MPU6050.cpp知多少
今天调试dmp各种头大于是跑去libraries看.h和.cpp的文件…………结果…………（真是骑驴找驴）/** Default constructor, uses default I2C address.默认的函数结构，使用默认的I2C地址。
* @see MPU6050_DEFAULT_ADDRESS
*/
MPU6050::MPU6050() {
devAddr = MPU6050_DEFAULT_ADDRESS;
}
直接使用MPU6050 mpu；的格式,mpu是设备名可以改的。
/** Specific address constructor.特殊地址的函数结构。
* @param address I2C address
* @see MPU6050_DEFAULT_ADDRESS
* @see MPU6050_ADDRESS_AD0_LOW
* @see MPU6050_ADDRESS_AD0_HIGH
*/
MPU6050::MPU6050(uint8_t address) {
devAddr = address;
}
这里是MPU6050 mpu(0x68);默认地址是68，可以改。
/** Power on and prepare for general usage.上电，调试
* This will activate the device and take it out of sleep mode (which must be done
* after start-up). This function also sets both the accelerometer and the gyroscope
* to their most sensitive settings, namely +/- 2g 加速度计设为+/- 2gand +/- 250 degrees/sec陀螺仪设为+/- 250度/秒, and sets
* the clock source to use the X Gyro for reference, which is slightly better than
* the default internal clock source.
*/
void MPU6050::initialize() {
setClockSource(MPU6050_CLOCK_PLL_XGYRO);
setFullScaleGyroRange(MPU6050_GYRO_FS_250);
setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!
}
这里是mpu.initialize();/** Verify the I2C connection.验证I2C接口。
* Make sure the device is connected and responds as expected.
* @return True if connection is valid, false otherwise
*/
bool MPU6050::testConnection() {
return getDeviceID() == 0x34;
}mpu.testConnection();// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)
/** Get the auxiliary I2C supply voltage level.获取I2C辅助电源电压。
* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
* the MPU-6000, which does not have a VLOGIC pin.
* @return I2C supply voltage level (0=VLOGIC, 1=VDD)
*/
uint8_t MPU6050::getAuxVDDIOLevel() {
I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
return buffer;
}mpu.getAuxVDDIOLevel();/** Set the auxiliary I2C supply voltage level.设定I2C辅助电源电压。
* When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
* 0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
* the MPU-6000, which does not have a VLOGIC pin.
* @param level I2C supply voltage level (0=VLOGIC, 1=VDD)
*/
void MPU6050::setAuxVDDIOLevel(uint8_t level) {
I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
}mpu.setAuxVDDIOLevel(uint8_t level) ;// SMPLRT_DIV register
/** Get gyroscope output rate divider.获取陀螺仪输出频率间隔。
* The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
* Motion detection, and Free Fall detection are all based on the Sample Rate.
* The Sample Rate is generated by dividing the gyroscope output rate by
* SMPLRT_DIV:
*
* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
*
* where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
* 7), and 1kHz when the DLPF is enabled (see Register 26).
*
* Note: The accelerometer output rate is 1kHz. This means that for a Sample
* Rate greater than 1kHz, the same accelerometer sample may be output to the
* FIFO, DMP, and sensor registers more than once.
*
* For a diagram of the gyroscope and accelerometer signal paths, see Section 8
* of the MPU-6000/MPU-6050 Product Specification document.
*
* @return Current sample rate
* @see MPU6050_RA_SMPLRT_DIV
*/
uint8_t MPU6050::getRate() {
I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
return buffer;
}mpu.getRate();/** Set gyroscope sample rate divider.设定陀螺仪的采样频率间隔。
* @param rate New sample rate divider
* @see getRate()
* @see MPU6050_RA_SMPLRT_DIV
*/
void MPU6050::setRate(uint8_t rate) {
I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);
}mpu.setRate(uint8_t rate);// CONFIG register
/** Get external FSYNC configuration.获取FSYNC函数外接配置。
* Configures the external Frame Synchronization (FSYNC) pin sampling. An
* external signal connected to the FSYNC pin can be sampled by configuring
* EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
* strobes may be captured. The latched FSYNC signal will be sampled at the
* Sampling Rate, as defined in register 25. After sampling, the latch will
* reset to the current FSYNC signal state.
*
* The sampled value will be reported in place of the least significant bit in
* a sensor data register determined by the value of EXT_SYNC_SET according to
* the following table.
