u8 MPU_Init(void)
{
u8 res;
//RCC->APB2ENR|=1<<2; //??PORTA??
//GPIOA->CRH&=0X0FFFFFFF; //PA15???????
//GPIOA->CRH|=0X30000000;
//JTAG_Set(SWD_ENABLE); //??JTAG,??PA15?????IO??,??PA15?????IO!!!
//MPU_AD0_CTRL=0; //??MPU6050?AD0?????,?????:0X68
MPU_IIC_Init();//???IIC??
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //??MPU6050
delay_ms(100);
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //??MPU6050
MPU_Set_Gyro_Fsr(3); //??????,�00dps
MPU_Set_Accel_Fsr(0); //??????,�
MPU_Set_Rate(50); //?????50Hz
MPU_Write_Byte(MPU_INT_EN_REG,0X00); //??????
MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2C?????
MPU_Write_Byte(MPU_FIFO_EN_REG,0X00); //??FIFO
MPU_Write_Byte(MPU_INTBP_CFG_REG,0X82); //MPU_INTBP_CFG_REG 0x37
res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
if(res==MPU_ADDR)//??ID??
{
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //??CLKSEL,PLL X????
MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //??????????
MPU_Set_Rate(50); //??????50Hz
}
else
return 1;
return 0;
}
//初始化MPU6050
//返回值:0,成功
// 其他,错误代码
uint8_t MPU_Init(void)
{
uint8_t res;
// IIC_Init();//初始化IIC总线
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //复位MPU6050
delay_ms(100);
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //唤醒MPU6050
MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
MPU_Set_Accel_Fsr(0); //加速度传感器,±2g
MPU_Set_Rate(50); //设置采样率50Hz
MPU_Write_Byte(MPU_INT_EN_REG,0X00); //关闭所有中断
MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2C主模式关闭
MPU_Write_Byte(MPU_FIFO_EN_REG,0X00); //关闭FIFO
MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); //INT引脚低电平有效
res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
if(res==MPU_ADDR)//器件ID正确
{
printf("\nRight\n\r");
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //设置CLKSEL,PLL X轴为参考
MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //加速度与陀螺仪都工作
MPU_Set_Rate(50); //设置采样率为50Hz
}
else
{
printf("\n Error \n\r");
return 1;
}
return 0;
}
//初始化MPU6050
//返回值:0,成功
// 其他,错误代码
u8 MPU_Init(void)
{
u8 res;
IIC_Init();//初始化IIC总线
if(MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80)){
return 2;
} //复位MPU6050
delay_ms(100);
if(MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00)){
return 3;
} //唤醒MPU6050
if(MPU_Set_Gyro_Fsr(3)){
return 4;
} //陀螺仪传感器,±2000dps
if(MPU_Set_Accel_Fsr(0)){
return 5;
} //加速度传感器,±2g
if(MPU_Set_Rate(50)){
return 6;
} //设置采样率50Hz
if(MPU_Write_Byte(MPU_INT_EN_REG,0X00)){
return 7;
} //关闭所有中断
if(MPU_Write_Byte(MPU_USER_CTRL_REG,0X00)){
return 8;
} //I2C主模式关闭
if(MPU_Write_Byte(MPU_FIFO_EN_REG,0X00)){
return 9;
} //关闭FIFO
if(MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80)){
return 10;
} //INT引脚低电平有效
res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
if(res==MPU_ADDR)//器件ID正确
{
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //设置CLKSEL,PLL X轴为参考
MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //加速度与陀螺仪都工作
MPU_Set_Rate(50); //设置采样率为50Hz
}else {
printf("address error: %X\n",res);
return 1;
};
return 0;
}