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<div class="textblock"><code>#include &quot;<a class="el" href="bscpp___i_i_c___s_t_m32_8h_source.html">bscpp_IIC_STM32.h</a>&quot;</code><br />
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宏定义</h2></td></tr>
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<tr class="memdesc:ab1f8c6111d59b60a2edb4ee3e8aa3113"><td class="mdescLeft">&#160;</td><td class="mdescRight">初始化MPU6050 <a href="mpu6050_8cpp.html#ab1f8c6111d59b60a2edb4ee3e8aa3113">更多...</a><br /></td></tr>
<tr class="separator:ab1f8c6111d59b60a2edb4ee3e8aa3113"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa27cc30326ce4980b289a0e1c3f76b5e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mpu6050_8cpp.html#aa27cc30326ce4980b289a0e1c3f76b5e">MPU_Set_Gyro_Fsr</a> (<a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> fsr)</td></tr>
<tr class="memdesc:aa27cc30326ce4980b289a0e1c3f76b5e"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置MPU6050陀螺仪传感器满量程范围 <a href="mpu6050_8cpp.html#aa27cc30326ce4980b289a0e1c3f76b5e">更多...</a><br /></td></tr>
<tr class="separator:aa27cc30326ce4980b289a0e1c3f76b5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c391137bc5880c3b5e15e84c5a3380f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mpu6050_8cpp.html#a6c391137bc5880c3b5e15e84c5a3380f">MPU_Set_Accel_Fsr</a> (<a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> fsr)</td></tr>
<tr class="memdesc:a6c391137bc5880c3b5e15e84c5a3380f"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置MPU6050加速度传感器满量程范围 <a href="mpu6050_8cpp.html#a6c391137bc5880c3b5e15e84c5a3380f">更多...</a><br /></td></tr>
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<tr class="memdesc:a2fb9973c9f5ea5327649d0eef5e96217"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置MPU6050的数字低通滤波器 <a href="mpu6050_8cpp.html#a2fb9973c9f5ea5327649d0eef5e96217">更多...</a><br /></td></tr>
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<tr class="memdesc:a04e58232ce838e94d54aa2b53287cb41"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置MPU6050的采样率(假定Fs=1KHz) <a href="mpu6050_8cpp.html#a04e58232ce838e94d54aa2b53287cb41">更多...</a><br /></td></tr>
<tr class="separator:a04e58232ce838e94d54aa2b53287cb41"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a41eaf87c26b1281d9d5fc6a06abcf2a8"><td class="memItemLeft" align="right" valign="top">short&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mpu6050_8cpp.html#a41eaf87c26b1281d9d5fc6a06abcf2a8">MPU_Get_Temperature</a> (void)</td></tr>
<tr class="memdesc:a41eaf87c26b1281d9d5fc6a06abcf2a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">得到温度值 <a href="mpu6050_8cpp.html#a41eaf87c26b1281d9d5fc6a06abcf2a8">更多...</a><br /></td></tr>
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<tr class="memdesc:a8f28105f9dcccc709b78d7d0ce497633"><td class="mdescLeft">&#160;</td><td class="mdescRight">得到陀螺仪值(原始值) <a href="mpu6050_8cpp.html#a8f28105f9dcccc709b78d7d0ce497633">更多...</a><br /></td></tr>
<tr class="separator:a8f28105f9dcccc709b78d7d0ce497633"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="memdesc:a2a0a02f6d7c597828a0cc282c76e99e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">得到加速度值(原始值) <a href="mpu6050_8cpp.html#a2a0a02f6d7c597828a0cc282c76e99e3">更多...</a><br /></td></tr>
<tr class="separator:a2a0a02f6d7c597828a0cc282c76e99e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59b1c26b234be88e97435a1b3c061330"><td class="memItemLeft" align="right" valign="top"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mpu6050_8cpp.html#a59b1c26b234be88e97435a1b3c061330">MPU_Write_Len</a> (<a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> addr, <a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> <a class="el" href="group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c">reg</a>, <a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> len, <a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> *buf)</td></tr>
<tr class="memdesc:a59b1c26b234be88e97435a1b3c061330"><td class="mdescLeft">&#160;</td><td class="mdescRight">IIC连续写 <a href="mpu6050_8cpp.html#a59b1c26b234be88e97435a1b3c061330">更多...</a><br /></td></tr>
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<tr class="memdesc:a63161fa966899e4e7c5791e40ebf2b0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">IIC连续读 <a href="mpu6050_8cpp.html#a63161fa966899e4e7c5791e40ebf2b0a">更多...</a><br /></td></tr>
<tr class="separator:a63161fa966899e4e7c5791e40ebf2b0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0be9b422bb8613f8444db4af5234e1a1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1">MPU_Write_Byte</a> (<a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> <a class="el" href="group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c">reg</a>, <a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> data)</td></tr>
<tr class="memdesc:a0be9b422bb8613f8444db4af5234e1a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">IIC写一个字节 <a href="mpu6050_8cpp.html#a0be9b422bb8613f8444db4af5234e1a1">更多...</a><br /></td></tr>
