_8cpp.html#a63161fa966899e4e7c5791e40ebf2b0a" > MPU_Read_Len< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#ac3281ee64415e63422da7d65db161891" > MPU_ADDR< / a > ,< a class = "code hl_define" href = "mpu6050_8h.html#af2665b26b7f1ce9b3982a9f6418748e9" > MPU_TEMP_OUTH_REG< / a > ,2,buf); < / div >
< div class = "line" > < a id = "l00110" name = "l00110" > < / a > < span class = "lineno" > 110< / span > raw=((< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > )buf[0]< < 8)|buf[1]; < / div >
< div class = "line" > < a id = "l00111" name = "l00111" > < / a > < span class = "lineno" > 111< / span > temp=36.53+((double)raw)/340; < / div >
< div class = "line" > < a id = "l00112" name = "l00112" > < / a > < span class = "lineno" > 112< / span > < span class = "keywordflow" > return< / span > temp*100;}< / div >
< div class = "line" > < a id = "l00113" name = "l00113" > < / a > < span class = "lineno" > 113< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00121" name = "l00121" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a8f28105f9dcccc709b78d7d0ce497633" > 121< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a8f28105f9dcccc709b78d7d0ce497633" > MPU_Get_Gyroscope< / a > (< span class = "keywordtype" > short< / span > *gx,< span class = "keywordtype" > short< / span > *gy,< span class = "keywordtype" > short< / span > *gz){< / div >
< div class = "line" > < a id = "l00122" name = "l00122" > < / a > < span class = "lineno" > 122< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > buf[6],res; < / div >
< div class = "line" > < a id = "l00123" name = "l00123" > < / a > < span class = "lineno" > 123< / span > res=< a class = "code hl_function" href = "mpu6050_8cpp.html#a63161fa966899e4e7c5791e40ebf2b0a" > MPU_Read_Len< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#ac3281ee64415e63422da7d65db161891" > MPU_ADDR< / a > ,< a class = "code hl_define" href = "mpu6050_8h.html#a7e16f1a459d902b070ca67df67be862b" > MPU_GYRO_XOUTH_REG< / a > ,6,buf);< / div >
< div class = "line" > < a id = "l00124" name = "l00124" > < / a > < span class = "lineno" > 124< / span > < span class = "keywordflow" > if< / span > (res==0){< / div >
< div class = "line" > < a id = "l00125" name = "l00125" > < / a > < span class = "lineno" > 125< / span > *gx=((< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > )buf[0]< < 8)|buf[1]; < / div >
< div class = "line" > < a id = "l00126" name = "l00126" > < / a > < span class = "lineno" > 126< / span > *gy=((< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > )buf[2]< < 8)|buf[3]; < / div >
< div class = "line" > < a id = "l00127" name = "l00127" > < / a > < span class = "lineno" > 127< / span > *gz=((< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > )buf[4]< < 8)|buf[5];}< / div >
< div class = "line" > < a id = "l00128" name = "l00128" > < / a > < span class = "lineno" > 128< / span > < span class = "keywordflow" > return< / span > res;}< / div >
< div class = "line" > < a id = "l00129" name = "l00129" > < / a > < span class = "lineno" > 129< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00137" name = "l00137" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a2a0a02f6d7c597828a0cc282c76e99e3" > 137< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a2a0a02f6d7c597828a0cc282c76e99e3" > MPU_Get_Accelerometer< / a > (< span class = "keywordtype" > short< / span > *ax,< span class = "keywordtype" > short< / span > *ay,< span class = "keywordtype" > short< / span > *az){< / div >
< div class = "line" > < a id = "l00138" name = "l00138" > < / a > < span class = "lineno" > 138< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > buf[6],res; < / div >
< div class = "line" > < a id = "l00139" name = "l00139" > < / a > < span class = "lineno" > 139< / span > res=< a class = "code hl_function" href = "mpu6050_8cpp.html#a63161fa966899e4e7c5791e40ebf2b0a" > MPU_Read_Len< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#ac3281ee64415e63422da7d65db161891" > MPU_ADDR< / a > ,< a class = "code hl_define" href = "mpu6050_8h.html#a571a31cdf2a467b2b1df39fea686ea0d" > MPU_ACCEL_XOUTH_REG< / a > ,6,buf);< / div >
