/******************************************************************************
/ 函数功能:读取HMC5883的数据，单位国际化
/ 修改日期:none
/ 输入参数:none
/ 输出参数:none
/ 使用说明:none
******************************************************************************/
void HMC5883L_Read(HMC5883L_DATA * ptResult,HMC5883L_DATA_Unit * hmc5883_calibration)
{
static uint8_t tmp[6];
float mx_sum = 0, my_sum = 0, mz_sum = 0;
/**************************/
tmp[0]=Single_Read(HMC5883L_Addr,HMC5883L_HX_H);//OUT_X_L_A
tmp[1]=Single_Read(HMC5883L_Addr,HMC5883L_HX_L);//OUT_X_H_A
tmp[2]=Single_Read(HMC5883L_Addr,HMC5883L_HZ_H);//OUT_Z_L_A
tmp[3]=Single_Read(HMC5883L_Addr,HMC5883L_HZ_L);//OUT_Z_H_A
tmp[4]=Single_Read(HMC5883L_Addr,HMC5883L_HY_H);//OUT_Y_L_A
tmp[5]=Single_Read(HMC5883L_Addr,HMC5883L_HY_L);//OUT_Y_H_A
ptResult->hx = (int16_t)((tmp[0] << 8) | tmp[1]);
ptResult->hy = (int16_t)((tmp[4] << 8) | tmp[5]);
ptResult->hz = (int16_t)((tmp[2] << 8) | tmp[3]);
/****************归0归1***************/
if(CMP_OFFSET_OK)
{
if(cal_cnt)
{
cal_cnt--;
if(mx_min > ptResult->hx) mx_min = ptResult->hx;
if(mx_max < ptResult->hx) mx_max = ptResult->hx;
if(my_min > ptResult->hy) my_min = ptResult->hy;
if(my_max < ptResult->hy) my_max = ptResult->hy;
if(mz_min > ptResult->hz) mz_min = ptResult->hz;
if(mz_max < ptResult->hz) mz_max = ptResult->hz;
if(cal_cnt==0)
{
static uint8_t j = 0;
hmc_offset.hx = (mx_min + mx_max)/2;
hmc_offset.hy = (my_min + my_max)/2;
hmc_offset.hz = (mz_min + mz_max)/2;
mx_sum = mx_max - mx_min;
my_sum = my_max - my_min;
mz_sum = mz_max - mz_min;
My_Gain = mx_sum/my_sum;
Mz_Gain = mx_sum/mz_sum;
CMP_OFFSET_OK = 0;
EE_SAVE_CMP_OFFSET();
for(j=0;j<3;j++)
{all_ON(); delay_ms(300);all_OFF();delay_ms(300);}
}
}
}
else
{
hmc5883_calibration->hx = (float)(ptResult->hx - hmc_offset.hx);
hmc5883_calibration->hy = (float)((ptResult->hy - hmc_offset.hy) * My_Gain);
hmc5883_calibration->hz = (float)((ptResult->hz - hmc_offset.hz) * Mz_Gain);
}
}
/*====================================================================================================*/
u8 InitMPU6050(void)
{
u8 ack;
ack = Single_Read(MPU6050_ADDRESS, WHO_AM_I);
if (!ack)
return FALSE;
Single_Write(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); //解除休眠状态
Single_Write(MPU6050_ADDRESS, SMPLRT_DIV, 0x07);
Single_Write(MPU6050_ADDRESS, CONFIGL, MPU6050_DLPF); //低通滤波
Single_Write(MPU6050_ADDRESS, GYRO_CONFIG, MPU6050_GYRO_FS_1000); //陀螺仪量程 +-1000
Single_Write(MPU6050_ADDRESS, ACCEL_CONFIG, MPU6050_ACCEL_FS_4); //加速度量程 +-4G
return TRUE;
}
//*****************************************************************
//初始化ADXL345，根据需要请参考pdf进行修改************************
int Init_ADXL345()
{
