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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.h< / div > < / div >
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< a href = "mpu6050_8h.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 = "l00011" name = "l00011" > < / a > < span class = "lineno" > 11< / span > < span class = "preprocessor" > #pragma once< / span > < / div >
< div class = "line" > < a id = "l00012" name = "l00012" > < / a > < span class = "lineno" > 12< / span > < span class = "preprocessor" > #ifdef __cplusplus< / span > < / div >
< div class = "line" > < a id = "l00013" name = "l00013" > < / a > < span class = "lineno" > 13< / span > < span class = "keyword" > extern< / span > < span class = "stringliteral" > " C" < / span > {< / div >
< div class = "line" > < a id = "l00014" name = "l00014" > < / a > < span class = "lineno" > 14< / span > < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a id = "l00015" name = "l00015" > < / a > < span class = "lineno" > 15< / span > < span class = "preprocessor" > #include " main.h" < / span > < / div >
< div class = "line" > < a id = "l00016" name = "l00016" > < / a > < span class = "lineno" > 16< / span > < span class = "preprocessor" > #include " < a class = "code" href = "varint_8h.html" > varint.h< / a > " < / span > < / div >
< div class = "line" > < a id = "l00017" name = "l00017" > < / a > < span class = "lineno" > 17< / span > < / div >
< div class = "line" > < a id = "l00018" name = "l00018" > < / a > < span class = "lineno" > 18< / span > < span class = "comment" > //#define MPU_ACCEL_OFFS_REG 0X06 //accel_offs寄存器,可读取版本号,寄存器手册未提到< / span > < / div >
< div class = "line" > < a id = "l00019" name = "l00019" > < / a > < span class = "lineno" > 19< / span > < span class = "comment" > //#define MPU_PROD_ID_REG 0X0C //prod id寄存器,在寄存器手册未提到< / span > < / div >
< div class = "line" > < a id = "l00020" name = "l00020" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#af02b592f85ebbfcc6f5e13d8287832de" > 20< / a > < / span > < span class = "preprocessor" > #define MPU_SELF_TESTX_REG 0X0D < / span > < span class = "comment" > //自检寄存器X< / span > < / div >
< div class = "line" > < a id = "l00021" name = "l00021" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a029c571acc0e3a941d14d4af3e3ecd5f" > 21< / a > < / span > < span class = "preprocessor" > #define MPU_SELF_TESTY_REG 0X0E < / span > < span class = "comment" > //自检寄存器Y< / span > < / div >
< div class = "line" > < a id = "l00022" name = "l00022" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#aa7f091c311c419133b4799a37919ce24" > 22< / a > < / span > < span class = "preprocessor" > #define MPU_SELF_TESTZ_REG 0X0F < / span > < span class = "comment" > //自检寄存器Z< / span > < / div >
< div class = "line" > < a id = "l00023" name = "l00023" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a9f2d6b09b992598daadf6a0afa9a8b9c" > 23< / a > < / span > < span class = "preprocessor" > #define MPU_SELF_TESTA_REG 0X10 < / span > < span class = "comment" > //自检寄存器A< / span > < / div >
< div class = "line" > < a id = "l00024" name = "l00024" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a4b95cfafadb4b30146a17fac36819ca3" > 24< / a > < / span > < span class = "preprocessor" > #define MPU_SAMPLE_RATE_REG 0X19 < / span > < span class = "comment" > //采样频率分频器< / span > < / div >
< div class = "line" > < a id = "l00025" name = "l00025" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a5034e2fc680fc68faa369a48f6955837" > 25< / a > < / span > < span class = "preprocessor" > #define MPU_CFG_REG 0X1A < / span > < span class = "comment" > //配置寄存器< / span > < / div >
< div class = "line" > < a id = "l00026" name = "l00026" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#ac8ce2e66126327cf30cfba19c4c38db5" > 26< / a > < / span > < span class = "preprocessor" > #define MPU_GYRO_CFG_REG 0X1B < / span > < span class = "comment" > //陀螺仪配置寄存器< / span > < / div >
< div class = "line" > < a id = "l00027" name = "l00027" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a7bc1a37b846a3869f13a29e00072bbc7" > 27< / a > < / span > < span class = "preprocessor" > #define MPU_ACCEL_CFG_REG 0X1C < / span > < span class = "comment" > //加速度计配置寄存器< / span > < / div >
< div class = "line" > < a id = "l00028" name = "l00028" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#ad214879acffccefd843d291949a2abb6" > 28< / a > < / span > < span class = "preprocessor" > #define MPU_MOTION_DET_REG 0X1F < / span > < span class = "comment" > //运动检测阀值设置寄存器< / span > < / div >
