\hypertarget{mpu6050_8cpp}{}\doxysection{D\+:/gitt/\+Microchip\+For32/bscpp\+\_\+\+Device/bscpp\+\_\+\+MPU6050/mpu6050.cpp 文件参考} \label{mpu6050_8cpp}\index{D:/gitt/MicrochipFor32/bscpp\_Device/bscpp\_MPU6050/mpu6050.cpp@{D:/gitt/MicrochipFor32/bscpp\_Device/bscpp\_MPU6050/mpu6050.cpp}} {\ttfamily \#include \char`\"{}bscpp\+\_\+\+IIC\+\_\+\+STM32.\+h\char`\"{}}\newline {\ttfamily \#include \char`\"{}mpu6050.\+h\char`\"{}}\newline mpu6050.\+cpp 的引用(Include)关系图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp__incl} \end{center} \end{figure} \doxysubsection*{宏定义} \begin{DoxyCompactItemize} \item \#define \mbox{\hyperlink{mpu6050_8cpp_ae7d7fd8356f1a04698bf36a2ff087f7b}{delay\+\_\+ms}}(var)~HAL\+\_\+\+Delay(var) \end{DoxyCompactItemize} \doxysubsection*{函数} \begin{DoxyCompactItemize} \item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_ab1f8c6111d59b60a2edb4ee3e8aa3113}{MPU\+\_\+\+Init}} (void) \begin{DoxyCompactList}\small\item\em 初始化\+MPU6050 \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e}{MPU\+\_\+\+Set\+\_\+\+Gyro\+\_\+\+Fsr}} (\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} fsr) \begin{DoxyCompactList}\small\item\em 设置\+MPU6050陀螺仪传感器满量程范围 \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f}{MPU\+\_\+\+Set\+\_\+\+Accel\+\_\+\+Fsr}} (\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} fsr) \begin{DoxyCompactList}\small\item\em 设置\+MPU6050加速度传感器满量程范围 \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217}{MPU\+\_\+\+Set\+\_\+\+LPF}} (\mbox{\hyperlink{varint_8h_ace9d960e74685e2cd84b36132dbbf8aa}{u16}} lpf) \begin{DoxyCompactList}\small\item\em 设置\+MPU6050的数字低通滤波器 \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a04e58232ce838e94d54aa2b53287cb41}{MPU\+\_\+\+Set\+\_\+\+Rate}} (\mbox{\hyperlink{varint_8h_ace9d960e74685e2cd84b36132dbbf8aa}{u16}} rate) \begin{DoxyCompactList}\small\item\em 设置\+MPU6050的采样率(假定\+Fs=1KHz) \end{DoxyCompactList}\item short \mbox{\hyperlink{mpu6050_8cpp_a41eaf87c26b1281d9d5fc6a06abcf2a8}{MPU\+\_\+\+Get\+\_\+\+Temperature}} (void) \begin{DoxyCompactList}\small\item\em 得到温度值 \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a8f28105f9dcccc709b78d7d0ce497633}{MPU\+\_\+\+Get\+\_\+\+Gyroscope}} (short $\ast$gx, short $\ast$gy, short $\ast$gz) \begin{DoxyCompactList}\small\item\em 得到陀螺仪值(原始值) \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a2a0a02f6d7c597828a0cc282c76e99e3}{MPU\+\_\+\+Get\+\_\+\+Accelerometer}} (short $\ast$ax, short $\ast$ay, short $\ast$az) \begin{DoxyCompactList}\small\item\em 得到加速度值(原始值) \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a59b1c26b234be88e97435a1b3c061330}{MPU\+\_\+\+Write\+\_\+\+Len}} (\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} addr, \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5448c351fc95ff052b110eee80e5f75c}{reg}}, \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} len, \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} $\ast$buf) \begin{DoxyCompactList}\small\item\em IIC连续写 \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a}{MPU\+\_\+\+Read\+\_\+\+Len}} (\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} addr, \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5448c351fc95ff052b110eee80e5f75c}{reg}}, \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} len, \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} $\ast$buf) \begin{DoxyCompactList}\small\item\em IIC连续读 \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1}{MPU\+\_\+\+Write\+\_\+\+Byte}} (\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5448c351fc95ff052b110eee80e5f75c}{reg}}, \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} data) \begin{DoxyCompactList}\small\item\em IIC写一个字节 \end{DoxyCompactList}\item \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{mpu6050_8cpp_a17c11d19a2bb21d61610f08cb2cbe2f7}{MPU\+\_\+\+Read\+\_\+\+Byte}} (\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} \mbox{\hyperlink{group___d_r_i_v_e_r_s_ga5448c351fc95ff052b110eee80e5f75c}{reg}}) \begin{DoxyCompactList}\small\item\em IIC读一个字节 \end{DoxyCompactList}\end{DoxyCompactItemize} \doxysubsection*{变量} \begin{DoxyCompactItemize} \item \mbox{\hyperlink{classbscpp___i_i_c___s_t_m32}{bscpp\+\_\+\+IIC\+\_\+\+STM32}} \mbox{\hyperlink{mpu6050_8cpp_a604895d6ae2b01114260172650252fce}{mpu6050\+IIC}} (IIC\+\_\+\+SCK\+\_\+\+GPIO\+\_\+\+Port, IIC\+\_\+\+SCK\+\_\+\+Pin, IIC\+\_\+\+SDA\+\_\+\+GPIO\+\_\+\+Port, IIC\+\_\+\+SDA\+\_\+\+Pin) \end{DoxyCompactItemize} \doxysubsection{宏定义说明} \mbox{\Hypertarget{mpu6050_8cpp_ae7d7fd8356f1a04698bf36a2ff087f7b}\label{mpu6050_8cpp_ae7d7fd8356f1a04698bf36a2ff087f7b}} \index{mpu6050.cpp@{mpu6050.cpp}!delay\_ms@{delay\_ms}} \index{delay\_ms@{delay\_ms}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{delay\_ms}{delay\_ms}} {\footnotesize\ttfamily \#define delay\+\_\+ms(\begin{DoxyParamCaption}\item[{}]{var }\end{DoxyParamCaption})~HAL\+\_\+\+Delay(var)} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00016}{16}} 行定义. \doxysubsection{函数说明} \mbox{\Hypertarget{mpu6050_8cpp_a2a0a02f6d7c597828a0cc282c76e99e3}\label{mpu6050_8cpp_a2a0a02f6d7c597828a0cc282c76e99e3}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Get\_Accelerometer@{MPU\_Get\_Accelerometer}} \index{MPU\_Get\_Accelerometer@{MPU\_Get\_Accelerometer}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Get\_Accelerometer()}{MPU\_Get\_Accelerometer()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Get\+\_\+\+Accelerometer (\begin{DoxyParamCaption}\item[{short $\ast$}]{ax, }\item[{short $\ast$}]{ay, }\item[{short $\ast$}]{az }\end{DoxyParamCaption})} 得到加速度值(原始值) \begin{DoxyParams}{参数} {\em ax} & 陀螺仪a轴的原始读数(带符号) \\ \hline {\em ay} & 陀螺仪a轴的原始读数(带符号) \\ \hline {\em ax} & 陀螺仪a轴的原始读数(带符号) \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00137}{137}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a2a0a02f6d7c597828a0cc282c76e99e3_cgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a8f28105f9dcccc709b78d7d0ce497633}\label{mpu6050_8cpp_a8f28105f9dcccc709b78d7d0ce497633}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Get\_Gyroscope@{MPU\_Get\_Gyroscope}} \index{MPU\_Get\_Gyroscope@{MPU\_Get\_Gyroscope}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Get\_Gyroscope()}{MPU\_Get\_Gyroscope()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Get\+\_\+\+Gyroscope (\begin{DoxyParamCaption}\item[{short $\ast$}]{gx, }\item[{short $\ast$}]{gy, }\item[{short $\ast$}]{gz }\end{DoxyParamCaption})} 得到陀螺仪值(原始值) \begin{DoxyParams}{参数} {\em gx} & 陀螺仪x轴的原始读数(带符号) \\ \hline {\em gy} & 陀螺仪y轴的原始读数(带符号) \\ \hline {\em gx} & 陀螺仪z轴的原始读数(带符号) \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00121}{121}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a8f28105f9dcccc709b78d7d0ce497633_cgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a41eaf87c26b1281d9d5fc6a06abcf2a8}\label{mpu6050_8cpp_a41eaf87c26b1281d9d5fc6a06abcf2a8}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Get\_Temperature@{MPU\_Get\_Temperature}} \index{MPU\_Get\_Temperature@{MPU\_Get\_Temperature}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Get\_Temperature()}{MPU\_Get\_Temperature()}} {\footnotesize\ttfamily short MPU\+\_\+\+Get\+\_\+\+Temperature (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})} 得到温度值 \begin{DoxyReturn}{返回} 温度值(扩大了100倍) \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00105}{105}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a41eaf87c26b1281d9d5fc6a06abcf2a8_cgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_ab1f8c6111d59b60a2edb4ee3e8aa3113}\label{mpu6050_8cpp_ab1f8c6111d59b60a2edb4ee3e8aa3113}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Init@{MPU\_Init}} \index{MPU\_Init@{MPU\_Init}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Init()}{MPU\_Init()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Init (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})} 初始化\+MPU6050 \begin{DoxyReturn}{返回} 