根据MPU6050的传感器程序代码，#include "sys.h"
MPU_DATA mpu_data;
//³õʼ»¯MPU6050
//·µ»ØÖµ:0,³É¹¦
// ÆäËû,´íÎó´úÂë
u8 MPU_Init(void)
{
u8 res;
IIC_Init1();//³õʼ»¯IIC×ÜÏß
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //¸´Î»MPU6050
delay_ms(100);
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //»½ÐÑMPU6050
MPU_Set_Gyro_Fsr(3); //ÍÓÂÝÒÇ´«¸ÐÆ÷,¡À2000dps
MPU_Set_Accel_Fsr(0); //¼ÓËٶȴ«¸ÐÆ÷,¡À2g
MPU_Set_Rate(50); //ÉèÖòÉÑùÂÊ50Hz
MPU_Write_Byte(MPU_INT_EN_REG,0X00); //¹Ø±ÕËùÓÐÖжÏ
MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2CÖ÷ģʽ¹Ø±Õ
MPU_Write_Byte(MPU_FIFO_EN_REG,0X00); //¹Ø±ÕFIFO
MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); //INTÒý½ÅµÍµçƽÓÐЧ
res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
if(res==MPU_ADDR)//Æ÷¼þIDÕýÈ·
{
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //ÉèÖÃCLKSEL,PLL XÖáΪ²Î¿¼
MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //¼ÓËÙ¶ÈÓëÍÓÂÝÒǶ¼¹¤×÷
MPU_Set_Rate(50); //ÉèÖòÉÑùÂÊΪ50Hz
}else return 1;
return 0;
}
//ÉèÖÃMPU6050ÍÓÂÝÒÇ´«¸ÐÆ÷ÂúÁ¿³Ì·¶Î§
//fsr:0,¡À250dps;1,¡À500dps;2,¡À1000dps;3,¡À2000dps
//·µ»ØÖµ:0,ÉèÖóɹ¦
// ÆäËû,ÉèÖÃʧ°Ü
u8 MPU_Set_Gyro_Fsr(u8 fsr)
{
return MPU_Write_Byte(MPU_GYRO_CFG_REG,fsr<<3);//ÉèÖÃÍÓÂÝÒÇÂúÁ¿³Ì·¶Î§
}
//ÉèÖÃMPU6050¼ÓËٶȴ«¸ÐÆ÷ÂúÁ¿³Ì·¶Î§
//fsr:0,¡À2g;1,¡À4g;2,¡À8g;3,¡À16g
//·µ»ØÖµ:0,ÉèÖóɹ¦
// ÆäËû,ÉèÖÃʧ°Ü
u8 MPU_Set_Accel_Fsr(u8 fsr)
{
return MPU_Write_Byte(MPU_ACCEL_CFG_REG,fsr<<3);//ÉèÖüÓËٶȴ«¸ÐÆ÷ÂúÁ¿³Ì·¶Î§
}
//ÉèÖÃMPU6050µÄÊý×ÖµÍͨÂ˲¨Æ÷
//lpf:Êý×ÖµÍͨÂ˲¨ÆµÂÊ(Hz)
//·µ»ØÖµ:0,ÉèÖóɹ¦
// ÆäËû,ÉèÖÃʧ°Ü
u8 MPU_Set_LPF(u16 lpf)
{
u8 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);//ÉèÖÃÊý×ÖµÍͨÂ˲¨Æ÷
}
//ÉèÖÃMPU6050µÄ²ÉÑùÂÊ(¼Ù¶¨Fs=1KHz)
//rate:4~1000(Hz)
//·µ»ØÖµ:0,ÉèÖóɹ¦
// ÆäËû,ÉèÖÃʧ°Ü
u8 MPU_Set_Rate(u16 rate)
{
u8 data;
if(rate>1000)rate=1000;
if(rate<4)rate=4;
data=1000/rate-1;
data=MPU_Write_Byte(MPU_SAMPLE_RATE_REG,data); //ÉèÖÃÊý×ÖµÍͨÂ˲¨Æ÷
return MPU_Set_LPF(rate/2); //×Ô¶¯ÉèÖÃLPFΪ²ÉÑùÂʵÄÒ»°ë
}
//µÃµ½Î¶ÈÖµ
//·µ»ØÖµ:ζÈÖµ(À©´óÁË100±¶)
short MPU_Get_Temperature(void)
{
u8 buf[2];
short raw;
float temp;
MPU_Read_Len(MPU_ADDR,MPU_TEMP_OUTH_REG,2,buf);
raw=((u16)buf[0]<<8)|buf[1];
temp=36.53+((double)raw)/340;
return temp*100;;
}
//µÃµ½ÍÓÂÝÒÇÖµ(Ôʼֵ)
//gx,gy,gz:ÍÓÂÝÒÇx,y,zÖáµÄÔʼ¶ÁÊý(´ø·ûºÅ)
//·µ»ØÖµ:0,³É¹¦
// ÆäËû,´íÎó´úÂë
u8 MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
{
u8 buf[6],res;
res=MPU_Read_Len(MPU_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
if(res==0)
{
*gx=((u16)buf[0]<<8)|buf[1];
*gy=((u16)buf[2]<<8)|buf[3];