< div class = "line" > < a id = "l00029" name = "l00029" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a6ac27367cd834a85810e99df72b97621" > 29< / a > < / span > < span class = "preprocessor" > #define MPU_FIFO_EN_REG 0X23 < / span > < span class = "comment" > //FIFO使能寄存器< / span > < / div >
< div class = "line" > < a id = "l00030" name = "l00030" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a077d9362ddf1c52a0fca0740164533ca" > 30< / a > < / span > < span class = "preprocessor" > #define MPU_I2CMST_CTRL_REG 0X24 < / span > < span class = "comment" > //IIC主机控制寄存器< / span > < / div >
< div class = "line" > < a id = "l00031" name = "l00031" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a0482943c31faa0c896d63ef5d66755e1" > 31< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV0_ADDR_REG 0X25 < / span > < span class = "comment" > //IIC从机0器件地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00032" name = "l00032" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a53122cbda4565a4a060e5df3bb9a37a7" > 32< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV0_REG 0X26 < / span > < span class = "comment" > //IIC从机0数据地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00033" name = "l00033" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a22b266f1daab1a09f9257cfeb96fbb68" > 33< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV0_CTRL_REG 0X27 < / span > < span class = "comment" > //IIC从机0控制寄存器< / span > < / div >
< div class = "line" > < a id = "l00034" name = "l00034" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a9123fc86edcdc301cbb75f7ebe4b5875" > 34< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV1_ADDR_REG 0X28 < / span > < span class = "comment" > //IIC从机1器件地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00035" name = "l00035" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a7a0758891de15a4b4bf0ef2c4e75efeb" > 35< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV1_REG 0X29 < / span > < span class = "comment" > //IIC从机1数据地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00036" name = "l00036" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a237cf43cb562d63ea2f2d98eeac464bc" > 36< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV1_CTRL_REG 0X2A < / span > < span class = "comment" > //IIC从机1控制寄存器< / span > < / div >
< div class = "line" > < a id = "l00037" name = "l00037" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a5a7b90007c003c428c098d0073fa4f9c" > 37< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV2_ADDR_REG 0X2B < / span > < span class = "comment" > //IIC从机2器件地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00038" name = "l00038" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a1d01e992631966ee1af8795ec14710bc" > 38< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV2_REG 0X2C < / span > < span class = "comment" > //IIC从机2数据地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00039" name = "l00039" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a1c2971fc921e219f0060640349d4a58a" > 39< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV2_CTRL_REG 0X2D < / span > < span class = "comment" > //IIC从机2控制寄存器< / span > < / div >
< div class = "line" > < a id = "l00040" name = "l00040" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a0627354a9a7143a3967bbf1552952e11" > 40< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV3_ADDR_REG 0X2E < / span > < span class = "comment" > //IIC从机3器件地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00041" name = "l00041" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a82236d7861a3a175cff0058d5d5b4716" > 41< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV3_REG 0X2F < / span > < span class = "comment" > //IIC从机3数据地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00042" name = "l00042" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#ac907afde99231069287fa0d78c305549" > 42< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV3_CTRL_REG 0X30 < / span > < span class = "comment" > //IIC从机3控制寄存器< / span > < / div >
< div class = "line" > < a id = "l00043" name = "l00043" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a6fbb07805d44b04e97f4f7d30d7c65bf" > 43< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV4_ADDR_REG 0X31 < / span > < span class = "comment" > //IIC从机4器件地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00044" name = "l00044" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a838f7301336bd077e84a3a4fbe6e16e7" > 44< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV4_REG 0X32 < / span > < span class = "comment" > //IIC从机4数据地址寄存器< / span > < / div >