*
* <pre>
* EXT_SYNC_SET | FSYNC Bit Location
* -------------+-------------------
* 0 | Input disabled
* 1 | TEMP_OUT_L
* 2 | GYRO_XOUT_L
* 3 | GYRO_YOUT_L
* 4 | GYRO_ZOUT_L
* 5 | ACCEL_XOUT_L
* 6 | ACCEL_YOUT_L
* 7 | ACCEL_ZOUT_L
* </pre>
*
* @return FSYNC configuration value
*/
uint8_t MPU6050::getExternalFrameSync() {
I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
return buffer;
}mpu.getExternalFrameSync();/** Set external FSYNC configuration.设定FSYNC函数外接配置。
* @see getExternalFrameSync()
* @see MPU6050_RA_CONFIG
* @param sync New FSYNC configuration value
*/
void MPU6050::setExternalFrameSync(uint8_t sync) {
I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
}mpu.setExternalFrameSync(uint8_t sync);!!!好东西来了！
/** Get digital low-pass filter configuration.获取数字低通滤波器的配置。
* The DLPF_CFG parameter sets the digital low pass filter configuration. It
* also determines the internal sampling rate used by the device as shown in
* the table below.
*
* Note: The accelerometer output rate is 1kHz. This means that for a Sample
* Rate greater than 1kHz, the same accelerometer sample may be output to the
* FIFO, DMP, and sensor registers more than once.
*
* <pre>
* | ACCELEROMETER | GYROSCOPE
* DLPF_CFG | Bandwidth | Delay| Bandwidth | Delay| Sample Rate
* ---------+-----------+--------+-----------+--------+-------------
* 0 | 260Hz | 0ms | 256Hz | 0.98ms | 8kHz
* 1 | 184Hz | 2.0ms| 188Hz | 1.9ms| 1kHz
* 2 | 94Hz | 3.0ms| 98Hz | 2.8ms| 1kHz
* 3 | 44Hz | 4.9ms| 42Hz | 4.8ms| 1kHz
* 4 | 21Hz | 8.5ms| 20Hz | 8.3ms| 1kHz
* 5 | 10Hz | 13.8ms | 10Hz | 13.4ms | 1kHz
* 6 | 5Hz | 19.0ms | 5Hz | 18.6ms | 1kHz
* 7 | -- Reserved -- | -- Reserved -- | Reserved
* </pre>
*
* @return DLFP configuration
* @see MPU6050_RA_CONFIG
* @see MPU6050_CFG_DLPF_CFG_BIT
* @see MPU6050_CFG_DLPF_CFG_LENGTH
*/
uint8_t MPU6050::getDLPFMode() {
I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
return buffer;
}mpu.getDLPFMode();/** Set digital low-pass filter configuration.设定数字低通滤波器的配置。
* @param mode New DLFP configuration setting
* @see getDLPFBandwidth()
* @see MPU6050_DLPF_BW_256
* @see MPU6050_RA_CONFIG
* @see MPU6050_CFG_DLPF_CFG_BIT
* @see MPU6050_CFG_DLPF_CFG_LENGTH
*/
void MPU6050::setDLPFMode(uint8_t mode) {
I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);
}mpu.setDLPFMode(uint8_t mode);// GYRO_CONFIG register
/** Get full-scale gyroscope range.获取全量程的陀螺仪范围。
* The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
* as described in the table below.
*
* <pre>
* 0 = +/- 250 degrees/sec
* 1 = +/- 500 degrees/sec
* 2 = +/- 1000 degrees/sec
* 3 = +/- 2000 degrees/sec
* </pre>
*
* @return Current full-scale gyroscope range setting
* @see MPU6050_GYRO_FS_250
* @see MPU6050_RA_GYRO_CONFIG
* @see MPU6050_GCONFIG_FS_SEL_BIT
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
uint8_t MPU6050::getFullScaleGyroRange() {
I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
return buffer;
}mpu.getFullScaleGyroRange();/** Set full-scale gyroscope range.设定全量程的陀螺仪范围。
* @param range New full-scale gyroscope range value
* @see getFullScaleRange()
* @see MPU6050_GYRO_FS_250
* @see MPU6050_RA_GYRO_CONFIG
* @see MPU6050_GCONFIG_FS_SEL_BIT
* @see MPU6050_GCONFIG_FS_SEL_LENGTH
*/
void MPU6050::setFullScaleGyroRange(uint8_t range) {
I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
}mpu.setFullScaleGyroRange(uint8_t range);这里我跳过了加速度计的安全测试。
/** Get full-scale accelerometer range.获取全量程的加速度计范围。
* The FS_SEL parameter allows setting the full-scale range of the accelerometer
* sensors, as described in the table below.
