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MicrochipFor32/bsp_MPU6050/mpu6050.h

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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
/**
* @file mpu6050
* @brief ʵ<EFBFBD><EFBFBD>mpu6050<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @mainpage <EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD>Ϣ
* @author Yuankang Liang(XerolySkinner)
* @email zabbcccbbaz@163.com
* @version V1.0.0
* @date 2022-11-08 01:09
*/
#pragma once
#ifdef __cplusplus
extern "C"{
#endif
#include "main.h"
#include "varint.h"
//#define MPU_ACCEL_OFFS_REG 0X06 //accel_offs<66>Ĵ<EFBFBD><C4B4><EFBFBD>,<2C>ɶ<EFBFBD>ȡ<EFBFBD>汾<EFBFBD><E6B1BE>,<2C>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>ֲ<EFBFBD>δ<EFBFBD>ᵽ
//#define MPU_PROD_ID_REG 0X0C //prod id<69>Ĵ<EFBFBD><C4B4><EFBFBD>,<2C>ڼĴ<DABC><C4B4><EFBFBD><EFBFBD>ֲ<EFBFBD>δ<EFBFBD>ᵽ
#define MPU_SELF_TESTX_REG 0X0D //<2F>Լ<EFBFBD><D4BC>Ĵ<EFBFBD><C4B4><EFBFBD>X
#define MPU_SELF_TESTY_REG 0X0E //<2F>Լ<EFBFBD><D4BC>Ĵ<EFBFBD><C4B4><EFBFBD>Y
#define MPU_SELF_TESTZ_REG 0X0F //<2F>Լ<EFBFBD><D4BC>Ĵ<EFBFBD><C4B4><EFBFBD>Z
#define MPU_SELF_TESTA_REG 0X10 //<2F>Լ<EFBFBD><D4BC>Ĵ<EFBFBD><C4B4><EFBFBD>A
#define MPU_SAMPLE_RATE_REG 0X19 //<2F><><EFBFBD><EFBFBD>Ƶ<EFBFBD>ʷ<EFBFBD>Ƶ<EFBFBD><C6B5>
#define MPU_CFG_REG 0X1A //<2F><><EFBFBD>üĴ<C3BC><C4B4><EFBFBD>
#define MPU_GYRO_CFG_REG 0X1B //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>üĴ<C3BC><C4B4><EFBFBD>
#define MPU_ACCEL_CFG_REG 0X1C //<2F><><EFBFBD>ٶȼ<D9B6><C8BC><EFBFBD><EFBFBD>üĴ<C3BC><C4B4><EFBFBD>
#define MPU_MOTION_DET_REG 0X1F //<2F>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ֵⷧ<E2B7A7><D6B5><EFBFBD>üĴ<C3BC><C4B4><EFBFBD>
#define MPU_FIFO_EN_REG 0X23 //FIFOʹ<4F>ܼĴ<DCBC><C4B4><EFBFBD>
#define MPU_I2CMST_CTRL_REG 0X24 //IIC<49><43><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD>
#define MPU_I2CSLV0_ADDR_REG 0X25 //IIC<49>ӻ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV0_REG 0X26 //IIC<49>ӻ<EFBFBD>0<EFBFBD><30><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV0_CTRL_REG 0X27 //IIC<49>ӻ<EFBFBD>0<EFBFBD><30><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD>
#define MPU_I2CSLV1_ADDR_REG 0X28 //IIC<49>ӻ<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV1_REG 0X29 //IIC<49>ӻ<EFBFBD>1<EFBFBD><31><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV1_CTRL_REG 0X2A //IIC<49>ӻ<EFBFBD>1<EFBFBD><31><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD>
#define MPU_I2CSLV2_ADDR_REG 0X2B //IIC<49>ӻ<EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV2_REG 0X2C //IIC<49>ӻ<EFBFBD>2<EFBFBD><32><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV2_CTRL_REG 0X2D //IIC<49>ӻ<EFBFBD>2<EFBFBD><32><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD>
#define MPU_I2CSLV3_ADDR_REG 0X2E //IIC<49>ӻ<EFBFBD>3<EFBFBD><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV3_REG 0X2F //IIC<49>ӻ<EFBFBD>3<EFBFBD><33><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV3_CTRL_REG 0X30 //IIC<49>ӻ<EFBFBD>3<EFBFBD><33><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD>
#define MPU_I2CSLV4_ADDR_REG 0X31 //IIC<49>ӻ<EFBFBD>4<EFBFBD><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV4_REG 0X32 //IIC<49>ӻ<EFBFBD>4<EFBFBD><34><EFBFBD>ݵ<EFBFBD>ַ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV4_DO_REG 0X33 //IIC<49>ӻ<EFBFBD>4д<34><D0B4><EFBFBD>ݼĴ<DDBC><C4B4><EFBFBD>
#define MPU_I2CSLV4_CTRL_REG 0X34 //IIC<49>ӻ<EFBFBD>4<EFBFBD><34><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD>
#define MPU_I2CSLV4_DI_REG 0X35 //IIC<49>ӻ<EFBFBD>4<EFBFBD><34><EFBFBD><EFBFBD><EFBFBD>ݼĴ<DDBC><C4B4><EFBFBD>
#define MPU_I2CMST_STA_REG 0X36 //IIC<49><43><EFBFBD><EFBFBD>״̬<D7B4>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_INTBP_CFG_REG 0X37 //<2F>ж<EFBFBD>/<2F><>·<EFBFBD><C2B7><EFBFBD>üĴ<C3BC><C4B4><EFBFBD>
#define MPU_INT_EN_REG 0X38 //<2F>ж<EFBFBD>ʹ<EFBFBD>ܼĴ<DCBC><C4B4><EFBFBD>