< div class = "line" > < a id = "l00045" name = "l00045" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a5bf6ae395ef8815c28c23d5343116871" > 45< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV4_DO_REG 0X33 < / span > < span class = "comment" > //IIC从机4写数据寄存器< / span > < / div >
< div class = "line" > < a id = "l00046" name = "l00046" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a144d40f6321e971c85d9987ceaedf539" > 46< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV4_CTRL_REG 0X34 < / span > < span class = "comment" > //IIC从机4控制寄存器< / span > < / div >
< div class = "line" > < a id = "l00047" name = "l00047" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#ab62d9fd87688d16052273b6598d5572f" > 47< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV4_DI_REG 0X35 < / span > < span class = "comment" > //IIC从机4读数据寄存器< / span > < / div >
< div class = "line" > < a id = "l00048" name = "l00048" > < / a > < span class = "lineno" > 48< / span > < / div >
< div class = "line" > < a id = "l00049" name = "l00049" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a818abd42a819632acfee736d8db636f5" > 49< / a > < / span > < span class = "preprocessor" > #define MPU_I2CMST_STA_REG 0X36 < / span > < span class = "comment" > //IIC主机状态寄存器< / span > < / div >
< div class = "line" > < a id = "l00050" name = "l00050" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a41676476ba5dbb1b213f8f8e252d17f9" > 50< / a > < / span > < span class = "preprocessor" > #define MPU_INTBP_CFG_REG 0X37 < / span > < span class = "comment" > //中断/旁路设置寄存器< / span > < / div >
< div class = "line" > < a id = "l00051" name = "l00051" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#afa56d3602a6044562c45cecf6403fb8b" > 51< / a > < / span > < span class = "preprocessor" > #define MPU_INT_EN_REG 0X38 < / span > < span class = "comment" > //中断使能寄存器< / span > < / div >
< div class = "line" > < a id = "l00052" name = "l00052" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a186faa987a57c9d2a3ea6bfaba0bdd46" > 52< / a > < / span > < span class = "preprocessor" > #define MPU_INT_STA_REG 0X3A < / span > < span class = "comment" > //中断状态寄存器< / span > < / div >
< div class = "line" > < a id = "l00053" name = "l00053" > < / a > < span class = "lineno" > 53< / span > < / div >
< div class = "line" > < a id = "l00054" name = "l00054" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a571a31cdf2a467b2b1df39fea686ea0d" > 54< / a > < / span > < span class = "preprocessor" > #define MPU_ACCEL_XOUTH_REG 0X3B < / span > < span class = "comment" > //加速度值,X轴高8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00055" name = "l00055" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#ad7193ffe844d2c844b0c419a50d40173" > 55< / a > < / span > < span class = "preprocessor" > #define MPU_ACCEL_XOUTL_REG 0X3C < / span > < span class = "comment" > //加速度值,X轴低8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00056" name = "l00056" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a42eb93ccf84e25005cd1eca7c43b7516" > 56< / a > < / span > < span class = "preprocessor" > #define MPU_ACCEL_YOUTH_REG 0X3D < / span > < span class = "comment" > //加速度值,Y轴高8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00057" name = "l00057" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#aa1b06e69bcbb83ced2e28a8891ee8558" > 57< / a > < / span > < span class = "preprocessor" > #define MPU_ACCEL_YOUTL_REG 0X3E < / span > < span class = "comment" > //加速度值,Y轴低8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00058" name = "l00058" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#af3a12a4f04a41df24c977c491a4aad5f" > 58< / a > < / span > < span class = "preprocessor" > #define MPU_ACCEL_ZOUTH_REG 0X3F < / span > < span class = "comment" > //加速度值,Z轴高8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00059" name = "l00059" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a82eb10a4b48c58f8bf7bc96a892533b6" > 59< / a > < / span > < span class = "preprocessor" > #define MPU_ACCEL_ZOUTL_REG 0X40 < / span > < span class = "comment" > //加速度值,Z轴低8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00060" name = "l00060" > < / a > < span class = "lineno" > 60< / span > < / div >