< div class = "line" > < a id = "l00140" name = "l00140" > < / a > < span class = "lineno" > 140< / span > < span class = "keywordflow" > if< / span > (res==0){< / div >
< div class = "line" > < a id = "l00141" name = "l00141" > < / a > < span class = "lineno" > 141< / span > *ax=((< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > )buf[0]< < 8)|buf[1]; < / div >
< div class = "line" > < a id = "l00142" name = "l00142" > < / a > < span class = "lineno" > 142< / span > *ay=((< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > )buf[2]< < 8)|buf[3]; < / div >
< div class = "line" > < a id = "l00143" name = "l00143" > < / a > < span class = "lineno" > 143< / span > *az=((< a class = "code hl_typedef" href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > )buf[4]< < 8)|buf[5];}< / div >
< div class = "line" > < a id = "l00144" name = "l00144" > < / a > < span class = "lineno" > 144< / span > < span class = "keywordflow" > return< / span > res;}< / div >
< div class = "line" > < a id = "l00146" name = "l00146" > < / a > < span class = "lineno" > 146< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00147" name = "l00147" > < / a > < span class = "lineno" > 147< / span > < span class = "comment" > // 适配区< / span > < / div >
< div class = "line" > < a id = "l00156" name = "l00156" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a59b1c26b234be88e97435a1b3c061330" > 156< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a59b1c26b234be88e97435a1b3c061330" > MPU_Write_Len< / a > (< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > addr,< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_variable" href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > ,< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > len,< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > *buf){< / div >
< div class = "line" > < a id = "l00157" name = "l00157" > < / a > < span class = "lineno" > 157< / span > < a class = "code hl_variable" href = "mpu6050_8cpp.html#a604895d6ae2b01114260172650252fce" > mpu6050IIC< / a > .< a class = "code hl_function" href = "classbscpp___i_i_c.html#a90560b42df225b0af3b0a8c7eef1f6c1" > IIC_Write< / a > (addr,< a class = "code hl_variable" href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > ,(< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > *)buf,len);< / div >
< div class = "line" > < a id = "l00158" name = "l00158" > < / a > < span class = "lineno" > 158< / span > < span class = "keywordflow" > return< / span > 0;}< / div >
< div class = "line" > < a id = "l00159" name = "l00159" > < / a > < span class = "lineno" > 159< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00168" name = "l00168" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a63161fa966899e4e7c5791e40ebf2b0a" > 168< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a63161fa966899e4e7c5791e40ebf2b0a" > MPU_Read_Len< / a > (< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > addr,< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_variable" href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > ,< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > len,< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > *buf){< / div >
< div class = "line" > < a id = "l00169" name = "l00169" > < / a > < span class = "lineno" > 169< / span > < a class = "code hl_variable" href = "mpu6050_8cpp.html#a604895d6ae2b01114260172650252fce" > mpu6050IIC< / a > .< a class = "code hl_function" href = "classbscpp___i_i_c.html#aa012a136b05989578a3f1240baadda3d" > IIC_Read< / a > (addr,< a class = "code hl_variable" href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > ,(< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > *)buf,len);< / div >
< div class = "line" > < a id = "l00170" name = "l00170" > < / a > < span class = "lineno" > 170< / span > < span class = "keywordflow" > return< / span > 0;}< / div >
< div class = "line" > < a id = "l00171" name = "l00171" > < / a > < span class = "lineno" > 171< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00178" name = "l00178" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > 178< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > (< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_variable" href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > ,< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > data){< / div >