<tr class="separator:a0be9b422bb8613f8444db4af5234e1a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17c11d19a2bb21d61610f08cb2cbe2f7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mpu6050_8cpp.html#a17c11d19a2bb21d61610f08cb2cbe2f7">MPU_Read_Byte</a> (<a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> <a class="el" href="group___d_r_i_v_e_r_s.html#ga5448c351fc95ff052b110eee80e5f75c">reg</a>)</td></tr>
<tr class="memdesc:a17c11d19a2bb21d61610f08cb2cbe2f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">IIC读一个字节 <a href="mpu6050_8cpp.html#a17c11d19a2bb21d61610f08cb2cbe2f7">更多...</a><br /></td></tr>
<tr class="separator:a17c11d19a2bb21d61610f08cb2cbe2f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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变量</h2></td></tr>
<tr class="memitem:a604895d6ae2b01114260172650252fce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classbscpp___i_i_c___s_t_m32.html">bscpp_IIC_STM32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="mpu6050_8cpp.html#a604895d6ae2b01114260172650252fce">mpu6050IIC</a> (IIC_SCK_GPIO_Port, IIC_SCK_Pin, IIC_SDA_GPIO_Port, IIC_SDA_Pin)</td></tr>
<tr class="separator:a604895d6ae2b01114260172650252fce"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">宏定义说明</h2>
<a id="ae7d7fd8356f1a04698bf36a2ff087f7b" name="ae7d7fd8356f1a04698bf36a2ff087f7b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae7d7fd8356f1a04698bf36a2ff087f7b">&#9670;&#160;</a></span>delay_ms</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">#define delay_ms</td>
<td>(</td>
<td class="paramtype">&#160;</td>
<td class="paramname">var</td><td>)</td>
<td>&#160;&#160;&#160;HAL_Delay(var)</td>
</tr>
</table>
</div><div class="memdoc">
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00016">16</a> 行定义.</p>
</div>
</div>
<h2 class="groupheader">函数说明</h2>
<a id="a2a0a02f6d7c597828a0cc282c76e99e3" name="a2a0a02f6d7c597828a0cc282c76e99e3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2a0a02f6d7c597828a0cc282c76e99e3">&#9670;&#160;</a></span>MPU_Get_Accelerometer()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Get_Accelerometer </td>
<td>(</td>
<td class="paramtype">short *&#160;</td>
<td class="paramname"><em>ax</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short *&#160;</td>
<td class="paramname"><em>ay</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short *&#160;</td>
<td class="paramname"><em>az</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>得到加速度值(原始值) </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">ax</td><td>陀螺仪a轴的原始读数(带符号) </td></tr>
<tr><td class="paramname">ay</td><td>陀螺仪a轴的原始读数(带符号) </td></tr>
<tr><td class="paramname">ax</td><td>陀螺仪a轴的原始读数(带符号) </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00137">137</a> 行定义.</p>
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函数调用图:</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8f28105f9dcccc709b78d7d0ce497633">&#9670;&#160;</a></span>MPU_Get_Gyroscope()</h2>
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<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Get_Gyroscope </td>
<td>(</td>
<td class="paramtype">short *&#160;</td>
<td class="paramname"><em>gx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short *&#160;</td>
<td class="paramname"><em>gy</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short *&#160;</td>
<td class="paramname"><em>gz</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>得到陀螺仪值(原始值) </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">gx</td><td>陀螺仪x轴的原始读数(带符号) </td></tr>
<tr><td class="paramname">gy</td><td>陀螺仪y轴的原始读数(带符号) </td></tr>
<tr><td class="paramname">gx</td><td>陀螺仪z轴的原始读数(带符号) </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00121">121</a> 行定义.</p>
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函数调用图:</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a41eaf87c26b1281d9d5fc6a06abcf2a8">&#9670;&#160;</a></span>MPU_Get_Temperature()</h2>
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<td class="memname">short MPU_Get_Temperature </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>得到温度值 </p>
<dl class="section return"><dt>返回</dt><dd>温度值(扩大了100倍) </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00105">105</a> 行定义.</p>
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函数调用图:</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ab1f8c6111d59b60a2edb4ee3e8aa3113">&#9670;&#160;</a></span>MPU_Init()</h2>
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<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Init </td>
<td>(</td>
<td class="paramtype">void&#160;</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>初始化MPU6050 </p>
<dl class="section return"><dt>返回</dt><dd>0,成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00025">25</a> 行定义.</p>
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函数调用图:</div>
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<div class="center"><img src="mpu6050_8cpp_ab1f8c6111d59b60a2edb4ee3e8aa3113_cgraph.png" border="0" usemap="#ampu6050_8cpp_ab1f8c6111d59b60a2edb4ee3e8aa3113_cgraph" alt=""/></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a17c11d19a2bb21d61610f08cb2cbe2f7">&#9670;&#160;</a></span>MPU_Read_Byte()</h2>
