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注释与语言的极大更新 使用了Doxygen注释风格, 使用了C++混合编程
2022-11-08 01:47:39 +08:00
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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 &quot;<a class="code" href="bscpp___i_i_c___s_t_m32_8h.html">bscpp_IIC_STM32.h</a>&quot;</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="preprocessor">#include &quot;<a class="code" href="mpu6050_8h.html">mpu6050.h</a>&quot;</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&lt;&lt;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&lt;&lt;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&gt;=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&gt;=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&gt;=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&gt;=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&gt;=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&gt;1000)rate=1000;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordflow">if</span>(rate&lt;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]&lt;&lt;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]&lt;&lt;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]&lt;&lt;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]&lt;&lt;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]&lt;&lt;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]&lt;&lt;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]&lt;&lt;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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