184 lines
4.3 KiB
C
184 lines
4.3 KiB
C
#include "main.h"
|
|
#include "mpu6050.h"
|
|
|
|
extern I2C_HandleTypeDef hi2c1;
|
|
|
|
//IIC写一个字节
|
|
//reg:寄存器地址
|
|
//data:数据
|
|
//返回值:0,正常
|
|
// 其他,错误代码
|
|
uint8_t MPU_Write_Byte(uint8_t reg,uint8_t data)
|
|
{
|
|
|
|
unsigned char W_Data=0;
|
|
|
|
W_Data = data;
|
|
HAL_I2C_Mem_Write(&hi2c1, MPU_WRITE, reg, I2C_MEMADD_SIZE_8BIT, &W_Data, 1, 300);
|
|
|
|
return 0;
|
|
}
|
|
//IIC读一个字节
|
|
//reg:寄存器地址
|
|
//返回值:读到的数据
|
|
uint8_t MPU_Read_Byte(uint8_t reg)
|
|
{
|
|
|
|
unsigned char R_Data=0;
|
|
HAL_StatusTypeDef status = HAL_OK;
|
|
status = HAL_I2C_Mem_Read(&hi2c1, MPU_READ, reg, I2C_MEMADD_SIZE_8BIT, &R_Data, 1, 300);
|
|
if(status != HAL_OK)
|
|
{
|
|
}
|
|
|
|
return R_Data;
|
|
}
|
|
|
|
|
|
//IIC连续写
|
|
uint8_t MPU_Write_Len(uint8_t reg,uint8_t len,uint8_t *buf)
|
|
{
|
|
|
|
HAL_I2C_Mem_Write(&hi2c1, MPU_WRITE, reg, I2C_MEMADD_SIZE_8BIT, buf, len, 300);
|
|
|
|
|
|
return 0;
|
|
}
|
|
//IIC连续读
|
|
//addr:器件地址
|
|
//reg:要读取的寄存器地址
|
|
//len:要读取的长度
|
|
//buf:读取到的数据存储区
|
|
//返回值:0,正常
|
|
// 其他,错误代码
|
|
uint8_t MPU_Read_Len(uint8_t reg,uint8_t len,uint8_t *buf)
|
|
{
|
|
|
|
HAL_StatusTypeDef status = HAL_OK;
|
|
status = HAL_I2C_Mem_Read(&hi2c1, MPU_READ, reg, I2C_MEMADD_SIZE_8BIT, buf, len, 300);
|
|
if(status != HAL_OK)
|
|
{
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
//得到温度值
|
|
//返回值:温度值(扩大了100倍)
|
|
float MPU_Get_Temperature(void)
|
|
{
|
|
unsigned char buf[2];
|
|
short raw;
|
|
float temp;
|
|
|
|
MPU_Read_Len(MPU_TEMP_OUTH_REG,2,buf);
|
|
raw=(buf[0]<<8)| buf[1];
|
|
temp=(36.53+((double)raw)/340)*100;
|
|
// temp = (long)((35 + (raw / 340)) * 65536L);
|
|
return temp/100.0f;
|
|
}
|
|
//得到陀螺仪值(原始值)
|
|
//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
|
|
//返回值:0,成功
|
|
// 其他,错误代码
|
|
uint8_t MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
|
|
{
|
|
uint8_t buf[6],res;
|
|
res=MPU_Read_Len(MPU_GYRO_XOUTH_REG,6,buf);
|
|
if(res==0)
|
|
{
|
|
*gx=((uint16_t)buf[0]<<8)|buf[1];
|
|
*gy=((uint16_t)buf[2]<<8)|buf[3];
|
|
*gz=((uint16_t)buf[4]<<8)|buf[5];
|
|
}
|
|
return res;
|
|
}
|
|
//得到加速度值(原始值)
|
|
//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
|
|
//返回值:0,成功
|
|
// 其他,错误代码
|
|
uint8_t MPU_Get_Accelerometer(int *ax,int *ay,int *az)
|
|
{
|
|
uint8_t buf[6],res;
|
|
res=MPU_Read_Len(MPU_ACCEL_XOUTH_REG,6,buf);
|
|
if(res==0)
|
|
{
|
|
*ax=((uint16_t)buf[0]<<8)|buf[1];
|
|
*ay=((uint16_t)buf[2]<<8)|buf[3];
|
|
*az=((uint16_t)buf[4]<<8)|buf[5];
|
|
}
|
|
return res;;
|
|
}
|
|
|
|
//初始化MPU6050
|
|
//返回值:0,成功
|
|
// 其他,错误代码
|
|
uint8_t MPU_Init(void)
|
|
{
|
|
uint8_t res;
|
|
|
|
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //复位MPU6050
|
|
HAL_Delay(1);
|
|
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //唤醒MPU6050
|
|
HAL_Delay(1);
|
|
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
|
|
//MPU_Set_LPF(50);
|
|
}else return 1;
|
|
return 0;
|
|
}
|
|
//设置MPU6050陀螺仪传感器满量程范围
|
|
//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
|
|
//返回值:0,设置成功
|
|
// 其他,设置失败
|
|
uint8_t MPU_Set_Gyro_Fsr(uint8_t fsr)
|
|
{
|
|
return MPU_Write_Byte(MPU_GYRO_CFG_REG,fsr<<3);//设置陀螺仪满量程范围
|
|
}
|
|
//设置MPU6050加速度传感器满量程范围
|
|
//fsr:0,±2g;1,±4g;2,±8g;3,±16g
|
|
//返回值:0,设置成功
|
|
// 其他,设置失败
|
|
uint8_t MPU_Set_Accel_Fsr(uint8_t fsr)
|
|
{
|
|
return MPU_Write_Byte(MPU_ACCEL_CFG_REG,fsr<<3);//设置加速度传感器满量程范围
|
|
}
|
|
//设置MPU6050的数字低通滤波器
|
|
//lpf:数字低通滤波频率(Hz)
|
|
//返回值:0,设置成功
|
|
// 其他,设置失败
|
|
uint8_t MPU_Set_LPF(uint16_t lpf)
|
|
{
|
|
uint8_t 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
|
|
}
|
|
//设置MPU6050的采样率(假定Fs=1KHz)
|
|
//rate:4~1000(Hz)
|
|
//返回值:0,设置成功
|
|
// 其他,设置失败
|
|
uint8_t MPU_Set_Rate(uint16_t rate)
|
|
{
|
|
uint8_t 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
|
|
} |