126 lines
2.8 KiB
C
126 lines
2.8 KiB
C
#include "./mpu6050/mpu6050.h"
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#include "./usart/bsp_debug_usart.h"
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#include "./i2c/i2c.h"
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#define MPU_ERROR I2C_ERROR
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#define MPU_INFO I2C_INFO
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/**
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* @brief 写数据到MPU6050寄存器
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* @param reg_add:寄存器地址
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* @param reg_data:要写入的数据
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* @retval
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*/
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void MPU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat)
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{
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Sensors_I2C_WriteRegister(MPU6050_ADDRESS,reg_add,1,®_dat);
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}
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/**
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* @brief 从MPU6050寄存器读取数据
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* @param reg_add:寄存器地址
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* @param Read：存储数据的缓冲区
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* @param num：要读取的数据量
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* @retval
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*/
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void MPU6050_ReadData(uint8_t reg_add,unsigned char* Read,uint8_t num)
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{
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Sensors_I2C_ReadRegister(MPU6050_ADDRESS,reg_add,num,Read);
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}
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/**
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* @brief 初始化MPU6050芯片
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* @param
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* @retval
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*/
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void MPU6050_Init(void)
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{
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//在初始化之前要延时一段时间，若没有延时，则断电后再上电数据可能会出错
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Delay(100);
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MPU6050_WriteReg(MPU6050_RA_PWR_MGMT_1, 0x00); //解除休眠状态
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MPU6050_WriteReg(MPU6050_RA_SMPLRT_DIV , 0x07); //陀螺仪采样率
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MPU6050_WriteReg(MPU6050_RA_CONFIG , 0x06);
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MPU6050_WriteReg(MPU6050_RA_ACCEL_CONFIG , 0x01); //配置加速度传感器工作在16G模式
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MPU6050_WriteReg(MPU6050_RA_GYRO_CONFIG, 0x18); //陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
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Delay(200);
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}
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/**
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* @brief 读取MPU6050的ID
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* @param
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* @retval 正常返回1，异常返回0
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*/
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uint8_t MPU6050ReadID(void)
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{
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unsigned char Re = 0;
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MPU6050_ReadData(MPU6050_RA_WHO_AM_I,&Re,1); //读器件地址
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if(Re != 0x68)
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{
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MPU_ERROR("MPU6050 dectected error!\r\n检测不到MPU6050模块，请检查模块与开发板的接线");
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return 0;
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}
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else
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{
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MPU_INFO("MPU6050 ID = %d\r\n",Re);
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return 1;
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}
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}
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/**
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* @brief 读取MPU6050的加速度数据
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* @param
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* @retval
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*/
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void MPU6050ReadAcc(short *accData)
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{
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uint8_t buf[6];
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MPU6050_ReadData(MPU6050_ACC_OUT, buf, 6);
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accData[0] = (buf[0] << 8) | buf[1];
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accData[1] = (buf[2] << 8) | buf[3];
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accData[2] = (buf[4] << 8) | buf[5];
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}
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/**
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* @brief 读取MPU6050的角加速度数据
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* @param
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* @retval
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*/
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void MPU6050ReadGyro(short *gyroData)
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{
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uint8_t buf[6];
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MPU6050_ReadData(MPU6050_GYRO_OUT,buf,6);
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gyroData[0] = (buf[0] << 8) | buf[1];
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gyroData[1] = (buf[2] << 8) | buf[3];
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gyroData[2] = (buf[4] << 8) | buf[5];
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}
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/**
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* @brief 读取MPU6050的原始温度数据
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* @param
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* @retval
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*/
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void MPU6050ReadTemp(short *tempData)
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{
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uint8_t buf[2];
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MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2); //读取温度值
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*tempData = (buf[0] << 8) | buf[1];
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}
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/**
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* @brief 读取MPU6050的温度数据，转化成摄氏度
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* @param
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* @retval
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*/
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void MPU6050_ReturnTemp(float *Temperature)
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{
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short temp3;
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uint8_t buf[2];
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MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2); //读取温度值
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temp3= (buf[0] << 8) | buf[1];
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*Temperature=((double) temp3/340.0)+36.53;
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}
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