mpu6050.cpp

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//----------------------------------------------------------------------------------------------------
//  头文件
#include "bscpp_IIC_STM32.h"
#include "mpu6050.h"
#define delay_ms(var) HAL_Delay(var)
bscpp_IIC_STM32 mpu6050IIC(IIC_SCK_GPIO_Port,IIC_SCK_Pin,IIC_SDA_GPIO_Port,IIC_SDA_Pin);
//----------------------------------------------------------------------------------------------------
//  函数区
u8 MPU_Init(void){
    u8 res;
    //MPU_IIC_Init();//初始化IIC总线
    MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //复位MPU6050
    delay_ms(100);
    MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //唤醒MPU6050 
    MPU_Set_Gyro_Fsr(3);                    //陀螺仪传感器,±2000dps
    MPU_Set_Accel_Fsr(0);                   //加速度传感器,±2g
    MPU_Set_Rate(50);                       //设置采样率50Hz
    MPU_Write_Byte(MPU_INT_EN_REG,0X00);    //关闭所有中断
    MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2C主模式关闭
    MPU_Write_Byte(MPU_FIFO_EN_REG,0X00);   //关闭FIFO
    MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); //INT引脚低电平有效
    res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
    if(res==MPU_ADDR)//器件ID正确
    {
        MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //设置CLKSEL,PLL X轴为参考
        MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //加速度与陀螺仪都工作
        MPU_Set_Rate(50);                       //设置采样率为50Hz
    }else return 1;
    return 0;}
//----------------------------------------------------------------------------------------------------
u8 MPU_Set_Gyro_Fsr(u8 fsr){
    return MPU_Write_Byte(MPU_GYRO_CFG_REG,fsr<<3);//设置陀螺仪满量程范围  
    }
//----------------------------------------------------------------------------------------------------
u8 MPU_Set_Accel_Fsr(u8 fsr){
    return MPU_Write_Byte(MPU_ACCEL_CFG_REG,fsr<<3);//设置加速度传感器满量程范围  
    }
//----------------------------------------------------------------------------------------------------
u8 MPU_Set_LPF(u16 lpf){
    u8 data=0;
    if(lpf>=188)data=1;
    else if(lpf>=98)data=2;
    else if(lpf>=42)data=3;
    else if(lpf>=20)data=4;
    else if(lpf>=10)data=5;
    else data=6; 
    return MPU_Write_Byte(MPU_CFG_REG,data);//设置数字低通滤波器  
    }
//----------------------------------------------------------------------------------------------------
u8 MPU_Set_Rate(u16 rate){
    u8 data;
    if(rate>1000)rate=1000;
    if(rate<4)rate=4;
    data=1000/rate-1;
    data=MPU_Write_Byte(MPU_SAMPLE_RATE_REG,data);  //设置数字低通滤波器
    return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
    }
//----------------------------------------------------------------------------------------------------
short MPU_Get_Temperature(void){
    u8 buf[2]; 
    short raw;
    float temp;
    MPU_Read_Len(MPU_ADDR,MPU_TEMP_OUTH_REG,2,buf); 
    raw=((u16)buf[0]<<8)|buf[1];  
    temp=36.53+((double)raw)/340;  
    return temp*100;}
//----------------------------------------------------------------------------------------------------
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz){
    u8 buf[6],res;  
    res=MPU_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
    if(res==0){
        *gx=((u16)buf[0]<<8)|buf[1];  
        *gy=((u16)buf[2]<<8)|buf[3];  
        *gz=((u16)buf[4]<<8)|buf[5];}
    return res;}
//----------------------------------------------------------------------------------------------------
u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az){
    u8 buf[6],res;  
    res=MPU_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
    if(res==0){
        *ax=((u16)buf[0]<<8)|buf[1];  
        *ay=((u16)buf[2]<<8)|buf[3];  
        *az=((u16)buf[4]<<8)|buf[5];}
    return res;}
//----------------------------------------------------------------------------------------------------
//  适配区
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf){
    mpu6050IIC.IIC_Write(addr,reg,(u8*)buf,len);
    return 0;}
//----------------------------------------------------------------------------------------------------
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf){
    mpu6050IIC.IIC_Read(addr,reg,(u8*)buf,len);
    return 0;}
//----------------------------------------------------------------------------------------------------
u8 MPU_Write_Byte(u8 reg,u8 data){
    mpu6050IIC.IIC_WriteOneByte(MPU_ADDR,reg,data);
    return 0;}
//----------------------------------------------------------------------------------------------------
u8 MPU_Read_Byte(u8 reg){
    return mpu6050IIC.IIC_ReadOneByte(MPU_ADDR,reg);}