void mpu6050_init(const nrf_drv_twi_t * twi)
{
uint8_t inData[7]={0x00, //0x19
0x00, //0x1A
0x03, //0x6B
0x10, //0x1B
0x00, //0x6A
0x32, //0x37
0x01}; //0x38
uint8_t acc = 0x00;
// Do a reset on signal paths
uint8_t reset_value = 0x04U | 0x02U | 0x01U; // Resets gyro, accelerometer and temperature sensor signal paths.
mpu6050_register_write(twi, MPU6050_RA_SIGNAL_PATH_RESET, reset_value);
// Read and verify product ID
mpu6050_verify_product_id(twi);
//设置GYRO
mpu6050_register_write(twi, MPU6050_RA_SMPLRT_DIV, inData[0]); //设置采样率 -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
mpu6050_register_write(twi, MPU6050_RA_CONFIG, inData[1]); //CONFIG -- EXT_SYNC_SET 0 (禁用晶振输入脚) ; default DLPF_CFG = 0 => (低通滤波)ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
mpu6050_register_write(twi, MPU6050_RA_PWR_MGMT_1, inData[2]); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
mpu6050_register_write(twi, MPU6050_RA_GYRO_CONFIG, inData[3]); //gyro配置 量程 0-1000度每秒
mpu6050_register_write(twi, MPU6050_RA_USER_CTRL, inData[4]); // 0x6A的 I2C_MST_EN 设置成0 默认为0 6050 时能主IIC
// 0x37的 推挽输出，高电平中断，一直输出高电平直到中断清除，任何读取操作都清除中断 使能 pass through 功能 直接在6050 读取5883数据
mpu6050_register_write(twi, MPU6050_RA_INT_PIN_CFG, inData[5]);
mpu6050_register_write(twi, MPU6050_RA_INT_ENABLE, inData[6]); //时能data ready 引脚
//设置 ACC
mpu6050_register_write(twi, MPU6050_RA_ACCEL_CONFIG,acc); //ACC设置 量程 +-2G s
}
//@-node:gan0ling.20140624184821.3316:mpu6050 declarations
//@+node:gan0ling.20140624184821.3317:mpu6050_init
bool mpu6050_init(uint8_t device_address)
{
bool transfer_succeeded = true;
m_device_address = (uint8_t)(device_address << 1);
// Do a reset on signal paths
uint8_t reset_value = 0x04U | 0x02U | 0x01U; // Resets gyro, accelerometer and temperature sensor signal paths
transfer_succeeded &= mpu6050_register_write(ADDRESS_SIGNAL_PATH_RESET, reset_value);
// Read and verify product ID
transfer_succeeded &= mpu6050_verify_product_id();
return transfer_succeeded;
}