< div class = "line" > < a id = "l00179" name = "l00179" > < / a > < span class = "lineno" > 179< / span > < a class = "code hl_variable" href = "mpu6050_8cpp.html#a604895d6ae2b01114260172650252fce" > mpu6050IIC< / a > .< a class = "code hl_function" href = "classbscpp___i_i_c.html#acf6c71a5be44ec8367873501413c4a46" > IIC_WriteOneByte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#ac3281ee64415e63422da7d65db161891" > MPU_ADDR< / a > ,< a class = "code hl_variable" href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > ,data);< / div >
< div class = "line" > < a id = "l00180" name = "l00180" > < / a > < span class = "lineno" > 180< / span > < span class = "keywordflow" > return< / span > 0;}< / div >
< div class = "line" > < a id = "l00181" name = "l00181" > < / a > < span class = "lineno" > 181< / span > < span class = "comment" > //----------------------------------------------------------------------------------------------------< / span > < / div >
< div class = "line" > < a id = "l00187" name = "l00187" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8cpp.html#a17c11d19a2bb21d61610f08cb2cbe2f7" > 187< / a > < / span > < span class = "comment" > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8cpp.html#a17c11d19a2bb21d61610f08cb2cbe2f7" > MPU_Read_Byte< / a > (< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_variable" href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > ){< / div >
< div class = "line" > < a id = "l00188" name = "l00188" > < / a > < span class = "lineno" > 188< / span > < span class = "keywordflow" > return< / span > < a class = "code hl_variable" href = "mpu6050_8cpp.html#a604895d6ae2b01114260172650252fce" > mpu6050IIC< / a > .< a class = "code hl_function" href = "classbscpp___i_i_c.html#a9fa6332b7a0449f9c539bb783030c29e" > IIC_ReadOneByte< / a > (< a class = "code hl_define" href = "mpu6050_8h.html#ac3281ee64415e63422da7d65db161891" > MPU_ADDR< / a > ,< a class = "code hl_variable" href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > );}< / div >
< div class = "line" > < a id = "l00190" name = "l00190" > < / a > < span class = "lineno" > 190< / span > < / div >
< div class = "ttc" id = "abscpp___i_i_c___s_t_m32_8h_html" > < div class = "ttname" > < a href = "bscpp___i_i_c___s_t_m32_8h.html" > bscpp_IIC_STM32.h< / a > < / div > < div class = "ttdoc" > 实现针对STM32的软件IIC类< / div > < / div >
< div class = "ttc" id = "aclassbscpp___i_i_c___s_t_m32_html" > < div class = "ttname" > < a href = "classbscpp___i_i_c___s_t_m32.html" > bscpp_IIC_STM32< / a > < / div > < div class = "ttdoc" > STM32版本的软件IIC 需要使用构造函数初始化< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "bscpp___i_i_c___s_t_m32_8h_source.html#l00055" > bscpp_IIC_STM32.h:55< / a > < / div > < / div >
< div class = "ttc" id = "aclassbscpp___i_i_c_html_a90560b42df225b0af3b0a8c7eef1f6c1" > < div class = "ttname" > < a href = "classbscpp___i_i_c.html#a90560b42df225b0af3b0a8c7eef1f6c1" > bscpp_IIC::IIC_Write< / a > < / div > < div class = "ttdeci" > void IIC_Write(u8 id, u8 addr, u8 *dat, u32 len)< / div > < div class = "ttdoc" > 使用总线发送定长数据< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "bscpp___i_i_c_8cpp_source.html#l00177" > bscpp_IIC.cpp:177< / a > < / div > < / div >
< div class = "ttc" id = "aclassbscpp___i_i_c_html_a9fa6332b7a0449f9c539bb783030c29e" > < div class = "ttname" > < a href = "classbscpp___i_i_c.html#a9fa6332b7a0449f9c539bb783030c29e" > bscpp_IIC::IIC_ReadOneByte< / a > < / div > < div class = "ttdeci" > u8 IIC_ReadOneByte(u8 id, u8 addr)< / div > < div class = "ttdoc" > 使用总线接收一个字节数据< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "bscpp___i_i_c_8cpp_source.html#l00153" > bscpp_IIC.cpp:153< / a > < / div > < / div >
< div class = "ttc" id = "aclassbscpp___i_i_c_html_aa012a136b05989578a3f1240baadda3d" > < div class = "ttname" > < a href = "classbscpp___i_i_c.html#aa012a136b05989578a3f1240baadda3d" > bscpp_IIC::IIC_Read< / a > < / div > < div class = "ttdeci" > void IIC_Read(u8 id, u8 addr, u8 *dat, u32 len)< / div > < div class = "ttdoc" > 使用总线接收定长数据< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "bscpp___i_i_c_8cpp_source.html#l00198" > bscpp_IIC.cpp:198< / a > < / div > < / div >
