示例#1
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文件: mpu.c 项目: legendd/SEPW_LiDAR
 void MPU6050_Initialize()             //初始化过程 ,其实就是写 5个寄存器
        {        
                MPU6050_I2C_ByteWrite(0xd0,0x00,MPU6050_RA_PWR_MGMT_1);      // reg107, 唤醒,8M内部时钟源
                MPU6050_I2C_ByteWrite(0xd0,0x07,MPU6050_RA_SMPLRT_DIV);         //采用频率 1000
                MPU6050_I2C_ByteWrite(0xd0,0x06,MPU6050_RA_CONFIG);                 
                MPU6050_I2C_ByteWrite(0xd0,0x01,MPU6050_RA_ACCEL_CONFIG);     //加速度量程 2g
                MPU6050_I2C_ByteWrite(0xd0,0x18,MPU6050_RA_GYRO_CONFIG);          //角速度量程 2000度/s
        }
示例#2
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/** write a single bit in an 8-bit device register.
 * @param slaveAddr I2C slave device address
 * @param regAddr Register regAddr to write to
 * @param bitNum Bit position to write (0-7)
 * @param value New bit value to write
 */
void MPU6050_WriteBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)
{
    uint8_t tmp;
    MPU6050_I2C_BufferRead(slaveAddr, &tmp, regAddr, 1);
    tmp = (data != 0) ? (tmp | (1 << bitNum)) : (tmp & ~(1 << bitNum));
    MPU6050_I2C_ByteWrite(slaveAddr,&tmp,regAddr);
}
示例#3
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/** Write multiple bits in an 8-bit device register.
 * @param slaveAddr I2C slave device address
 * @param regAddr Register regAddr to write to
 * @param bitStart First bit position to write (0-7)
 * @param length Number of bits to write (not more than 8)
 * @param data Right-aligned value to write
 */
void MPU6050_WriteBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
{
    //      010 value to write
    // 76543210 bit numbers
    //    xxx   args: bitStart=4, length=3
    // 00011100 mask byte
    // 10101111 original value (sample)
    // 10100011 original & ~mask
    // 10101011 masked | value
    uint8_t tmp;
    MPU6050_I2C_BufferRead(slaveAddr, &tmp, regAddr, 1);
    uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
    data <<= (bitStart - length + 1); // shift data into correct position
    data &= mask; // zero all non-important bits in data
    tmp &= ~(mask); // zero all important bits in existing byte
    tmp |= data; // combine data with existing byte
    MPU6050_I2C_ByteWrite(slaveAddr,&tmp,regAddr);
}
示例#4
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/** Write multiple bits in an 8-bit device register.
 * @param slaveAddr I2C slave device address
 * @param regAddr Register regAddr to write to
 * @param bitStart First bit position to write (0-7)
 * @param length Number of bits to write (not more than 8)
 * @param data Right-aligned value to write
 */
void MPU6050_WriteBits( uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data )
{
	/*
	 *      010 value to write
	 * 76543210 bit numbers
	 *    xxx   args: bitStart=4, length=3
	 * 00011100 mask byte
	 * 10101111 original value (sample)
	 * 10100011 original & ~mask
	 * 10101011 masked | value
	 */
	uint8_t tmp, mask;
	MPU6050_I2C_BufferRead( slaveAddr, &tmp, regAddr, 1 );
	mask = ( (1 << length) - 1) << (bitStart - length + 1);
	data <<= (bitStart - length + 1);       /* shift data into correct position */
	data &= mask;                           /* zero all non-important bits in data */
	tmp &= ~(mask);                         /* zero all important bits in existing byte */
	tmp |= data;                            /* combine data with existing byte */
	MPU6050_I2C_ByteWrite( slaveAddr, &tmp, regAddr );
}
示例#5
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void MPU6050_WriteByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t data)
{
    uint8_t tmp;  
    tmp = data;
    MPU6050_I2C_ByteWrite(slaveAddr,&tmp,regAddr);  
}