STM32H750XB_RT-THREAD/44-MPU6050（包含程序+上位机）/程序/3.STM32-MPU6050_python上位机/User/mpu6050/mpu6050.c

#include "./mpu6050/mpu6050.h"
#include "./usart/bsp_debug_usart.h"
#include "./i2c/i2c.h"


#define MPU_ERROR 		I2C_ERROR
#define MPU_INFO 		I2C_INFO
/**
  * @brief   д<EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD>MPU6050<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD>
  * @param   reg_add:<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ
	* @param	 reg_data:Ҫд<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  * @retval  
  */
void MPU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat)
{
	Sensors_I2C_WriteRegister(MPU6050_ADDRESS,reg_add,1,&reg_dat);
}

/**
  * @brief   <EFBFBD><EFBFBD>MPU6050<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  * @param   reg_add:<EFBFBD>Ĵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ
	* @param	 Read<EFBFBD><EFBFBD><EFBFBD>洢<EFBFBD><EFBFBD><EFBFBD>ݵĻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	* @param	 num<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  * @retval  
  */
void MPU6050_ReadData(uint8_t reg_add,unsigned char* Read,uint8_t num)
{
	Sensors_I2C_ReadRegister(MPU6050_ADDRESS,reg_add,num,Read);
}


/**
  * @brief   <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>MPU6050оƬ
  * @param   
  * @retval  
  */
void MPU6050_Init(void)
{
	//<2F>ڳ<EFBFBD>ʼ<EFBFBD><CABC>֮ǰҪ<C7B0><D2AA>ʱһ<CAB1><D2BB>ʱ<EFBFBD>䣬<EFBFBD><E4A3AC>û<EFBFBD><C3BB><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>ݿ<EFBFBD><DDBF>ܻ<EFBFBD><DCBB><EFBFBD><EFBFBD><EFBFBD>
	Delay(100);
	MPU6050_WriteReg(MPU6050_RA_PWR_MGMT_1, 0x00);	     //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
	MPU6050_WriteReg(MPU6050_RA_SMPLRT_DIV , 0x07);	    //<2F><><EFBFBD><EFBFBD><EFBFBD>Dz<EFBFBD><C7B2><EFBFBD><EFBFBD><EFBFBD>
	MPU6050_WriteReg(MPU6050_RA_CONFIG , 0x06);	
	MPU6050_WriteReg(MPU6050_RA_ACCEL_CONFIG , 0x01);	  //<2F><><EFBFBD>ü<EFBFBD><C3BC>ٶȴ<D9B6><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>16Gģʽ
	MPU6050_WriteReg(MPU6050_RA_GYRO_CONFIG, 0x18);     //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Լ켰<D4BC><ECBCB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5>0x18(<28><><EFBFBD>Լ죬2000deg/s)
	Delay(200);
}

/**
  * @brief   <EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD>ID
  * @param   
  * @retval  <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>쳣<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0
  */
uint8_t MPU6050ReadID(void)
{
	unsigned char Re = 0;
    MPU6050_ReadData(MPU6050_RA_WHO_AM_I,&Re,1);    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ
	if(Re != 0x68)
	{
		MPU_ERROR("MPU6050 dectected error!\r\n<EFBFBD><EFBFBD><EFBFBD>ⲻ<EFBFBD><EFBFBD>MPU6050ģ<EFBFBD>飬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><EFBFBD><EFBFBD>뿪<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ľ<EFBFBD><EFBFBD><EFBFBD>");
		return 0;
	}
	else
	{
		MPU_INFO("MPU6050 ID = %d\r\n",Re);
		return 1;
	}
		
}

/**
  * @brief   <EFBFBD><EFBFBD>ȡMPU6050<EFBFBD>ļ<EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  * @param   
  * @retval  
  */
void MPU6050ReadAcc(short *accData)
{
    uint8_t buf[6];
    MPU6050_ReadData(MPU6050_ACC_OUT, buf, 6);
    accData[0] = (buf[0] << 8) | buf[1];
    accData[1] = (buf[2] << 8) | buf[3];
    accData[2] = (buf[4] << 8) | buf[5];
}

/**
  * @brief   <EFBFBD><EFBFBD>ȡMPU6050<EFBFBD>ĽǼ<EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  * @param   
  * @retval  
  */
void MPU6050ReadGyro(short *gyroData)
{
    uint8_t buf[6];
    MPU6050_ReadData(MPU6050_GYRO_OUT,buf,6);
    gyroData[0] = (buf[0] << 8) | buf[1];
    gyroData[1] = (buf[2] << 8) | buf[3];
    gyroData[2] = (buf[4] << 8) | buf[5];
}

/**
  * @brief   <EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD>ԭʼ<EFBFBD>¶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
  * @param   
  * @retval  
  */
void MPU6050ReadTemp(short *tempData)
{
	uint8_t buf[2];
    MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2);     //<2F><>ȡ<EFBFBD>¶<EFBFBD>ֵ
    *tempData = (buf[0] << 8) | buf[1];
}

/**
  * @brief   <EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD><EFBFBD>¶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>϶<EFBFBD>
  * @param   
  * @retval  
  */
void MPU6050_ReturnTemp(float *Temperature)
{
	short temp3;
	uint8_t buf[2];
	
	MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2);     //<2F><>ȡ<EFBFBD>¶<EFBFBD>ֵ
    temp3= (buf[0] << 8) | buf[1];	
	*Temperature=((double) temp3/340.0)+36.53;

}