< div class = "ttc" id = "aclassbscpp___i_i_c_html_acf6c71a5be44ec8367873501413c4a46" > < div class = "ttname" > < a href = "classbscpp___i_i_c.html#acf6c71a5be44ec8367873501413c4a46" > bscpp_IIC::IIC_WriteOneByte< / a > < / div > < div class = "ttdeci" > void IIC_WriteOneByte(u8 id, u8 addr, u8 dat)< / div > < div class = "ttdoc" > 使用总线发送一个字节数据< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "bscpp___i_i_c_8cpp_source.html#l00136" > bscpp_IIC.cpp:136< / a > < / div > < / div >
< div class = "ttc" id = "agroup___d_r_i_v_e_r_s_html_ga5448c351fc95ff052b110eee80e5f75c" > < div class = "ttname" > < a href = "group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c" > reg< / a > < / div > < div class = "ttdeci" > const struct gyro_reg_s reg< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "inv__mpu_8c_source.html#l00489" > inv_mpu.c:489< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a04e58232ce838e94d54aa2b53287cb41" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a04e58232ce838e94d54aa2b53287cb41" > MPU_Set_Rate< / a > < / div > < div class = "ttdeci" > u8 MPU_Set_Rate(u16 rate)< / div > < div class = "ttdoc" > 设置MPU6050的采样率(假定Fs=1KHz)< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00092" > mpu6050.cpp:92< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a0be9b422bb8613f8444db4af5234e1a1" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1" > MPU_Write_Byte< / a > < / div > < div class = "ttdeci" > u8 MPU_Write_Byte(u8 reg, u8 data)< / div > < div class = "ttdoc" > IIC写一个字节< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00178" > mpu6050.cpp:178< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a17c11d19a2bb21d61610f08cb2cbe2f7" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a17c11d19a2bb21d61610f08cb2cbe2f7" > MPU_Read_Byte< / a > < / div > < div class = "ttdeci" > u8 MPU_Read_Byte(u8 reg)< / div > < div class = "ttdoc" > IIC读一个字节< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00187" > mpu6050.cpp:187< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a2a0a02f6d7c597828a0cc282c76e99e3" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a2a0a02f6d7c597828a0cc282c76e99e3" > MPU_Get_Accelerometer< / a > < / div > < div class = "ttdeci" > u8 MPU_Get_Accelerometer(short *ax, short *ay, short *az)< / div > < div class = "ttdoc" > 得到加速度值(原始值)< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00137" > mpu6050.cpp:137< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a2fb9973c9f5ea5327649d0eef5e96217" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a2fb9973c9f5ea5327649d0eef5e96217" > MPU_Set_LPF< / a > < / div > < div class = "ttdeci" > u8 MPU_Set_LPF(u16 lpf)< / div > < div class = "ttdoc" > 设置MPU6050的数字低通滤波器< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00076" > mpu6050.cpp:76< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a41eaf87c26b1281d9d5fc6a06abcf2a8" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a41eaf87c26b1281d9d5fc6a06abcf2a8" > MPU_Get_Temperature< / a > < / div > < div class = "ttdeci" > short MPU_Get_Temperature(void)< / div > < div class = "ttdoc" > 得到温度值< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00105" > mpu6050.cpp:105< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a59b1c26b234be88e97435a1b3c061330" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a59b1c26b234be88e97435a1b3c061330" > MPU_Write_Len< / a > < / div > < div class = "ttdeci" > u8 MPU_Write_Len(u8 addr, u8 reg, u8 len, u8 *buf)< / div > < div class = "ttdoc" > IIC连续写< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00156" > mpu6050.cpp:156< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a604895d6ae2b01114260172650252fce" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a604895d6ae2b01114260172650252fce" > mpu6050IIC< / a > < / div > < div class = "ttdeci" > bscpp_IIC_STM32 mpu6050IIC(IIC_SCK_GPIO_Port, IIC_SCK_Pin, IIC_SDA_GPIO_Port, IIC_SDA_Pin)< / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a63161fa966899e4e7c5791e40ebf2b0a" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a63161fa966899e4e7c5791e40ebf2b0a" > MPU_Read_Len< / a > < / div > < div class = "ttdeci" > u8 MPU_Read_Len(u8 addr, u8 reg, u8 len, u8 *buf)< / div > < div class = "ttdoc" > IIC连续读< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00168" > mpu6050.cpp:168< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a6c391137bc5880c3b5e15e84c5a3380f" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a6c391137bc5880c3b5e15e84c5a3380f" > MPU_Set_Accel_Fsr< / a > < / div > < div class = "ttdeci" > u8 MPU_Set_Accel_Fsr(u8 fsr)< / div > < div class = "ttdoc" > 设置MPU6050加速度传感器满量程范围< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00067" > mpu6050.cpp:67< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_a8f28105f9dcccc709b78d7d0ce497633" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#a8f28105f9dcccc709b78d7d0ce497633" > MPU_Get_Gyroscope< / a > < / div > < div class = "ttdeci" > u8 MPU_Get_Gyroscope(short *gx, short *gy, short *gz)< / div > < div class = "ttdoc" > 得到陀螺仪值(原始值)< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00121" > mpu6050.cpp:121< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_aa27cc30326ce4980b289a0e1c3f76b5e" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#aa27cc30326ce4980b289a0e1c3f76b5e" > MPU_Set_Gyro_Fsr< / a > < / div > < div class = "ttdeci" > u8 MPU_Set_Gyro_Fsr(u8 fsr)< / div > < div class = "ttdoc" > 设置MPU6050陀螺仪传感器满量程范围< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00055" > mpu6050.cpp:55< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_ab1f8c6111d59b60a2edb4ee3e8aa3113" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#ab1f8c6111d59b60a2edb4ee3e8aa3113" > MPU_Init< / a > < / div > < div class = "ttdeci" > u8 MPU_Init(void)< / div > < div class = "ttdoc" > 初始化MPU6050< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00025" > mpu6050.cpp:25< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8cpp_html_ae7d7fd8356f1a04698bf36a2ff087f7b" > < div class = "ttname" > < a href = "mpu6050_8cpp.html#ae7d7fd8356f1a04698bf36a2ff087f7b" > delay_ms< / a > < / div > < div class = "ttdeci" > #define delay_ms(var)< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8cpp_source.html#l00016" > mpu6050.cpp:16< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html" > < div class = "ttname" > < a href = "mpu6050_8h.html" > mpu6050.h< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a0146ef35d7ff0b037eafb0a5dac53b0f" > < div class = "ttname" > < a href = "mpu6050_8h.html#a0146ef35d7ff0b037eafb0a5dac53b0f" > MPU_USER_CTRL_REG< / a > < / div > < div class = "ttdeci" > #define MPU_USER_CTRL_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00079" > mpu6050.h:79< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a3fa9eb0485744e73d0274b198f0ad705" > < div class = "ttname" > < a href = "mpu6050_8h.html#a3fa9eb0485744e73d0274b198f0ad705" > MPU_PWR_MGMT2_REG< / a > < / div > < div class = "ttdeci" > #define MPU_PWR_MGMT2_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00081" > mpu6050.h:81< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a41676476ba5dbb1b213f8f8e252d17f9" > < div class = "ttname" > < a href = "mpu6050_8h.html#a41676476ba5dbb1b213f8f8e252d17f9" > MPU_INTBP_CFG_REG< / a > < / div > < div class = "ttdeci" > #define MPU_INTBP_CFG_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00050" > mpu6050.h:50< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a4b95cfafadb4b30146a17fac36819ca3" > < div class = "ttname" > < a href = "mpu6050_8h.html#a4b95cfafadb4b30146a17fac36819ca3" > MPU_SAMPLE_RATE_REG< / a > < / div > < div class = "ttdeci" > #define MPU_SAMPLE_RATE_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00024" > mpu6050.h:24< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a5034e2fc680fc68faa369a48f6955837" > < div class = "ttname" > < a href = "mpu6050_8h.html#a5034e2fc680fc68faa369a48f6955837" > MPU_CFG_REG< / a > < / div > < div class = "ttdeci" > #define MPU_CFG_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00025" > mpu6050.h:25< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a571a31cdf2a467b2b1df39fea686ea0d" > < div