mpu6050.cpp
D:/gitt/MicrochipFor32/bsp_MPU6050/mpu6050.cpp
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00012 //----------------------------------------------------------------------------------------------------
00013 // 头文件
00014 #include "bscpp_IIC_STM32.h"
00015 #include "mpu6050.h"
00016 #define delay_ms(var) HAL_Delay(var)
00017 bscpp_IIC_STM32 mpu6050IIC(IIC_SCK_GPIO_Port,IIC_SCK_Pin,IIC_SDA_GPIO_Port,IIC_SDA_Pin);
00019 //----------------------------------------------------------------------------------------------------
00020 // 函数区
00025 u8 MPU_Init(void){
00026 u8 res;
00027 //MPU_IIC_Init();//初始化IIC总线
00028 MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //复位MPU6050
00029 delay_ms(100);
00030 MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //唤醒MPU6050
00031 MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
00032 MPU_Set_Accel_Fsr(0); //加速度传感器,±2g
00033 MPU_Set_Rate(50); //设置采样率50Hz
00034 MPU_Write_Byte(MPU_INT_EN_REG,0X00); //关闭所有中断
00035 MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2C主模式关闭
00036 MPU_Write_Byte(MPU_FIFO_EN_REG,0X00); //关闭FIFO
00037 MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); //INT引脚低电平有效
00038 res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
00039 if(res==MPU_ADDR)//器件ID正确
00040 {
00041 MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //设置CLKSEL,PLL X轴为参考
00042 MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //加速度与陀螺仪都工作
00043 MPU_Set_Rate(50); //设置采样率为50Hz
00044 }else return 1;
00045 return 0;}
00046 //----------------------------------------------------------------------------------------------------
00055 u8 MPU_Set_Gyro_Fsr(u8 fsr){
00056 return MPU_Write_Byte(MPU_GYRO_CFG_REG,fsr<<3);//设置陀螺仪满量程范围
00057 }
00058 //----------------------------------------------------------------------------------------------------
00067 u8 MPU_Set_Accel_Fsr(u8 fsr){
00068 return MPU_Write_Byte(MPU_ACCEL_CFG_REG,fsr<<3);//设置加速度传感器满量程范围
00069 }
00070 //----------------------------------------------------------------------------------------------------
00076 u8 MPU_Set_LPF(u16 lpf){
00077 u8 data=0;
00078 if(lpf>=188)data=1;
00079 else if(lpf>=98)data=2;
00080 else if(lpf>=42)data=3;
00081 else if(lpf>=20)data=4;
00082 else if(lpf>=10)data=5;
00083 else data=6;
00084 return MPU_Write_Byte(MPU_CFG_REG,data);//设置数字低通滤波器
00085 }
00086 //----------------------------------------------------------------------------------------------------
00092 u8 MPU_Set_Rate(u16 rate){
00093 u8 data;
00094 if(rate>1000)rate=1000;
00095 if(rate<4)rate=4;
00096 data=1000/rate-1;
00097 data=MPU_Write_Byte(MPU_SAMPLE_RATE_REG,data); //设置数字低通滤波器
00098 return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
00099 }
00100 //----------------------------------------------------------------------------------------------------
00105 short MPU_Get_Temperature(void){
00106 u8 buf[2];
00107 short raw;
00108 float temp;
00109 MPU_Read_Len(MPU_ADDR,MPU_TEMP_OUTH_REG,2,buf);
00110 raw=((u16)buf[0]<<8)|buf[1];
00111 temp=36.53+((double)raw)/340;
00112 return temp*100;}
00113 //----------------------------------------------------------------------------------------------------
00121 u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz){
00122 u8 buf[6],res;
00123 res=MPU_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
00124 if(res==0){
00125 *gx=((u16)buf[0]<<8)|buf[1];
00126 *gy=((u16)buf[2]<<8)|buf[3];
00127 *gz=((u16)buf[4]<<8)|buf[5];}
00128 return res;}
00129 //----------------------------------------------------------------------------------------------------
00137 u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az){
00138 u8 buf[6],res;
00139 res=MPU_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
00140 if(res==0){
00141 *ax=((u16)buf[0]<<8)|buf[1];
00142 *ay=((u16)buf[2]<<8)|buf[3];
00143 *az=((u16)buf[4]<<8)|buf[5];}
00144 return res;}
00146 //----------------------------------------------------------------------------------------------------
00147 // 适配区
00156 u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf){
00157 mpu6050IIC.IIC_Write(addr,reg,(u8*)buf,len);
00158 return 0;}
00159 //----------------------------------------------------------------------------------------------------
00168 u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf){
00169 mpu6050IIC.IIC_Read(addr,reg,(u8*)buf,len);
00170 return 0;}
00171 //----------------------------------------------------------------------------------------------------
00178 u8 MPU_Write_Byte(u8 reg,u8 data){
00179 mpu6050IIC.IIC_WriteOneByte(MPU_ADDR,reg,data);
00180 return 0;}
00181 //----------------------------------------------------------------------------------------------------
00187 u8 MPU_Read_Byte(u8 reg){
00188 return mpu6050IIC.IIC_ReadOneByte(MPU_ADDR,reg);}
00190