< div class = "line" > < a id = "l00061" name = "l00061" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#af2665b26b7f1ce9b3982a9f6418748e9" > 61< / a > < / span > < span class = "preprocessor" > #define MPU_TEMP_OUTH_REG 0X41 < / span > < span class = "comment" > //温度值高八位寄存器< / span > < / div >
< div class = "line" > < a id = "l00062" name = "l00062" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a5f4a1c425564e1e56bfe51576ba3ea82" > 62< / a > < / span > < span class = "preprocessor" > #define MPU_TEMP_OUTL_REG 0X42 < / span > < span class = "comment" > //温度值低8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00063" name = "l00063" > < / a > < span class = "lineno" > 63< / span > < / div >
< div class = "line" > < a id = "l00064" name = "l00064" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a7e16f1a459d902b070ca67df67be862b" > 64< / a > < / span > < span class = "preprocessor" > #define MPU_GYRO_XOUTH_REG 0X43 < / span > < span class = "comment" > //陀螺仪值,X轴高8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00065" name = "l00065" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a0b2e09225774ed67f49666ec1bbea501" > 65< / a > < / span > < span class = "preprocessor" > #define MPU_GYRO_XOUTL_REG 0X44 < / span > < span class = "comment" > //陀螺仪值,X轴低8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00066" name = "l00066" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#af71ca06f446573faed7a73979237e51e" > 66< / a > < / span > < span class = "preprocessor" > #define MPU_GYRO_YOUTH_REG 0X45 < / span > < span class = "comment" > //陀螺仪值,Y轴高8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00067" name = "l00067" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a0007fe50b455737a3076e38f300bce14" > 67< / a > < / span > < span class = "preprocessor" > #define MPU_GYRO_YOUTL_REG 0X46 < / span > < span class = "comment" > //陀螺仪值,Y轴低8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00068" name = "l00068" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#ad5811a104c711b123b648b46bcc6f929" > 68< / a > < / span > < span class = "preprocessor" > #define MPU_GYRO_ZOUTH_REG 0X47 < / span > < span class = "comment" > //陀螺仪值,Z轴高8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00069" name = "l00069" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a289046a426f3c6ef18cb504c5e991652" > 69< / a > < / span > < span class = "preprocessor" > #define MPU_GYRO_ZOUTL_REG 0X48 < / span > < span class = "comment" > //陀螺仪值,Z轴低8位寄存器< / span > < / div >
< div class = "line" > < a id = "l00070" name = "l00070" > < / a > < span class = "lineno" > 70< / span > < / div >
< div class = "line" > < a id = "l00071" name = "l00071" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a93d37f52e6ac87e1ef103339b22770af" > 71< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV0_DO_REG 0X63 < / span > < span class = "comment" > //IIC从机0数据寄存器< / span > < / div >
< div class = "line" > < a id = "l00072" name = "l00072" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#af03578391ec1c0c6b357207c83ce28bb" > 72< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV1_DO_REG 0X64 < / span > < span class = "comment" > //IIC从机1数据寄存器< / span > < / div >
< div class = "line" > < a id = "l00073" name = "l00073" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a14db443ae863599bc0f16fa3733d4056" > 73< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV2_DO_REG 0X65 < / span > < span class = "comment" > //IIC从机2数据寄存器< / span > < / div >
< div class = "line" > < a id = "l00074" name = "l00074" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a4343d92e344dd56343094d46798a5e0e" > 74< / a > < / span > < span class = "preprocessor" > #define MPU_I2CSLV3_DO_REG 0X66 < / span > < span class = "comment" > //IIC从机3数据寄存器< / span > < / div >
< div class = "line" > < a id = "l00075" name = "l00075" > < / a > < span class = "lineno" > 75< / span > < / div >
< div class = "line" > < a id = "l00076" name = "l00076" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#ad7209fcea0ea70f90f6cb43e862f8f5b" > 76< / a > < / span > < span class = "preprocessor" > #define MPU_I2CMST_DELAY_REG 0X67 < / span > < span class = "comment" > //IIC主机延时管理寄存器< / span > < / div >
< div class = "line" > < a id = "l00077" name = "l00077" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a82c9cecb9ee30b37f8b054feca2bc1da" > 77< / a > < / span > < span class = "preprocessor" > #define MPU_SIGPATH_RST_REG 0X68 < / span > < span class = "comment" > //信号通道复位寄存器< / span > < / div >