*gz=((u16)buf[4]<<8)|buf[5];
}
return res;;
}
//µÃµ½¼ÓËÙ¶ÈÖµ(Ôʼֵ)
//gx,gy,gz:ÍÓÂÝÒÇx,y,zÖáµÄÔʼ¶ÁÊý(´ø·ûºÅ)
//·µ»ØÖµ:0,³É¹¦
// ÆäËû,´íÎó´úÂë
u8 MPU_Get_Accelerometer(short *ax,short *ay,short *az)
{
u8 buf[6],res;
res=MPU_Read_Len(MPU_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
if(res==0)
{
*ax=((u16)buf[0]<<8)|buf[1];
*ay=((u16)buf[2]<<8)|buf[3];
*az=((u16)buf[4]<<8)|buf[5];
}
return res;;
}
//IICÁ¬Ðøд
//addr:Æ÷¼þµØÖ·
//reg:¼Ä´æÆ÷µØÖ·
//len:дÈ볤¶È
//buf:Êý¾ÝÇø
//·µ»ØÖµ:0,Õý³£
// ÆäËû,´íÎó´úÂë
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf)
{
u8 i;
IIC_Start1();
IIC_Send_Byte1((addr<<1)|0);//·¢ËÍÆ÷¼þµØÖ·+дÃüÁî
if(IIC_Wait_Ack1()) //µÈ´ýÓ¦´ð
{
IIC_Stop1();
return 1;
}
IIC_Send_Byte1(reg); //д¼Ä´æÆ÷µØÖ·
IIC_Wait_Ack1(); //µÈ´ýÓ¦´ð
for(i=0;i<len;i++)
{
IIC_Send_Byte1(buf[i]); //·¢ËÍÊý¾Ý
if(IIC_Wait_Ack1()) //µÈ´ýACK
{
IIC_Stop1();
return 1;
}
}
IIC_Stop1();
return 0;
}
//IICÁ¬Ðø¶Á
//addr:Æ÷¼þµØÖ·
//reg:Òª¶ÁÈ¡µÄ¼Ä´æÆ÷µØÖ·
//len:Òª¶ÁÈ¡µÄ³¤¶È
//buf:¶ÁÈ¡µ½µÄÊý¾Ý´æ´¢Çø
//·µ»ØÖµ:0,Õý³£
// ÆäËû,´íÎó´úÂë
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
{
IIC_Start1();
IIC_Send_Byte1((addr<<1)|0);//·¢ËÍÆ÷¼þµØÖ·+дÃüÁî
if(IIC_Wait_Ack1()) //µÈ´ýÓ¦´ð
{
IIC_Stop1();
return 1;
}
IIC_Send_Byte1(reg); //д¼Ä´æÆ÷µØÖ·
IIC_Wait_Ack1(); //µÈ´ýÓ¦´ð
IIC_Start1();
IIC_Send_Byte1((addr<<1)|1);//·¢ËÍÆ÷¼þµØÖ·+¶ÁÃüÁî
IIC_Wait_Ack1(); //µÈ´ýÓ¦´ð
while(len)
{
if(len==1)*buf=IIC_Read_Byte1(0);//¶ÁÊý¾Ý,·¢ËÍnACK
else *buf=IIC_Read_Byte1(1); //¶ÁÊý¾Ý,·¢ËÍACK
len--;
buf++;
}
IIC_Stop1(); //²úÉúÒ»¸öÍ£Ö¹Ìõ¼þ
return 0;
}
//IICдһ¸ö×Ö½Ú
//reg:¼Ä´æÆ÷µØÖ·
//data:Êý¾Ý
//·µ»ØÖµ:0,Õý³£
// ÆäËû,´íÎó´úÂë
u8 MPU_Write_Byte(u8 reg,u8 data)
{
IIC_Start1();
IIC_Send_Byte1((MPU_ADDR<<1)|0);//·¢ËÍÆ÷¼þµØÖ·+дÃüÁî
if(IIC_Wait_Ack1()) //µÈ´ýÓ¦´ð
{
IIC_Stop1();
return 1;
}
IIC_Send_Byte1(reg); //д¼Ä´æÆ÷µØÖ·
IIC_Wait_Ack1(); //µÈ´ýÓ¦´ð
IIC_Send_Byte1(data);//·¢ËÍÊý¾Ý
if(IIC_Wait_Ack1()) //µÈ´ýACK
{
IIC_Stop1();
return 1;
}
IIC_Stop1();
return 0;
}
//IIC¶ÁÒ»¸ö×Ö½Ú
//reg:¼Ä´æÆ÷µØÖ·
//·µ»ØÖµ:¶Áµ½µÄÊý¾Ý
u8 MPU_Read_Byte(u8 reg)
{
u8 res;
IIC_Start1();
IIC_Send_Byte1((MPU_ADDR<<1)|0);//·¢ËÍÆ÷¼þµØÖ·+дÃüÁî
IIC_Wait_Ack1(); //µÈ´ýÓ¦´ð
IIC_Send_Byte1(reg); //д¼Ä´æÆ÷µØÖ·
IIC_Wait_Ack1(); //µÈ´ýÓ¦´ð
IIC_Start1();
IIC_Send_Byte1((MPU_ADDR<<1)|1);//·¢ËÍÆ÷¼þµØÖ·+¶ÁÃüÁî
IIC_Wait_Ack1(); //µÈ´ýÓ¦´ð
res=IIC_Read_Byte1(0);//¶ÁÈ¡Êý¾Ý,·¢ËÍnACK
IIC_Stop1(); //²úÉúÒ»¸öÍ£Ö¹Ìõ¼þ
return res;
}
生成程序设计流程图
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