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<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Read_Byte </td>
<td>(</td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>reg</em></td><td>)</td>
<td></td>
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<p>IIC读一个字节 </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">reg</td><td>寄存器地址 </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00187">187</a> 行定义.</p>
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函数调用图:</div>
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<div class="center"><img src="mpu6050_8cpp_a17c11d19a2bb21d61610f08cb2cbe2f7_cgraph.png" border="0" usemap="#ampu6050_8cpp_a17c11d19a2bb21d61610f08cb2cbe2f7_cgraph" alt=""/></div>
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这是这个函数的调用关系图:</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a63161fa966899e4e7c5791e40ebf2b0a">&#9670;&#160;</a></span>MPU_Read_Len()</h2>
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<table class="memname">
<tr>
<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Read_Len </td>
<td>(</td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>addr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>reg</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>len</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> *&#160;</td>
<td class="paramname"><em>buf</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>IIC连续读 </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">addr</td><td>器件地址 </td></tr>
<tr><td class="paramname">reg</td><td>寄存器地址 </td></tr>
<tr><td class="paramname">len</td><td>读取长度 </td></tr>
<tr><td class="paramname">*buf</td><td>读取数据区 </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00168">168</a> 行定义.</p>
<div class="dynheader">
函数调用图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a_cgraph.png" border="0" usemap="#ampu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a_cgraph" alt=""/></div>
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</div>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a_icgraph.png" border="0" usemap="#ampu6050_8cpp_a63161fa966899e4e7c5791e40ebf2b0a_icgraph" alt=""/></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6c391137bc5880c3b5e15e84c5a3380f">&#9670;&#160;</a></span>MPU_Set_Accel_Fsr()</h2>
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<tr>
<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Set_Accel_Fsr </td>
<td>(</td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>fsr</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>设置MPU6050加速度传感器满量程范围 </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">fsr</td><td>0,±2g 1,±4g 2,±8g 3,±16g </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00067">67</a> 行定义.</p>
<div class="dynheader">
函数调用图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f_cgraph.png" border="0" usemap="#ampu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f_cgraph" alt=""/></div>
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</map>
</div>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f_icgraph.png" border="0" usemap="#ampu6050_8cpp_a6c391137bc5880c3b5e15e84c5a3380f_icgraph" alt=""/></div>
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<a id="aa27cc30326ce4980b289a0e1c3f76b5e" name="aa27cc30326ce4980b289a0e1c3f76b5e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa27cc30326ce4980b289a0e1c3f76b5e">&#9670;&#160;</a></span>MPU_Set_Gyro_Fsr()</h2>
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<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Set_Gyro_Fsr </td>
<td>(</td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>fsr</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>设置MPU6050陀螺仪传感器满量程范围 </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">fsr</td><td>0,±250dps 1,±500dps 2,±1000dps 3,±2000dps </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00055">55</a> 行定义.</p>
<div class="dynheader">
函数调用图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e_cgraph.png" border="0" usemap="#ampu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e_cgraph" alt=""/></div>
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</div>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e_icgraph.png" border="0" usemap="#ampu6050_8cpp_aa27cc30326ce4980b289a0e1c3f76b5e_icgraph" alt=""/></div>
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</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2fb9973c9f5ea5327649d0eef5e96217">&#9670;&#160;</a></span>MPU_Set_LPF()</h2>
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<table class="memname">
<tr>
<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Set_LPF </td>
<td>(</td>
<td class="paramtype"><a class="el" href="varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa">u16</a>&#160;</td>
<td class="paramname"><em>lpf</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>设置MPU6050的数字低通滤波器 </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">lpf</td><td>数字低通滤波频率(Hz) </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00076">76</a> 行定义.</p>
<div class="dynheader">