< div class = "line" > < a id = "l00078" name = "l00078" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a1e60421d39a0a24b0c513f309e1d6910" > 78< / a > < / span > < span class = "preprocessor" > #define MPU_MDETECT_CTRL_REG 0X69 < / span > < span class = "comment" > //运动检测控制寄存器< / span > < / div >
< div class = "line" > < a id = "l00079" name = "l00079" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a0146ef35d7ff0b037eafb0a5dac53b0f" > 79< / a > < / span > < span class = "preprocessor" > #define MPU_USER_CTRL_REG 0X6A < / span > < span class = "comment" > //用户控制寄存器< / span > < / div >
< div class = "line" > < a id = "l00080" name = "l00080" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#abbe7ea135ee03eb0f1296ecb22be7554" > 80< / a > < / span > < span class = "preprocessor" > #define MPU_PWR_MGMT1_REG 0X6B < / span > < span class = "comment" > //电源管理寄存器1< / span > < / div >
< div class = "line" > < a id = "l00081" name = "l00081" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a3fa9eb0485744e73d0274b198f0ad705" > 81< / a > < / span > < span class = "preprocessor" > #define MPU_PWR_MGMT2_REG 0X6C < / span > < span class = "comment" > //电源管理寄存器2 < / span > < / div >
< div class = "line" > < a id = "l00082" name = "l00082" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a9c04be29f6f59066df910560a1eb9ddf" > 82< / a > < / span > < span class = "preprocessor" > #define MPU_FIFO_CNTH_REG 0X72 < / span > < span class = "comment" > //FIFO计数寄存器高八位< / span > < / div >
< div class = "line" > < a id = "l00083" name = "l00083" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a66dc73eec1f79cfefe8ad3d4c2a81c0d" > 83< / a > < / span > < span class = "preprocessor" > #define MPU_FIFO_CNTL_REG 0X73 < / span > < span class = "comment" > //FIFO计数寄存器低八位< / span > < / div >
< div class = "line" > < a id = "l00084" name = "l00084" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#af3acc9068f9c3b6a54c3d65ca91dc52e" > 84< / a > < / span > < span class = "preprocessor" > #define MPU_FIFO_RW_REG 0X74 < / span > < span class = "comment" > //FIFO读写寄存器< / span > < / div >
< div class = "line" > < a id = "l00085" name = "l00085" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a9668e5ccfcfb0aa64da044a381a56f9c" > 85< / a > < / span > < span class = "preprocessor" > #define MPU_DEVICE_ID_REG 0X75 < / span > < span class = "comment" > //器件ID寄存器< / span > < / div >
< div class = "line" > < a id = "l00086" name = "l00086" > < / a > < span class = "lineno" > 86< / span > < / div >
< div class = "line" > < a id = "l00087" name = "l00087" > < / a > < span class = "lineno" > 87< / span > < span class = "comment" > //如果AD0脚(9脚)接地,IIC地址为0X68(不包含最低位).< / span > < / div >
< div class = "line" > < a id = "l00088" name = "l00088" > < / a > < span class = "lineno" > 88< / span > < span class = "comment" > //如果接V3.3,则IIC地址为0X69(不包含最低位).< / span > < / div >
< div class = "line" > < a id = "l00089" name = "l00089" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#ac3281ee64415e63422da7d65db161891" > 89< / a > < / span > < span class = "preprocessor" > #define MPU_ADDR 0X68< / span > < / div >
< div class = "line" > < a id = "l00090" name = "l00090" > < / a > < span class = "lineno" > 90< / span > < / div >
< div class = "line" > < a id = "l00091" name = "l00091" > < / a > < span class = "lineno" > 91< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.html#ab1f8c6111d59b60a2edb4ee3e8aa3113" > MPU_Init< / a > (< span class = "keywordtype" > void< / span > ); < span class = "comment" > //初始化MPU6050< / span > < / div >
< div class = "line" > < a id = "l00092" name = "l00092" > < / a > < span class = "lineno" > 92< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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);< span class = "comment" > //IIC连续写< / span > < / 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 > < a class = "code hl_function" href = "mpu6050_8h.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); < span class = "comment" > //IIC连续读 < / span > < / div >
< div class = "line" > < a id = "l00094" name = "l00094" > < / a > < span class = "lineno" > 94< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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); < span class = "comment" > //IIC写一个字节< / span > < / div >
< div class = "line" > < a id = "l00095" name = "l00095" > < / a > < span class = "lineno" > 95< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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 > ); < span class = "comment" > //IIC读一个字节< / span > < / div >