0,成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00025}{25}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_ab1f8c6111d59b60a2edb4ee3e8aa3113_cgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a17c11d19a2bb21d61610f08cb2cbe2f7}\label{mpu6050_8cpp_a17c11d19a2bb21d61610f08cb2cbe2f7}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Read\_Byte@{MPU\_Read\_Byte}} \index{MPU\_Read\_Byte@{MPU\_Read\_Byte}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Read\_Byte()}{MPU\_Read\_Byte()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Read\+\_\+\+Byte (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{reg }\end{DoxyParamCaption})} IIC读一个字节 \begin{DoxyParams}{参数} {\em reg} & 寄存器地址 \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00187}{187}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a17c11d19a2bb21d61610f08cb2cbe2f7_cgraph} \end{center} \end{figure} 这是这个函数的调用关系图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=264pt]{mpu6050_8cpp_a17c11d19a2bb21d61610f08cb2cbe2f7_icgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a}\label{mpu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Read\_Len@{MPU\_Read\_Len}} \index{MPU\_Read\_Len@{MPU\_Read\_Len}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Read\_Len()}{MPU\_Read\_Len()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Read\+\_\+\+Len (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{addr, }\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{reg, }\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{len, }\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} $\ast$}]{buf }\end{DoxyParamCaption})} IIC连续读 \begin{DoxyParams}{参数} {\em addr} & 器件地址 \\ \hline {\em reg} & 寄存器地址 \\ \hline {\em len} & 读取长度 \\ \hline {\em $\ast$buf} & 读取数据区 \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00168}{168}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a_cgraph} \end{center} \end{figure} 这是这个函数的调用关系图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=331pt]{mpu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a_icgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f}\label{mpu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Set\_Accel\_Fsr@{MPU\_Set\_Accel\_Fsr}} \index{MPU\_Set\_Accel\_Fsr@{MPU\_Set\_Accel\_Fsr}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Set\_Accel\_Fsr()}{MPU\_Set\_Accel\_Fsr()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Set\+\_\+\+Accel\+\_\+\+Fsr (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{fsr }\end{DoxyParamCaption})} 设置\+MPU6050加速度传感器满量程范围 \begin{DoxyParams}{参数} {\em fsr} & 0,±2g 1,±4g 2,±8g 3,±16g \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00067}{67}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f_cgraph} \end{center} \end{figure} 这是这个函数的调用关系图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=280pt]{mpu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f_icgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e}\label{mpu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Set\_Gyro\_Fsr@{MPU\_Set\_Gyro\_Fsr}} \index{MPU\_Set\_Gyro\_Fsr@{MPU\_Set\_Gyro\_Fsr}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Set\_Gyro\_Fsr()}{MPU\_Set\_Gyro\_Fsr()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Set\+\_\+\+Gyro\+\_\+\+Fsr (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{fsr }\end{DoxyParamCaption})} 设置\+MPU6050陀螺仪传感器满量程范围 \begin{DoxyParams}{参数} {\em fsr} & 0,±250dps 1,±500dps 2,±1000dps 3,±2000dps \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00055}{55}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e_cgraph} \end{center} \end{figure} 这是这个函数的调用关系图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=276pt]{mpu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e_icgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217}\label{mpu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Set\_LPF@{MPU\_Set\_LPF}} \index{MPU\_Set\_LPF@{MPU\_Set\_LPF}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Set\_LPF()}{MPU\_Set\_LPF()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Set\+\_\+\+LPF (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{varint_8h_ace9d960e74685e2cd84b36132dbbf8aa}{u16}}}]{lpf }\end{DoxyParamCaption})} 设置\+MPU6050的数字低通滤波器 \begin{DoxyParams}{参数} {\em