//初始化MPU3050，根据需要请参考pdf进行修改************************
void Init_MPU3050(void)
{
Single_Write(MPU3050_Addr,PWR_M, 0x80); //
Single_Write(MPU3050_Addr,SMPL, 0x07); //
Single_Write(MPU3050_Addr,DLPF, 0x1E); //±2000°
Single_Write(MPU3050_Addr,INT_C, 0x00 ); //
Single_Write(MPU3050_Addr,PWR_M, 0x00); //
}
/******************************************************************************
/ 函数功能:HMC5883校准
/ 修改日期:none
/ 输入参数:none
/ 输出参数:none
/ 使用说明:启动-中断-查询 (查询)
******************************************************************************/
void HMC5883L_Calibrate(void)
{
Single_Write(HMC5883L_Addr,HMC5883L_REGA,0x15); //30Hz,启动自检模式
Single_Write(HMC5883L_Addr,HMC5883L_MODE,0x01); //单一测量模式
delay_ms(10);
Single_Write(HMC5883L_Addr,HMC5883L_REGA,0x14);
Single_Write(HMC5883L_Addr,HMC5883L_MODE,0x00); //回到工作模式
}
//**************************************
//初始化MPU6050
//**************************************
u8 InitMPU6050(void)
{
u8 date;
date = Single_Write(MPU6050_ADDRESS, PWR_MGMT_1, 0x00); //解除休眠状态
date += Single_Write(MPU6050_ADDRESS, SMPLRT_DIV, 0x07);
date += Single_Write(MPU6050_ADDRESS, CONFIGL, 0x03);
date += Single_Write(MPU6050_ADDRESS, GYRO_CONFIG, 0x10);
date += Single_Write(MPU6050_ADDRESS, ACCEL_CONFIG, 0x09);//+-4G
return date;
}
/*====================================================================================================*/
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;
}
void Init_HMC5883L()
{
RCC->APB2ENR|=1<<6; //使能PORTE时钟
GPIOE->CRL&=0xffffff00;
GPIOE->CRL|=0x00000077;
GPIOE->ODR|=3;
Single_Write(HMC5883L_Addr,0x02,0x00);
}
rt_err_t l3g4200d_init(const char * i2c_bus_device_name)
{
i2c_device = rt_i2c_bus_device_find(i2c_bus_device_name);
if(i2c_device == RT_NULL)
{
rt_kprintf("i2c bus device %s not found!\r\n", i2c_bus_device_name);
return -RT_ENOSYS;
}
// RCC_Configuration();
// NVIC_Configuration();
// GPIO_Configuration();
Single_Write(CTRL_REG1, 0x0f);
Single_Write(CTRL_REG2, 0x00);
Single_Write(CTRL_REG3, 0x08);
Single_Write(CTRL_REG4, 0x30); //+-2000dps
Single_Write(CTRL_REG5, 0x00);
// rt_sem_init(&l3g4200d_int2,"l3g_INT2",0,RT_IPC_FLAG_FIFO);
return RT_EOK;
}
//*****************************************************************
//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;
}
void L3G4200_Init( void )
{
u8 L3G4200_Init_Data[6] = {
0x8F, /* L3G4200_CTRL_REG1 普通模式,三轴使能， ODR:400Hz, CutOff:20, XYZEnable */
0x00, /* L3G4200_CTRL_REG2 普通模式，高通滤波截止频率30hz*/
0x08, /* L3G4200_CTRL_REG3 数据准备使能*/
0x10, /* L3G4200_CTRL_REG4 持续更新，满量程Range:2000dps */ //0X20 2000dps 0x10 500dps
0x00, /* L3G4200_CTRL_REG5 默认*/
0x00 /* L3G4200_REFERENCE 默认*/
};//这里以后要改指针，高端
Single_Write(L3G4200_I2C_ADDR, L3G4200_CTRL_REG1,L3G4200_Init_Data[0]);delay_ms(1);
Single_Write(L3G4200_I2C_ADDR, L3G4200_CTRL_REG2,L3G4200_Init_Data[1]);delay_ms(1);
Single_Write(L3G4200_I2C_ADDR, L3G4200_CTRL_REG3,L3G4200_Init_Data[2]);delay_ms(1);
Single_Write(L3G4200_I2C_ADDR, L3G4200_CTRL_REG4,L3G4200_Init_Data[3]);delay_ms(1);
Single_Write(L3G4200_I2C_ADDR, L3G4200_CTRL_REG5,L3G4200_Init_Data[4]);delay_ms(1);
Single_Write(L3G4200_I2C_ADDR, L3G4200_REFERENCE,L3G4200_Init_Data[5]);delay_ms(1);
}
/******************************************************************************
/ 函数功能:启动HMC5883开始转换(适用于启动-中断-读取数据的程序)
/ 修改日期:none
/ 输入参数:none
/ 输出参数:none
/ 使用说明:启动-中断-查询 (启动)
******************************************************************************/
void HMC5883L_Start(void)
{
Single_Write(HMC5883L_Addr,HMC5883L_REGA,0x14); //30Hz
Single_Write(HMC5883L_Addr,HMC5883L_MODE,0x00); //连续测量模式
}
//自动校准
//xval,yval,zval:x,y,z轴的校准值
void ADXL345_AUTO_Adjust(char *xval,char *yval,char *zval)
{
short tx,ty,tz;
u8 i;
short offx=0,offy=0,offz=0;
Single_Write(POWER_CTL,0x00); //先进入休眠模式.
delay_ms(100);
Single_Write(DATA_FORMAT,0X2B); //低电平中断输出,13位全分辨率,输出数据右对齐,16g量程
Single_Write(BW_RATE,0x0A); //数据输出速度为100Hz
Single_Write(POWER_CTL,0x28); //链接使能,测量模式
Single_Write(INT_ENABLE,0x00); //不使用中断
Single_Write(OFSX,0x00);
Single_Write(OFSY,0x00);
Single_Write(OFSZ,0x00);
delay_ms(12);
for(i=0;i<10;i++)
{
ADXL345_RD_Avval(&tx,&ty,&tz);
offx+=tx;
offy+=ty;
offz+=tz;
}
offx/=10;
offy/=10;
offz/=10;
*xval=-offx/4;
*yval=-offy/4;
*zval=-(offz-256)/4;
Single_Write(OFSX,*xval);
Single_Write(OFSY,*yval);
Single_Write(OFSZ,*zval);
}