< div class = "line" > < a id = "l00096" name = "l00096" > < / a > < span class = "lineno" > 96< / span > < / div >
< div class = "line" > < a id = "l00097" name = "l00097" > < / a > < span class = "lineno" > 97< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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 = "l00098" name = "l00098" > < / a > < span class = "lineno" > 98< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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 = "l00099" name = "l00099" > < / a > < span class = "lineno" > 99< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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 = "l00100" name = "l00100" > < / a > < span class = "lineno" > 100< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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 = "l00101" name = "l00101" > < / a > < span class = "lineno" > < a class = "line" href = "mpu6050_8h.html#a91e0ee4610726fcf9f45570245269a0e" > 101< / a > < / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.html#a91e0ee4610726fcf9f45570245269a0e" > MPU_Set_Fifo< / a > (< a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > sens);< / div >
< div class = "line" > < a id = "l00102" name = "l00102" > < / a > < span class = "lineno" > 102< / span > < / div >
< div class = "line" > < a id = "l00103" name = "l00103" > < / a > < span class = "lineno" > 103< / span > < span class = "keywordtype" > short< / span > < a class = "code hl_function" href = "mpu6050_8h.html#a41eaf87c26b1281d9d5fc6a06abcf2a8" > MPU_Get_Temperature< / a > (< span class = "keywordtype" > void< / span > );< / div >
< div class = "line" > < a id = "l00104" name = "l00104" > < / a > < span class = "lineno" > 104< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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 = "l00105" name = "l00105" > < / a > < span class = "lineno" > 105< / span > < a class = "code hl_typedef" href = "varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca" > u8< / a > < a class = "code hl_function" href = "mpu6050_8h.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 = "l00106" name = "l00106" > < / a > < span class = "lineno" > 106< / span > < / div >
< div class = "line" > < a id = "l00107" name = "l00107" > < / a > < span class = "lineno" > 107< / span > < span class = "preprocessor" > #ifdef __cplusplus< / span > < / div >
< div class = "line" > < a id = "l00108" name = "l00108" > < / a > < span class = "lineno" > 108< / span > }< / div >
< div class = "line" > < a id = "l00109" name = "l00109" > < / a > < span class = "lineno" > 109< / span > < span class = "preprocessor" > #endif< / span > < / 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_8h_html_a04e58232ce838e94d54aa2b53287cb41" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a0be9b422bb8613f8444db4af5234e1a1" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a17c11d19a2bb21d61610f08cb2cbe2f7" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a2a0a02f6d7c597828a0cc282c76e99e3" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a2fb9973c9f5ea5327649d0eef5e96217" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a41eaf87c26b1281d9d5fc6a06abcf2a8" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a59b1c26b234be88e97435a1b3c061330" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a63161fa966899e4e7c5791e40ebf2b0a" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a6c391137bc5880c3b5e15e84c5a3380f" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a8f28105f9dcccc709b78d7d0ce497633" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_a91e0ee4610726fcf9f45570245269a0e" > < div class = "ttname" > < a href = "mpu6050_8h.html#a91e0ee4610726fcf9f45570245269a0e" > MPU_Set_Fifo< / a > < / div > < div class = "ttdeci" > u8 MPU_Set_Fifo(u8 sens)< / div > < / div >
< div class = "ttc" id = "ampu6050_8h_html_aa27cc30326ce4980b289a0e1c3f76b5e" > < div class = "ttname" > < a href = "mpu6050_8h.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_8h_html_ab1f8c6111d59b60a2edb4ee3e8aa3113" > < div class = "ttname" > < a href = "mpu6050_8h.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 = "avarint_8h_html" > < div class = "ttname" > < a href = "varint_8h.html" > varint.h< / 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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