lpf} & 数字低通滤波频率(\+Hz) \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00076}{76}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217_cgraph} \end{center} \end{figure} 这是这个函数的调用关系图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217_icgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a04e58232ce838e94d54aa2b53287cb41}\label{mpu6050_8cpp_a04e58232ce838e94d54aa2b53287cb41}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Set\_Rate@{MPU\_Set\_Rate}} \index{MPU\_Set\_Rate@{MPU\_Set\_Rate}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Set\_Rate()}{MPU\_Set\_Rate()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Set\+\_\+\+Rate (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{varint_8h_ace9d960e74685e2cd84b36132dbbf8aa}{u16}}}]{rate }\end{DoxyParamCaption})} 设置\+MPU6050的采样率(假定\+Fs=1KHz) \begin{DoxyParams}{参数} {\em rate} & 4$\sim$1000(Hz) \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00092}{92}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a04e58232ce838e94d54aa2b53287cb41_cgraph} \end{center} \end{figure} 这是这个函数的调用关系图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=256pt]{mpu6050_8cpp_a04e58232ce838e94d54aa2b53287cb41_icgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1}\label{mpu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Write\_Byte@{MPU\_Write\_Byte}} \index{MPU\_Write\_Byte@{MPU\_Write\_Byte}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Write\_Byte()}{MPU\_Write\_Byte()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Write\+\_\+\+Byte (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{reg, }\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{data }\end{DoxyParamCaption})} IIC写一个字节 \begin{DoxyParams}{参数} {\em reg} & 寄存器地址 \\ \hline {\em data} & 数据 \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00178}{178}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1_cgraph} \end{center} \end{figure} 这是这个函数的调用关系图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1_icgraph} \end{center} \end{figure} \mbox{\Hypertarget{mpu6050_8cpp_a59b1c26b234be88e97435a1b3c061330}\label{mpu6050_8cpp_a59b1c26b234be88e97435a1b3c061330}} \index{mpu6050.cpp@{mpu6050.cpp}!MPU\_Write\_Len@{MPU\_Write\_Len}} \index{MPU\_Write\_Len@{MPU\_Write\_Len}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{MPU\_Write\_Len()}{MPU\_Write\_Len()}} {\footnotesize\ttfamily \mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} MPU\+\_\+\+Write\+\_\+\+Len (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{addr, }\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{reg, }\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}}}]{len, }\item[{\mbox{\hyperlink{varint_8h_a92c50087ca0e64fa93fc59402c55f8ca}{u8}} $\ast$}]{buf }\end{DoxyParamCaption})} IIC连续写 \begin{DoxyParams}{参数} {\em addr} & 器件地址 \\ \hline {\em reg} & 寄存器地址 \\ \hline {\em len} & 写入长度 \\ \hline {\em $\ast$buf} & 数据区 \\ \hline \end{DoxyParams} \begin{DoxyReturn}{返回} 0,设置成功 \end{DoxyReturn} 在文件 \mbox{\hyperlink{mpu6050_8cpp_source}{mpu6050.\+cpp}} 第 \mbox{\hyperlink{mpu6050_8cpp_source_l00156}{156}} 行定义. 函数调用图\+:\nopagebreak \begin{figure}[H] \begin{center} \leavevmode \includegraphics[width=350pt]{mpu6050_8cpp_a59b1c26b234be88e97435a1b3c061330_cgraph} \end{center} \end{figure} \doxysubsection{变量说明} \mbox{\Hypertarget{mpu6050_8cpp_a604895d6ae2b01114260172650252fce}\label{mpu6050_8cpp_a604895d6ae2b01114260172650252fce}} \index{mpu6050.cpp@{mpu6050.cpp}!mpu6050IIC@{mpu6050IIC}} \index{mpu6050IIC@{mpu6050IIC}!mpu6050.cpp@{mpu6050.cpp}} \doxysubsubsection{\texorpdfstring{mpu6050IIC}{mpu6050IIC}} {\footnotesize\ttfamily \mbox{\hyperlink{classbscpp___i_i_c___s_t_m32}{bscpp\+\_\+\+IIC\+\_\+\+STM32}} mpu6050\+IIC(IIC\+\_\+\+SCK\+\_\+\+GPIO\+\_\+\+Port, IIC\+\_\+\+SCK\+\_\+\+Pin, IIC\+\_\+\+SDA\+\_\+\+GPIO\+\_\+\+Port, IIC\+\_\+\+SDA\+\_\+\+Pin) (\begin{DoxyParamCaption}\item[{IIC\+\_\+\+SCK\+\_\+\+GPIO\+\_\+\+Port}]{, }\item[{IIC\+\_\+\+SCK\+\_\+\+Pin}]{, }\item[{IIC\+\_\+\+SDA\+\_\+\+GPIO\+\_\+\+Port}]{, }\item[{IIC\+\_\+\+SDA\+\_\+\+Pin}]{ }\end{DoxyParamCaption})}