/**************************实现函数********************************************
*函数原型: void MPU6050_initialize(void)
*功 能: 初始化 MPU6050 以进入可用状态。
*******************************************************************************/
void MPU6050_initialize(void)
{
IICwriteByte(devAddr, MPU6050_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay_ms(50);
IICwriteByte(devAddr, MPU6050_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
IICwriteByte(devAddr, MPU6050_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
IICwriteByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
IICwriteByte(devAddr, MPU6050_RA_CONFIG, MPU6050_DLPF_BW_42); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
// default is Gyro scale 2000 degree/s
MPU6050_setFullScaleGyroRange(MPU6050_GYRO_SEL);
// default is Accel scale 8g (4096 LSB/g)
MPU6050_setFullScaleAccelRange(MPU6050_ACCL_SEL);
}
// BANK_SEL register
void MPU6050_setMemoryBank(uint8_t bank, uint8_t prefetchEnabled, uint8_t userBank)
{
bank &= 0x1F;
if (userBank) bank |= 0x20;
if (prefetchEnabled) bank |= 0x40;
IICwriteByte(devAddr, MPU6050_RA_BANK_SEL, bank);
}
/**************************实现函数********************************************
*函数原型: u8 IICwriteBits(u8 dev,u8 reg,u8 bitStart,u8 length,u8 data)
*功 能: 读 修改 写 指定设备 指定寄存器一个字节 中的多个位
输入 dev 目标设备地址
reg 寄存器地址
bitStart 目标字节的起始位
length 位长度
data 存放改变目标字节位的值
返回 成功 为1
失败为0
*******************************************************************************/
u8 IICwriteBits(u8 dev,u8 reg,u8 bitStart,u8 length,u8 data)
{
u8 b;
if (IICreadByte(dev, reg, &b) != 0) {
u8 mask = (0xFF << (bitStart + 1)) | 0xFF >> ((8 - bitStart) + length - 1);
data <<= (8 - length);
data >>= (7 - bitStart);
b &= mask;
b |= data;
return IICwriteByte(dev, reg, b);
} else {
/**************************实现函数********************************************
*函数原型: void MPU6050_initialize(void)
*功 能: 初始化 MPU6050 以进入可用状态。
*******************************************************************************/
void MPU6050_initialize(void) {
//int16_t temp[6];
// unsigned char i;
/*
MPU6050_reset();
delay_ms(5); // wait after reset 50ms
MPU6050_setRate(0);
MPU6050_setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
//printf(("设置DLPF带宽为42Hz...\r\n"));
MPU6050_setDLPFMode(MPU6050_DLPF_BW_42);
//printf(("设置角速度精度为 +/- 2000 deg/sec...\r\n"));
MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_4); //加速度度最大量程
*/
IICwriteByte(MPU6050_ADDR, MPU6050_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
delay_ms(50);
IICwriteByte(MPU6050_ADDR, MPU6050_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
IICwriteByte(MPU6050_ADDR, MPU6050_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
IICwriteByte(MPU6050_ADDR, MPU6050_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
IICwriteByte(MPU6050_ADDR, MPU6050_RA_CONFIG, MPU6050_DLPF_BW_42); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
// IICwriteByte(MPU6050_ADDR, MPU6050_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
// Accel scale 8g (4096 LSB/g)
IICwriteByte(MPU6050_ADDR, MPU6050_RA_ACCEL_CONFIG, 2 << 3);
MPU6050_setI2CBypassEnabled(1);
}
uint8_t MPU6050_writeDMPConfigurationSet(const uint8_t *data, uint16_t dataSize, uint8_t useProgMem)
{
uint8_t *progBuffer, success, special;
uint16_t i;
// config set data is a long string of blocks with the following structure:
// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
uint8_t bank, offset, length;
for (i = 0; i < dataSize;) {
bank = data[i++];
offset = data[i++];
length = data[i++];
// write data or perform special action
if (length > 0) {
// regular block of data to write
progBuffer = (uint8_t*)data + i;
success = MPU6050_writeMemoryBlock(progBuffer, length, bank, offset, 1, 0);
i += length;
} else {
// special instruction
// NOTE: this kind of behavior (what and when to do certain things)
// is totally undocumented. This code is in here based on observed
// behavior only, and exactly why (or even whether) it has to be here
// is anybody's guess for now.
special = data[i++];
if (special == 0x01) {
// enable DMP-related interrupts
IICwriteByte(devAddr, MPU6050_RA_INT_ENABLE, 0x32); // single operation
success = 1;
} else {
// unknown special command
success = 0;
}
}
if (!success) {
return 0; // uh oh
}
}
return 1;
}
void MPU6050Init(uint8_t report)
{
IICwriteByte(devAddr, MPU6050_RA_PWR_MGMT_1, 0x80); //PWR_MGMT_1 -- DEVICE_RESET 1
SysCtlDelay(SysCtlClockGet() / 10);
IICwriteByte(devAddr, MPU6050_RA_PWR_MGMT_1, 0x00);
IICwriteByte(devAddr, MPU6050_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
IICwriteByte(devAddr, MPU6050_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
IICwriteByte(devAddr, MPU6050_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
IICwriteByte(devAddr, MPU6050_RA_CONFIG, MPU6050_DLPF_BW_42); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
// IICwriteByte(devAddr, MPU6050_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec
MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
// Accel scale 8g (4096 LSB/g)
IICwriteByte(devAddr, MPU6050_RA_ACCEL_CONFIG, 2 << 3);
if(report)
UARTprintf("MPU6050初始化完成!\r\n");
}
void MPU6050_setDMPConfig2(uint8_t config) {
IICwriteByte(devAddr, MPU6050_RA_DMP_CFG_2, config);
}
/** Set gyroscope sample rate divider.
* @param rate New sample rate divider
* @see getRate()
* @see MPU6050_RA_SMPLRT_DIV
*/
void MPU6050_setRate(uint8_t rate) {
IICwriteByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
}
/** Set full interrupt enabled status.
* Full register byte for all interrupts, for quick reading. Each bit should be
* set 0 for disabled, 1 for enabled.
* @param enabled New interrupt enabled status
* @see getIntFreefallEnabled()
* @see MPU6050_RA_INT_ENABLE
* @see MPU6050_INTERRUPT_FF_BIT
**/
void MPU6050_setIntEnabled(uint8_t enabled) {
IICwriteByte(devAddr, MPU6050_RA_INT_ENABLE, enabled);
}
// MEM_START_ADDR register
void MPU6050_setMemoryStartAddress(uint8_t address) {
IICwriteByte(devAddr, MPU6050_RA_MEM_START_ADDR, address);
}
/**************************实现函数********************************************
*函数原型: void HMC58X3_writeReg(unsigned char reg, unsigned char val)
*功 能: 写HMC5883L的寄存器
输入参数： reg 寄存器地址
val 要写入的值
输出参数： 无
*******************************************************************************/
void HMC58X3_writeReg(unsigned char reg, unsigned char val) {
IICwriteByte(HMC58X3_ADDR,reg,val);
}
void MPU6050_setDMPConfig2(uint8_t config) {
IICwriteByte(MPU6050_ADDR, MPU6050_RA_DMP_CFG_2, config);
}
/** Set gyroscope sample rate divider.
* @param rate New sample rate divider
* @see getRate()
* @see MPU6050_RA_SMPLRT_DIV
*/
void MPU6050_setRate(uint8_t rate) {
IICwriteByte(MPU6050_ADDR, MPU6050_RA_SMPLRT_DIV, rate);
}