class = "ttname" > < a href = "mpu6050_8h.html#a571a31cdf2a467b2b1df39fea686ea0d" > MPU_ACCEL_XOUTH_REG< / a > < / div > < div class = "ttdeci" > #define MPU_ACCEL_XOUTH_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00054" > mpu6050.h:54< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a6ac27367cd834a85810e99df72b97621" > < div class = "ttname" > < a href = "mpu6050_8h.html#a6ac27367cd834a85810e99df72b97621" > MPU_FIFO_EN_REG< / a > < / div > < div class = "ttdeci" > #define MPU_FIFO_EN_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00029" > mpu6050.h:29< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a7bc1a37b846a3869f13a29e00072bbc7" > < div class = "ttname" > < a href = "mpu6050_8h.html#a7bc1a37b846a3869f13a29e00072bbc7" > MPU_ACCEL_CFG_REG< / a > < / div > < div class = "ttdeci" > #define MPU_ACCEL_CFG_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00027" > mpu6050.h:27< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a7e16f1a459d902b070ca67df67be862b" > < div class = "ttname" > < a href = "mpu6050_8h.html#a7e16f1a459d902b070ca67df67be862b" > MPU_GYRO_XOUTH_REG< / a > < / div > < div class = "ttdeci" > #define MPU_GYRO_XOUTH_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00064" > mpu6050.h:64< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_a9668e5ccfcfb0aa64da044a381a56f9c" > < div class = "ttname" > < a href = "mpu6050_8h.html#a9668e5ccfcfb0aa64da044a381a56f9c" > MPU_DEVICE_ID_REG< / a > < / div > < div class = "ttdeci" > #define MPU_DEVICE_ID_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00085" > mpu6050.h:85< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_abbe7ea135ee03eb0f1296ecb22be7554" > < div class = "ttname" > < a href = "mpu6050_8h.html#abbe7ea135ee03eb0f1296ecb22be7554" > MPU_PWR_MGMT1_REG< / a > < / div > < div class = "ttdeci" > #define MPU_PWR_MGMT1_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00080" > mpu6050.h:80< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_ac3281ee64415e63422da7d65db161891" > < div class = "ttname" > < a href = "mpu6050_8h.html#ac3281ee64415e63422da7d65db161891" > MPU_ADDR< / a > < / div > < div class = "ttdeci" > #define MPU_ADDR< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00089" > mpu6050.h:89< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_ac8ce2e66126327cf30cfba19c4c38db5" > < div class = "ttname" > < a href = "mpu6050_8h.html#ac8ce2e66126327cf30cfba19c4c38db5" > MPU_GYRO_CFG_REG< / a > < / div > < div class = "ttdeci" > #define MPU_GYRO_CFG_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00026" > mpu6050.h:26< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_af2665b26b7f1ce9b3982a9f6418748e9" > < div class = "ttname" > < a href = "mpu6050_8h.html#af2665b26b7f1ce9b3982a9f6418748e9" > MPU_TEMP_OUTH_REG< / a > < / div > < div class = "ttdeci" > #define MPU_TEMP_OUTH_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00061" > mpu6050.h:61< / a > < / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_afa56d3602a6044562c45cecf6403fb8b" > < div class = "ttname" > < a href = "mpu6050_8h.html#afa56d3602a6044562c45cecf6403fb8b" > MPU_INT_EN_REG< / a > < / div > < div class = "ttdeci" > #define MPU_INT_EN_REG< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "mpu6050_8h_source.html#l00051" > mpu6050.h:51< / a > < / div > < / div >
< div class = "ttc" id = "avarint_8h_html_a92c50087ca0e64fa93fc59402c55f8ca" > < div class = "ttname" > < a href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < / div > < div class = "ttdeci" > uint8_t u8< / div > < div class = "ttdoc" > 8位无符号数类型< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "varint_8h_source.html#l00040" > varint.h:40< / a > < / div > < / div >
< div class = "ttc" id = "avarint_8h_html_ace9d960e74685e2cd84b36132dbbf8aa" > < div class = "ttname" > < a href = "varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa" > u16< / a > < / div > < div class = "ttdeci" > uint16_t u16< / div > < div class = "ttdoc" > 16位无符号数类型< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "varint_8h_source.html#l00041" > varint.h:41< / a > < / div > < / div >
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