ICM20602使用

1. 介绍

3轴陀螺仪+3轴加速度
3轴陀螺仪，可编程FSR为±250dps、±500dps、±1000dps和±2000 dps；
3轴加速度计，可编程FSR为±2g、±4g、±8g和±16g；
用户可编程中断：
动作响应中断，用于应用处理器低功耗运行
1KB FIFO缓冲区使应用程序处理器能够分批读取数据
片上16位ADC和可编程滤波器
通讯主机接口：
SPI - 10MHz
I2C - 400kHz
数字输出温度传感器
VDD工作范围为1.71V至3.45V

2. 使用

器件引脚及轴向：

原理图：

代码：

  while(ICM20602_ReadID() == 0) //读取ID
  {
	  HAL_Delay(500);
  }
  ICM20602_INIT(); //初始化

#define MPU6050_RA_WHO_AM_I         0x75

uint8_t ICM20602_ReadID(void)
{
	unsigned char Re = 0;
    MPU6050_ReadData(MPU6050_RA_WHO_AM_I,&Re,1);    //根据6050改的.....
	if(Re != 0x12)  //注意读取数据
	{
		printf("ICM20602 dectected error! --0x%X \r\n", Re);
		return 0;
	}
	else
	{
		printf("ICM20602 ID = 0x%X\r\n",Re);
		return 1;
	}

}

#define MPU6050_SLAVE_ADDRESS  (0x68<<1)      //地址 AD0接地 为0x68 高电平0x69

void MPU6050_ReadData(uint8_t reg_add,unsigned char*Read,uint8_t num)
{
	unsigned char i;

	i2c_Start();
	i2c_SendByte(MPU6050_SLAVE_ADDRESS);
	i2c_WaitAck();
	i2c_SendByte(reg_add);
	i2c_WaitAck();

	i2c_Start();
	i2c_SendByte(MPU6050_SLAVE_ADDRESS+1);
	i2c_WaitAck();

	for(i=0;i<(num-1);i++){
		*Read=i2c_ReadByte(1);
		Read++;
	}
	*Read=i2c_ReadByte(0);
	i2c_Stop();
}

void MPU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat)
{
	i2c_Start();
	i2c_SendByte(MPU6050_SLAVE_ADDRESS);
	i2c_WaitAck();
	i2c_SendByte(reg_add);
	i2c_WaitAck();
	i2c_SendByte(reg_dat);
	i2c_WaitAck();
	i2c_Stop();
}

#define MPU6050_RA_PWR_MGMT_1       0x6B
#define MPU6050_RA_PWR_MGMT_2       0x6C
#define MPU6050_RA_CONFIG           0x1A
#define MPU6050_RA_SMPLRT_DIV       0x19
#define MPU6050_RA_GYRO_CONFIG      0x1B
#define MPU6050_RA_ACCEL_CONFIG     0x1C

void ICM20602_INIT(void)
{
	HAL_Delay(30);
	//MPU6050_WriteReg(MPU6050_RA_PWR_MGMT_1, 0x80);	    //复位
	//HAL_Delay(80);
	MPU6050_WriteReg(MPU6050_RA_PWR_MGMT_1, 0x01); //时钟设置
	MPU6050_WriteReg(MPU6050_RA_PWR_MGMT_2, 0x00); //使能陀螺仪和加速度计
	MPU6050_WriteReg(MPU6050_RA_CONFIG , 0x01); //176Hz
	MPU6050_WriteReg(MPU6050_RA_SMPLRT_DIV , 0x07);  // 采样速率
	MPU6050_WriteReg(MPU6050_RA_GYRO_CONFIG, 0x18);  //+-2000
	MPU6050_WriteReg(MPU6050_RA_ACCEL_CONFIG , 0x00); //+-8g
}

#define MPU6050_ACC_OUT         0x3B
void get_icm20602_AccData_IIC(short *accData)  //获取加速度
{
	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]);
}

#define MPU6050_GYRO_OUT        0x43

void get_icm20602_GyroData_IIC(short *gyroData) //获取角速度
{
	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]);
}

void ICM_20602_Data(void)
{
	float accx, accy, accz;

	get_icm20602_AccData_IIC(ACC_DATA);       //Acc   Get
//	get_icm20602_GyroData_IIC(GYRO_DATA);  //Gyro Get

	//Get_Accx_ShortData_Average(ACC_DATA[0]); //accx-average  out -> accx_DATA_GET
	//Get_Accy_ShortData_Average(ACC_DATA[1]); //accy-average  out -> accy_DATA_GET
	//Get_Accz_ShortData_Average(ACC_DATA[2]); //accz-average  out -> accz_DATA_GET

	accel_x = ACC_DATA[0];
	accel_y = ACC_DATA[1];
	accel_z = ACC_DATA[2];

	if(accel_x<32764)
	{
		accx=accel_x/(16384.0); //0-1g
	}
	else
	{
		accx=1-(accel_x-49152)/16384.0;
	}
	if(accel_y<32764)
	{
		accy=accel_y/16384.0;
	}
	else
	{
		accy=1-(accel_y-49152)/16384.0;
	}
	if(accel_z<32764)
	{
		accz=accel_z/16384.0;
	}
	else
	{
		accz=(accel_z-49152)/16384.0;
	}

//	pitch_raw=(atan(accy/accz))*180/3.14;
	pitch_raw= atan2(accy,accz)*180/3.14;
	roll_raw   = atan2(accx,accz)*180/3.14;

	for(int i=9; i>0; i--)
	{
		base_pedal_pitch_buf[i] = base_pedal_pitch_buf[i-1];
	}
	base_pedal_pitch_buf[0] = pitch_raw*(-1);
	pitch_raw = (base_pedal_pitch_buf[0]+base_pedal_pitch_buf[1]+base_pedal_pitch_buf[2]+base_pedal_pitch_buf[3]+base_pedal_pitch_buf[4]
						+base_pedal_pitch_buf[5]+base_pedal_pitch_buf[6]+base_pedal_pitch_buf[7]+base_pedal_pitch_buf[8]+base_pedal_pitch_buf[9])/10.0f;

	for(int i=9; i>0; i--)
	{
		base_pedal_roll_buf[i] = base_pedal_roll_buf[i-1];
	}
	base_pedal_roll_buf[0] = roll_raw;
	roll_raw = (base_pedal_roll_buf[0]+base_pedal_roll_buf[1]+base_pedal_roll_buf[2]+base_pedal_roll_buf[3]+base_pedal_roll_buf[4]
						+base_pedal_roll_buf[5]+base_pedal_roll_buf[6]+base_pedal_roll_buf[7]+base_pedal_roll_buf[8]+base_pedal_roll_buf[9])/10.0f;
	/*angleChange*/
}

.h文件

void ICM_20602_Data(void);
uint8_t ICM20602_ReadID(void);
void ICM20602_INIT(void);
void get_icm20602_AccData_IIC(short *accData);
void get_icm20602_GyroData_IIC(short *gyroData);