if(Single_Read(DEVICE_ID)==0XE5)
{ //读取器件ID
Single_Write(DATA_FORMAT,0x2b); //测量范围,正负16g，13位模式
Single_Write(BW_RATE, 0x0a); //速率设定为12.5
Single_Write(POWER_CTL, 0x28); //选择电源模式
Single_Write(INT_ENABLE, 0x00); //使能 DATA_READY 中断
Single_Write(OFSX,0x00); //X 偏移量
Single_Write(OFSY,0x00); //Y 偏移量
Single_Write(OFSZ,0x00); //Z 偏移量
return 0;
}
else
return 1;
}
//******读取MPU3050数据****************************************
void READ_MPU3050(void)
{
BUF[0]=Single_Read(MPU3050_Addr,GX_L);
BUF[1]=Single_Read(MPU3050_Addr,GX_H);
T_X= (BUF[1]<<8)|BUF[0];
T_X/=16.4; //读取计算X轴数据
BUF[2]=Single_Read(MPU3050_Addr,GY_L);
BUF[3]=Single_Read(MPU3050_Addr,GY_H);
T_Y= (BUF[3]<<8)|BUF[2];
T_Y/=16.4; //读取计算Y轴数据
BUF[4]=Single_Read(MPU3050_Addr,GZ_L);
BUF[5]=Single_Read(MPU3050_Addr,GZ_H);
T_Z= (BUF[5]<<8)|BUF[4];
T_Z/=16.4; //读取计算Z轴数据
BUF[6]=Single_Read(MPU3050_Addr,TMP_L);
BUF[7]=Single_Read(MPU3050_Addr,TMP_H);
T_T=(BUF[7]<<8)|BUF[6];
T_T = 35+ ((double) (T_T + 13200)) / 280;// 读取计算出温度
}
void HMC5883L_Read(tg_HMC5883L_TYPE * ptResult)
{
uint8_t tmp[6];
int32_t s32Val;
i2cWrite(HMC5883L_Addr,HMC5883L_REGA,0x14); //30Hz
i2cWrite(HMC5883L_Addr,HMC5883L_MODE,0x00); //连续测量模式
Delayms(10);
tmp[0]=Single_Read(HMC5883L_Addr,HMC5883L_HX_H);//OUT_X_L_A
tmp[1]=Single_Read(HMC5883L_Addr,HMC5883L_HX_L);//OUT_X_H_A
tmp[2]=Single_Read(HMC5883L_Addr,HMC5883L_HZ_H);//OUT_Z_L_A
tmp[3]=Single_Read(HMC5883L_Addr,HMC5883L_HZ_L);//OUT_Z_H_A
tmp[4]=Single_Read(HMC5883L_Addr,HMC5883L_HY_H);//OUT_Y_L_A
tmp[5]=Single_Read(HMC5883L_Addr,HMC5883L_HY_L);//OUT_Y_H_A
ptResult->hx = (int16_t)((tmp[0] << 8) | tmp[1])+HMC5883L_OFFSET_X;
s32Val = (int16_t)((tmp[4] << 8) | tmp[5])+HMC5883L_OFFSET_Y;
s32Val = (s32Val*HMC5883L_GAIN_Y)/10000;
ptResult->hy = (int16_t)s32Val;
ptResult->hz = (int16_t)((tmp[2] << 8) | tmp[3]);
}
//**************************实现函数********************************************
//将iic读取到得数据分拆,放入相应寄存器,更新MPU6050_Last
//******************************************************************************
void MPU6050_Read(void)
{
mpu6050_buffer[0]=Single_Read(MPU6050_ADDRESS, 0x3B);
mpu6050_buffer[1]=Single_Read(MPU6050_ADDRESS, 0x3C);
mpu6050_buffer[2]=Single_Read(MPU6050_ADDRESS, 0x3D);
mpu6050_buffer[3]=Single_Read(MPU6050_ADDRESS, 0x3E);
mpu6050_buffer[4]=Single_Read(MPU6050_ADDRESS, 0x3F);
mpu6050_buffer[5]=Single_Read(MPU6050_ADDRESS, 0x40);
mpu6050_buffer[8]=Single_Read(MPU6050_ADDRESS, 0x43);
mpu6050_buffer[9]=Single_Read(MPU6050_ADDRESS, 0x44);
mpu6050_buffer[10]=Single_Read(MPU6050_ADDRESS, 0x45);
mpu6050_buffer[11]=Single_Read(MPU6050_ADDRESS, 0x46);
mpu6050_buffer[12]=Single_Read(MPU6050_ADDRESS, 0x47);
mpu6050_buffer[13]=Single_Read(MPU6050_ADDRESS, 0x48);
}