Exemplos de MPU9250_ReadRegs em C++ (Cpp)

Exemplo n.º 1

Arquivo: module_mpu9250.c Projeto: KitSprout/RedBeanSprout

/*====================================================================================================*/
void MPU9250_getData( int16_t *dataIMU )
{
  uint8_t tmpRead[22] = {0};

#ifdef _USE_MAG_AK8963
  MPU9250_ReadRegs(MPU6500_ACCEL_XOUT_H, tmpRead, 22);
#else
  MPU9250_ReadRegs(MPU6500_ACCEL_XOUT_H, tmpRead, 14);
#endif

  dataIMU[0] = (Byte16(int16_t, tmpRead[6],  tmpRead[7]));    // Temp
  dataIMU[1] = (Byte16(int16_t, tmpRead[0],  tmpRead[1]));    // Acc.X
  dataIMU[2] = (Byte16(int16_t, tmpRead[2],  tmpRead[3]));    // Acc.Y
  dataIMU[3] = (Byte16(int16_t, tmpRead[4],  tmpRead[5]));    // Acc.Z
  dataIMU[4] = (Byte16(int16_t, tmpRead[8],  tmpRead[9]));    // Gyr.X
  dataIMU[5] = (Byte16(int16_t, tmpRead[10], tmpRead[11]));   // Gyr.Y
  dataIMU[6] = (Byte16(int16_t, tmpRead[12], tmpRead[13]));   // Gyr.Z
#ifdef _USE_MAG_AK8963
  if(!(tmpRead[14] & AK8963_STATUS_DRDY) || (tmpRead[14] & AK8963_STATUS_DOR) || (tmpRead[21] & AK8963_STATUS_HOFL))
    return;

  dataIMU[7] = (Byte16(int16_t, tmpRead[16], tmpRead[15]));   // Mag.X
  dataIMU[8] = (Byte16(int16_t, tmpRead[18], tmpRead[17]));   // Mag.Y
  dataIMU[9] = (Byte16(int16_t, tmpRead[20], tmpRead[19]));   // Mag.Z
#endif  
}

Exemplo n.º 2

Arquivo: module_imu.c Projeto: SUCHUANZHEN/SU_SmartIMU

/*====================================================================================================*/
void IMU_getData( IMU_DataTypeDef *pIMU )
{
  uint8_t tmpRead[22] = {0};

  if((pIMU->MPU_GyrAcc_Enable == MPU_GyrAcc_ENABLE) && (pIMU->MPU_Mag_Enable == MPU_Mag_ENABLE)) {
    MPU9250_ReadRegs(MPU6500_ACCEL_XOUT_H, tmpRead, 22);    // Read Gyr, Acc, Mag
  }
  else if(pIMU->MPU_GyrAcc_Enable == MPU_GyrAcc_ENABLE) {
    MPU9250_ReadRegs(MPU6500_ACCEL_XOUT_H, tmpRead, 14);    // Read Gyr, Acc
  }
  else if(pIMU->MPU_Mag_Enable == MPU_Mag_ENABLE) {
    MPU9250_ReadRegs(MPU6500_EXT_SENS_DATA_00, tmpRead + 14, 8); // Read Mag
  }

  if(pIMU->MPU_GyrAcc_Enable == MPU_GyrAcc_ENABLE) {
    pIMU->Gyr[0] = (Byte16(int16_t, tmpRead[8],  tmpRead[9]));    // Gyr.X
    pIMU->Gyr[1] = (Byte16(int16_t, tmpRead[10], tmpRead[11]));   // Gyr.Y
    pIMU->Gyr[2] = (Byte16(int16_t, tmpRead[12], tmpRead[13]));   // Gyr.Z
    pIMU->Acc[0] = (Byte16(int16_t, tmpRead[0],  tmpRead[1]));    // Acc.X
    pIMU->Acc[1] = (Byte16(int16_t, tmpRead[2],  tmpRead[3]));    // Acc.Y
    pIMU->Acc[2] = (Byte16(int16_t, tmpRead[4],  tmpRead[5]));    // Acc.Z
    pIMU->ICTemp = (Byte16(int16_t, tmpRead[6],  tmpRead[7]));    // Temp
  }

  if(pIMU->MPU_Mag_Enable == MPU_Mag_ENABLE) {
    if(!(!(tmpRead[14] & AK8963_STATUS_DRDY) || (tmpRead[14] & AK8963_STATUS_DOR) || (tmpRead[21] & AK8963_STATUS_HOFL))) {
      pIMU->Mag[0] = (Byte16(int16_t, tmpRead[16], tmpRead[15]));   // Mag.X
      pIMU->Mag[1] = (Byte16(int16_t, tmpRead[18], tmpRead[17]));   // Mag.Y
      pIMU->Mag[2] = (Byte16(int16_t, tmpRead[20], tmpRead[19]));   // Mag.Z
    }
  }

  if(pIMU->LPS_PresTemp_Enable == LPS_PresTemp_ENABLE) {
//    LPS25H_ReadReg(LPS25H_WHO_AM_I, );
  }
}

Exemplo n.º 3

Arquivo: mpu9250.c Projeto: Dreim3r/Quco

/*====================================================================================================*/
void MPU9250_Read( u8 *ReadBuf )
{
  MPU9250_ReadRegs(MPU6500_ACCEL_XOUT_H, ReadBuf, 14);
}

Exemplo n.º 4

Arquivo: mpu9250.c Projeto: lujun723/nano_board_vs2012

/**
	*	@brief		MPU9250_Read
	*	@note		MPU9250 Read Sensors' Values
	*	@param		None
	*	@retval		None
	*/
void MPU9250_Read( uint8_t *ReadBuf )
{
	MPU9250_ReadRegs(MPU6500_ACCEL_XOUT_H, ReadBuf, BYTES_TO_READ);
}