函数调用图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217_cgraph.png" border="0" usemap="#ampu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217_cgraph" alt=""/></div>
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</map>
</div>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217_icgraph.png" border="0" usemap="#ampu6050_8cpp_a2fb9973c9f5ea5327649d0eef5e96217_icgraph" alt=""/></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a04e58232ce838e94d54aa2b53287cb41">&#9670;&#160;</a></span>MPU_Set_Rate()</h2>
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<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Set_Rate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="varint_8h.html#ace9d960e74685e2cd84b36132dbbf8aa">u16</a>&#160;</td>
<td class="paramname"><em>rate</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<p>设置MPU6050的采样率(假定Fs=1KHz) </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">rate</td><td>4~1000(Hz) </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00092">92</a> 行定义.</p>
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函数调用图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a04e58232ce838e94d54aa2b53287cb41_cgraph.png" border="0" usemap="#ampu6050_8cpp_a04e58232ce838e94d54aa2b53287cb41_cgraph" alt=""/></div>
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这是这个函数的调用关系图:</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0be9b422bb8613f8444db4af5234e1a1">&#9670;&#160;</a></span>MPU_Write_Byte()</h2>
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<tr>
<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Write_Byte </td>
<td>(</td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>reg</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>data</em>&#160;</td>
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<tr>
<td></td>
<td>)</td>
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<p>IIC写一个字节 </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">reg</td><td>寄存器地址 </td></tr>
<tr><td class="paramname">data</td><td>数据 </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00178">178</a> 行定义.</p>
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函数调用图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1_cgraph.png" border="0" usemap="#ampu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1_cgraph" alt=""/></div>
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</div>
<div class="dynheader">
这是这个函数的调用关系图:</div>
<div class="dyncontent">
<div class="center"><img src="mpu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1_icgraph.png" border="0" usemap="#ampu6050_8cpp_a0be9b422bb8613f8444db4af5234e1a1_icgraph" alt=""/></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a59b1c26b234be88e97435a1b3c061330">&#9670;&#160;</a></span>MPU_Write_Len()</h2>
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<td class="memname"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> MPU_Write_Len </td>
<td>(</td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>addr</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>reg</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a>&#160;</td>
<td class="paramname"><em>len</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="varint_8h.html#a92c50087ca0e64fa93fc59402c55f8ca">u8</a> *&#160;</td>
<td class="paramname"><em>buf</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>IIC连续写 </p>
<dl class="params"><dt>参数</dt><dd>
<table class="params">
<tr><td class="paramname">addr</td><td>器件地址 </td></tr>
<tr><td class="paramname">reg</td><td>寄存器地址 </td></tr>
<tr><td class="paramname">len</td><td>写入长度 </td></tr>
<tr><td class="paramname">*buf</td><td>数据区 </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>0,设置成功 </dd></dl>
<p class="definition">在文件 <a class="el" href="mpu6050_8cpp_source.html">mpu6050.cpp</a> 第 <a class="el" href="mpu6050_8cpp_source.html#l00156">156</a> 行定义.</p>
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函数调用图:</div>
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<div class="center"><img src="mpu6050_8cpp_a59b1c26b234be88e97435a1b3c061330_cgraph.png" border="0" usemap="#ampu6050_8cpp_a59b1c26b234be88e97435a1b3c061330_cgraph" alt=""/></div>
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<h2 class="groupheader">变量说明</h2>
<a id="a604895d6ae2b01114260172650252fce" name="a604895d6ae2b01114260172650252fce"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a604895d6ae2b01114260172650252fce">&#9670;&#160;</a></span>mpu6050IIC</h2>
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<td class="memname"><a class="el" href="classbscpp___i_i_c___s_t_m32.html">bscpp_IIC_STM32</a> mpu6050IIC(IIC_SCK_GPIO_Port, IIC_SCK_Pin, IIC_SDA_GPIO_Port, IIC_SDA_Pin) </td>
<td>(</td>
<td class="paramtype">IIC_SCK_GPIO_Port&#160;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">IIC_SCK_Pin&#160;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">IIC_SDA_GPIO_Port&#160;</td>
<td class="paramname">, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">IIC_SDA_Pin&#160;</td>
<td class="paramname">&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
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