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#include "main.h"
//定義MPU6050內部地址
#define SMPLRT_DIV 0x19 //陀螺儀采樣率典型值 0X07 125Hz
#define CONFIG 0x1A //低通濾波頻率典型值 0x00
#define GYRO_CONFIG 0x1B //陀螺儀自檢及測量范圍典型值 0x18 不自檢 2000deg/s
#define ACCEL_CONFIG 0x1C //加速度計自檢及測量范圍及高通濾波頻率典型值 0x01 不自檢 2G 5Hz
#define INT_PIN_CFG 0x37
#define INT_ENABLE 0x38
#define INT_STATUS 0x3A //只讀
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48
#define PWR_MGMT_1 0x6B //電源管理典型值 0x00 正常啟用
#define WHO_AM_I 0x75 //只讀默認讀出應該是 MPU6050_ID = 0x68
#define MPU6050_ID 0x68
#define MPU6050_DEVICE_ADDRESS 0xD0
#define MPU6050_DATA_START ACCEL_XOUT_H //由于數據存放地址是連續的，所以一并讀出
MPU6050_RAW_DATA MPU6050_Raw_Data;
MPU6050_REAL_DATA MPU6050_Real_Data;
int gyroADC_X_offset=0,gyroADC_Y_offset=0,gyroADC_Z_offset=0;
//MPU6050 初始化，成功返回0 失敗返回 0xff
int MPU6050_Initialization(void)
{
unsigned char temp_data = 0x00;
IIC_GPIO_Init(); //初始化IIC接口
HEAT_Configuration();
if(IIC_ReadData(MPU6050_DEVICE_ADDRESS,WHO_AM_I ,&temp_data ,1)==0) //確定IIC總線上掛接的是否是MPU6050
{
if(temp_data != MPU6050_ID)
{
printf("error 1A\r\n");
return 0xff; //校驗失敗，返回0xff
}
}
else
{
printf("error 1B\r\n");
return 0xff; //讀取失敗返回0xff
}
if(IIC_WriteData(MPU6050_DEVICE_ADDRESS,PWR_MGMT_1,0x01) == 0xff) //解除休眠狀態
{
printf("error 1C\r\n");
return 0xff;
}
if(IIC_WriteData(MPU6050_DEVICE_ADDRESS,SMPLRT_DIV,0x07) == 0xff)//cyq：07 更新頻率1khz
{
printf("error 1D\r\n");
return 0xff;
}
if(IIC_WriteData(MPU6050_DEVICE_ADDRESS,CONFIG,0x00) == 0xff)
{
printf("error 1E\r\n");
return 0xff;
}
if(IIC_WriteData(MPU6050_DEVICE_ADDRESS,GYRO_CONFIG,0x08) == 0xff)
{
printf("error 1F\r\n");
return 0xff;
}
if(IIC_WriteData(MPU6050_DEVICE_ADDRESS,ACCEL_CONFIG,0x08) == 0xff)
{
printf("error 1G\r\n");
return 0xff;
}
if(IIC_WriteData(MPU6050_DEVICE_ADDRESS,INT_PIN_CFG,0x00) == 0xff)
{
printf("error 1H\r\n");
return 0xff;
}
if(IIC_WriteData(MPU6050_DEVICE_ADDRESS,INT_ENABLE,0x01) == 0xff)
{
printf("error 1I\r\n");
return 0xff;
}
//MPU6050_Interrupt_Configuration(); //MPU6050中斷初始化
return 0;
}
//MPU6050 數據讀取，成功返回0 失敗返回 0xff
int MPU6050_ReadData(void)
{
u8 buf[14];
if(IIC_ReadData(MPU6050_DEVICE_ADDRESS,MPU6050_DATA_START,buf,14) == 0xff)
{
printf("error 1J\r\n");
return 0xff;
}
else
{
//讀取寄存器原生數據
MPU6050_Raw_Data.Accel_X = (buf[0]<<8 | buf[1]);
MPU6050_Raw_Data.Accel_Y = (buf[2]<<8 | buf[3]);
MPU6050_Raw_Data.Accel_Z = (buf[4]<<8 | buf[5]);
MPU6050_Raw_Data.Temp = (buf[6]<<8 | buf[7]);
MPU6050_Raw_Data.Gyro_X = (buf[8]<<8 | buf[9]);
MPU6050_Raw_Data.Gyro_Y = (buf[10]<<8 | buf[11]);
MPU6050_Raw_Data.Gyro_Z = (buf[12]<<8 | buf[13]);
//將原生數據轉換為實際值，計算公式跟寄存器的配置有關
MPU6050_Real_Data.Accel_X = (float)(MPU6050_Raw_Data.Accel_X)/8192.0; //見datasheet 30 of 47
MPU6050_Real_Data.Accel_Y = (float)(MPU6050_Raw_Data.Accel_Y)/8192.0; //見datasheet 30 of 47
MPU6050_Real_Data.Accel_Z = (float)(MPU6050_Raw_Data.Accel_Z)/8192.0; //見datasheet 30 of 47
MPU6050_Real_Data.Temp = (float)(MPU6050_Raw_Data.Temp)/340.0+36.53;//見datasheet 31 of 47
MPU6050_Real_Data.Gyro_X = (float)(MPU6050_Raw_Data.Gyro_X - gyroADC_X_offset)/65.5; //見datasheet 32 of 47
MPU6050_Real_Data.Gyro_Y = (float)(MPU6050_Raw_Data.Gyro_Y - gyroADC_Y_offset)/65.5; //見datasheet 32 of 47
MPU6050_Real_Data.Gyro_Z = (float)(MPU6050_Raw_Data.Gyro_Z - gyroADC_Z_offset)/65.5; //見datasheet 32 of 47
}
return 0;
}
void MPU6050_Gyro_calibration(void)
{
u16 i;
float x_temp=0,y_temp=0,z_temp=0;
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