D:/gitt/MicrochipFor32/bsp_MPU6050/inv_mpu.c An I2C-based driver for Invensense gyroscopes. #include <stdio.h>#include <stdlib.h>#include <string.h>#include <math.h>#include "inv_mpu.h"#include "inv_mpu_dmp_motion_driver.h"#include "mpu6050.h"#include "usart.h"#include "varint.h"inv_mpu.c 的引用(Include)关系图: struct gyro_reg_s struct hw_s struct motion_int_cache_s struct chip_cfg_s struct test_s struct gyro_state_s #define MPU6050 #define MOTION_DRIVER_TARGET_MSP430 #define i2c_write   MPU_Write_Len #define i2c_read   MPU_Read_Len #define delay_ms   HAL_Delay #define get_ms   mget_ms #define log_i   log_none #define log_e   log_none #define fabs   fabsf #define min(a, b)   ((a<b)?a:b) #define BIT_I2C_MST_VDDIO   (0x80) #define BIT_FIFO_EN   (0x40) #define BIT_DMP_EN   (0x80) #define BIT_FIFO_RST   (0x04) #define BIT_DMP_RST   (0x08) #define BIT_FIFO_OVERFLOW   (0x10) #define BIT_DATA_RDY_EN   (0x01) #define BIT_DMP_INT_EN   (0x02) #define BIT_MOT_INT_EN   (0x40) #define BITS_FSR   (0x18) #define BITS_LPF   (0x07) #define BITS_HPF   (0x07) #define BITS_CLK   (0x07) #define BIT_FIFO_SIZE_1024   (0x40) #define BIT_FIFO_SIZE_2048   (0x80) #define BIT_FIFO_SIZE_4096   (0xC0) #define BIT_RESET   (0x80) #define BIT_SLEEP   (0x40) #define BIT_S0_DELAY_EN   (0x01) #define BIT_S2_DELAY_EN   (0x04) #define BITS_SLAVE_LENGTH   (0x0F) #define BIT_SLAVE_BYTE_SW   (0x40) #define BIT_SLAVE_GROUP   (0x10) #define BIT_SLAVE_EN   (0x80) #define BIT_I2C_READ   (0x80) #define BITS_I2C_MASTER_DLY   (0x1F) #define BIT_AUX_IF_EN   (0x20) #define BIT_ACTL   (0x80) #define BIT_LATCH_EN   (0x20) #define BIT_ANY_RD_CLR   (0x10) #define BIT_BYPASS_EN   (0x02) #define BITS_WOM_EN   (0xC0) #define BIT_LPA_CYCLE   (0x20) #define BIT_STBY_XA   (0x20) #define BIT_STBY_YA   (0x10) #define BIT_STBY_ZA   (0x08) #define BIT_STBY_XG   (0x04) #define BIT_STBY_YG   (0x02) #define BIT_STBY_ZG   (0x01) #define BIT_STBY_XYZA   (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA) #define BIT_STBY_XYZG   (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG) #define MAX_PACKET_LENGTH   (12) #define LOAD_CHUNK   (16) #define q30   1073741824.0f enum lpf_e { INV_FILTER_256HZ_NOLPF2 = 0 , INV_FILTER_188HZ , INV_FILTER_98HZ , INV_FILTER_42HZ , INV_FILTER_20HZ , INV_FILTER_10HZ , INV_FILTER_5HZ , INV_FILTER_2100HZ_NOLPF , NUM_FILTER } enum gyro_fsr_e { INV_FSR_250DPS = 0 , INV_FSR_500DPS , INV_FSR_1000DPS , INV_FSR_2000DPS , NUM_GYRO_FSR } enum accel_fsr_e { INV_FSR_2G = 0 , INV_FSR_4G , INV_FSR_8G , INV_FSR_16G , NUM_ACCEL_FSR } enum clock_sel_e { INV_CLK_INTERNAL = 0 , INV_CLK_PLL , NUM_CLK } enum lp_accel_rate_e { INV_LPA_1_25HZ , INV_LPA_5HZ , INV_LPA_20HZ , INV_LPA_40HZ } void log_none (char *fmt,...) static int set_int_enable (unsigned char enable) Enable/disable data ready interrupt. If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready interrupt is used. int mpu_reg_dump (void) Register dump for testing. int mpu_read_reg (unsigned char reg, unsigned char *data) Read from a single register. NOTE: The memory and FIFO read/write registers cannot be accessed. int mpu_init (void) Initialize hardware. Initial configuration:Gyro FSR: +/- 2000DPSAccel FSR +/- 2GDLPF: 42HzFIFO rate: 50HzClock source: Gyro PLLFIFO: Disabled.Data ready interrupt: Disabled, active low, unlatched. int mpu_lp_accel_mode (unsigned char rate) Enter low-power accel-only mode. In low-power accel mode, the chip goes to sleep and only wakes up to sample the accelerometer at one of the following frequencies: MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz If the requested rate is not one listed above, the device will be set to the next highest rate. Requesting a rate above the maximum supported frequency will result in an error. To select a fractional wake-up frequency, round down the value passed to rate. int mpu_get_gyro_reg (short *data, unsigned long *timestamp) Read raw gyro data directly from the registers. int mpu_get_accel_reg (short *data, unsigned long *timestamp) Read raw accel data directly from the registers. int mpu_get_temperature (long *data, unsigned long *timestamp) Read temperature data directly from the registers. int mpu_set_accel_bias (const long *accel_bias) Push biases to the accel bias registers. This function expects biases relative to the current sensor output, and these biases will be added to the factory-supplied values. int mpu_reset_fifo (void) Reset FIFO read/write pointers. int mpu_get_gyro_fsr (unsigned short *fsr) Get the gyro full-scale range. int mpu_set_gyro_fsr (unsigned short fsr) Set the gyro full-scale range. int mpu_get_accel_fsr (unsigned char *fsr) Get the accel full-scale range. int mpu_set_accel_fsr (unsigned char fsr) Set the accel full-scale range. int mpu_get_lpf (unsigned short *lpf) Get the current DLPF setting. int mpu_set_lpf (unsigned short lpf) Set digital low pass filter. The following LPF settings are supported: 188, 98, 