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
}
/** 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);
}
/** 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);
}
/** 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 );
}
void MPU6050_WriteByte(uint8_t slaveAddr, uint8_t regAddr, uint8_t data)
{
uint8_t tmp;
tmp = data;
MPU6050_I2C_ByteWrite(slaveAddr,&tmp,regAddr);
}