#define MPU_INT_STA_REG 0X3A //<2F>ж<EFBFBD>״̬<D7B4>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_ACCEL_XOUTH_REG 0X3B //<2F><><EFBFBD>ٶ<EFBFBD>ֵ,X<><58><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_ACCEL_XOUTL_REG 0X3C //<2F><><EFBFBD>ٶ<EFBFBD>ֵ,X<><58><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_ACCEL_YOUTH_REG 0X3D //<2F><><EFBFBD>ٶ<EFBFBD>ֵ,Y<><59><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_ACCEL_YOUTL_REG 0X3E //<2F><><EFBFBD>ٶ<EFBFBD>ֵ,Y<><59><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_ACCEL_ZOUTH_REG 0X3F //<2F><><EFBFBD>ٶ<EFBFBD>ֵ,Z<><5A><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_ACCEL_ZOUTL_REG 0X40 //<2F><><EFBFBD>ٶ<EFBFBD>ֵ,Z<><5A><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_TEMP_OUTH_REG 0X41 //<2F><EFBFBD>ֵ<EFBFBD>߰<EFBFBD>λ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_TEMP_OUTL_REG 0X42 //<2F><EFBFBD>ֵ<EFBFBD><D6B5>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_GYRO_XOUTH_REG 0X43 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,X<><58><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_GYRO_XOUTL_REG 0X44 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,X<><58><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_GYRO_YOUTH_REG 0X45 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,Y<><59><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_GYRO_YOUTL_REG 0X46 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,Y<><59><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_GYRO_ZOUTH_REG 0X47 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,Z<><5A><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_GYRO_ZOUTL_REG 0X48 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ,Z<><5A><EFBFBD><EFBFBD>8λ<38>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_I2CSLV0_DO_REG 0X63 //IIC<49>ӻ<EFBFBD>0<EFBFBD><30><EFBFBD>ݼĴ<DDBC><C4B4><EFBFBD>
#define MPU_I2CSLV1_DO_REG 0X64 //IIC<49>ӻ<EFBFBD>1<EFBFBD><31><EFBFBD>ݼĴ<DDBC><C4B4><EFBFBD>
#define MPU_I2CSLV2_DO_REG 0X65 //IIC<49>ӻ<EFBFBD>2<EFBFBD><32><EFBFBD>ݼĴ<DDBC><C4B4><EFBFBD>
#define MPU_I2CSLV3_DO_REG 0X66 //IIC<49>ӻ<EFBFBD>3<EFBFBD><33><EFBFBD>ݼĴ<DDBC><C4B4><EFBFBD>
#define MPU_I2CMST_DELAY_REG 0X67 //IIC<49><43><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_SIGPATH_RST_REG 0X68 //<2F>ź<EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD>λ<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_MDETECT_CTRL_REG 0X69 //<2F>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD>
#define MPU_USER_CTRL_REG 0X6A //<2F>û<EFBFBD><C3BB><EFBFBD><EFBFBD>ƼĴ<C6BC><C4B4><EFBFBD>
#define MPU_PWR_MGMT1_REG 0X6B //<2F><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>1
#define MPU_PWR_MGMT2_REG 0X6C //<2F><>Դ<EFBFBD><D4B4><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>2
#define MPU_FIFO_CNTH_REG 0X72 //FIFO<46><4F><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>߰<EFBFBD>λ
#define MPU_FIFO_CNTL_REG 0X73 //FIFO<46><4F><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD><EFBFBD>Ͱ<EFBFBD>λ
#define MPU_FIFO_RW_REG 0X74 //FIFO<46><4F>д<EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
#define MPU_DEVICE_ID_REG 0X75 //<2F><><EFBFBD><EFBFBD>ID<49>Ĵ<EFBFBD><C4B4><EFBFBD>
//<2F><><EFBFBD><EFBFBD>AD0<44><30>(9<><39>)<29>ӵ<EFBFBD>,IIC<49><43>ַΪ0X68(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ).
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>V3.3,<2C><>IIC<49><43>ַΪ0X69(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ).
#define MPU_ADDR 0X68
u8 MPU_Init(void); //<2F><>ʼ<EFBFBD><CABC>MPU6050
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf);//IIC<49><43><EFBFBD><EFBFBD>д
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf); //IIC<49><43><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
u8 MPU_Write_Byte(u8 reg,u8 data); //IICдһ<D0B4><D2BB><EFBFBD>ֽ<EFBFBD>
u8 MPU_Read_Byte(u8 reg); //IIC<49><43>һ<EFBFBD><D2BB><EFBFBD>ֽ<EFBFBD>
u8 MPU_Set_Gyro_Fsr(u8 fsr);
u8 MPU_Set_Accel_Fsr(u8 fsr);
u8 MPU_Set_LPF(u16 lpf);
u8 MPU_Set_Rate(u16 rate);
u8 MPU_Set_Fifo(u8 sens);
short MPU_Get_Temperature(void);
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz);
u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az);
#ifdef __cplusplus
}
#endif
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