42, 20, 10, 5. int mpu_get_sample_rate (unsigned short *rate) Get sampling rate. int mpu_set_sample_rate (unsigned short rate) Set sampling rate. Sampling rate must be between 4Hz and 1kHz. int mpu_get_compass_sample_rate (unsigned short *rate) Get compass sampling rate. int mpu_set_compass_sample_rate (unsigned short rate) Set compass sampling rate. The compass on the auxiliary I2C bus is read by the MPU hardware at a maximum of 100Hz. The actual rate can be set to a fraction of the gyro sampling rate. int mpu_get_gyro_sens (float *sens) Get gyro sensitivity scale factor. int mpu_get_accel_sens (unsigned short *sens) Get accel sensitivity scale factor. int mpu_get_fifo_config (unsigned char *sensors) Get current FIFO configuration. sensors can contain a combination of the following flags: INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO INV_XYZ_GYRO INV_XYZ_ACCEL int mpu_configure_fifo (unsigned char sensors) Select which sensors are pushed to FIFO. sensors can contain a combination of the following flags: INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO INV_XYZ_GYRO INV_XYZ_ACCEL int mpu_get_power_state (unsigned char *power_on) Get current power state. int mpu_set_sensors (unsigned char sensors) Turn specific sensors on/off. sensors can contain a combination of the following flags: INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO INV_XYZ_GYRO INV_XYZ_ACCEL INV_XYZ_COMPASS int mpu_get_int_status (short *status) Read the MPU interrupt status registers. int mpu_read_fifo (short *gyro, short *accel, unsigned long *timestamp, unsigned char *sensors, unsigned char *more) Get one packet from the FIFO. If sensors does not contain a particular sensor, disregard the data returned to that pointer. sensors can contain a combination of the following flags: INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO INV_XYZ_GYRO INV_XYZ_ACCEL If the FIFO has no new data, sensors will be zero. If the FIFO is disabled, sensors will be zero and this function will return a non-zero error code. int mpu_read_fifo_stream (unsigned short length, unsigned char *data, unsigned char *more) Get one unparsed packet from the FIFO. This function should be used if the packet is to be parsed elsewhere. int mpu_set_bypass (unsigned char bypass_on) Set device to bypass mode. int mpu_set_int_level (unsigned char active_low) Set interrupt level. int mpu_set_int_latched (unsigned char enable) Enable latched interrupts. Any MPU register will clear the interrupt. static int get_accel_prod_shift (float *st_shift) static int accel_self_test (long *bias_regular, long *bias_st) static int gyro_self_test (long *bias_regular, long *bias_st) static int get_st_biases (long *gyro, long *accel, unsigned char hw_test) int mpu_run_self_test (long *gyro, long *accel) Trigger gyro/accel/compass self-test. On success/error, the self-test returns a mask representing the sensor(s) that failed. For each bit, a one (1) represents a "pass" case; conversely, a zero (0) indicates a failure. int mpu_write_mem (unsigned short mem_addr, unsigned short length, unsigned char *data) Write to the DMP memory. This function prevents I2C writes past the bank boundaries. The DMP memory is only accessible when the chip is awake. int mpu_read_mem (unsigned short mem_addr, unsigned short length, unsigned char *data) Read from the DMP memory. This function prevents I2C reads past the bank boundaries. The DMP memory is only accessible when the chip is awake. int mpu_load_firmware (unsigned short length, const unsigned char *firmware, unsigned short start_addr, unsigned short sample_rate) Load and verify DMP image. int mpu_set_dmp_state (unsigned char enable) Enable/disable DMP support. int mpu_get_dmp_state (unsigned char *enabled) Get DMP state. int setup_compass (void) int mpu_get_compass_reg (short *data, unsigned long *timestamp) Read raw compass data. int mpu_get_compass_fsr (unsigned short *fsr) Get the compass full-scale range. int mpu_lp_motion_interrupt (unsigned short thresh, unsigned char time, unsigned char lpa_freq) Enters LP accel motion interrupt mode. The behavior of this feature is very different between the MPU6050 and the MPU6500. Each chip's version of this feature is explained below. u8 run_self_test (void) unsigned short inv_orientation_matrix_to_scalar (const signed char *mtx) unsigned short inv_row_2_scale (const signed char *row) void mget_ms (unsigned long *time) u8 mpu_dmp_init (void) u8 mpu_dmp_get_data (float *pitch, float *roll, float *yaw) const struct gyro_reg_s reg const struct hw_s hw const struct test_s test static struct gyro_state_s st static signed char gyro_orientation [9]

An I2C-based driver for Invensense gyroscopes. This driver currently works for the following devices: MPU6050 MPU6500 MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) 在文件 inv_mpu.c 中定义.

LOAD_CHUNKinv_mpu.c inv_mpu.cLOAD_CHUNK #define LOAD_CHUNK   (16)