*
* <pre>
* 0 = +/- 2g
* 1 = +/- 4g
* 2 = +/- 8g
* 3 = +/- 16g
* </pre>
*
* @return Current full-scale accelerometer range setting
* @see MPU6050_ACCEL_FS_2
* @see MPU6050_RA_ACCEL_CONFIG
* @see MPU6050_ACONFIG_AFS_SEL_BIT
* @see MPU6050_ACONFIG_AFS_SEL_LENGTH
*/
uint8_t MPU6050::getFullScaleAccelRange() {
I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
return buffer;
}mpu.getFullScaleAccelRange();/** Set full-scale accelerometer range.设定全量程的加速度计范围。
* @param range New full-scale accelerometer range setting
* @see getFullScaleAccelRange()
*/
void MPU6050::setFullScaleAccelRange(uint8_t range) {
I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}mpu.setFullScaleAccelRange(uint8_t range);高通滤波器！
/** Get the high-pass filter configuration.获取高通滤波器的配置。
* The DHPF is a filter module in the path leading to motion detectors (Free
* Fall, Motion threshold, and Zero Motion). The high pass filter output is not
* available to the data registers (see Figure in Section 8 of the MPU-6000/
* MPU-6050 Product Specification document).
*
* The high pass filter has three modes:
*
* <pre>
* Reset: The filter output settles to zero within one sample. This
* effectively disables the high pass filter. This mode may be toggled
* to quickly settle the filter.
*
* On: The high pass filter will pass signals above the cut off frequency.
*
* Hold:When triggered, the filter holds the present sample. The filter
* output will be the difference between the input sample and the held
* sample.
* </pre>
*
* <pre>
* ACCEL_HPF | Filter Mode | Cut-off Frequency
* ----------+-------------+------------------
* 0 | Reset | None
* 1 | On | 5Hz
* 2 | On | 2.5Hz
* 3 | On | 1.25Hz
* 4 | On | 0.63Hz
* 7 | Hold | None
* </pre>
*
* @return Current high-pass filter configuration
* @see MPU6050_DHPF_RESET
* @see MPU6050_RA_ACCEL_CONFIG
*/
uint8_t MPU6050::getDHPFMode() {
I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
return buffer;
}mpu.getDHPFMode();/** Set the high-pass filter configuration.设定高通滤波器的配置。
* @param bandwidth New high-pass filter configuration
* @see setDHPFMode()
* @see MPU6050_DHPF_RESET
* @see MPU6050_RA_ACCEL_CONFIG
*/
void MPU6050::setDHPFMode(uint8_t bandwidth) {
I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
}mpu.setDHPFMode(uint8_t bandwidth);后面还有很多说明，我在这里抛砖引玉，希望大家能一起来交流，翻译～ 本帖最后由 戊辰寒 于 2012-12-28 20:35 编辑
注意！！
陀螺仪精度
* <pre>
* 0 = +/- 250 degreesc
* 1 = +/- 500 degreesc
* 2 = +/- 1000 degreesc
* 3 = +/- 2000 degreesc
* </pre>
加速度计精度
* <pre>
* 0 = +/- 2g
* 1 = +/- 4g
* 2 = +/- 8g
* 3 = +/- 16g
* </pre>
这2处有bug，编码跟精度是反的。应该是：
* <pre>
* 3 = +/- 250 degreesc
* 2 = +/- 500 degreesc
* 1 = +/- 1000 degreesc
* 0 = +/- 2000 degreesc
* </pre>
* <pre>
* 3 = +/- 2g
* 2 = +/- 4g
* 1 = +/- 8g
* 0 = +/- 16g
* </pre>
调用setFullScaleGyroRange(uint8_t range)和setFullScaleAccelRange(uint8_t range)
函数的时候请一定注意！ 占楼，后续 :):):):):):):)学习中 这个非常详细，赞一个！ 非常好 加油 谢谢！ 源代码才是核心啊！ 好，期待。。。 佔位等詳細, 頂啊! :o貌似很高端。。。。准备弄个加速度传感器+sd卡套装，发个快递。。。记录下盒子在路上如何惨遭蹂躏的。 学习啊学习啊~
//配置MPU6000bypass模式
accelgyro.setI2CMasterModeEnabled(0);
accelgyro.setI2CBypassEnabled(1);
if((!accelgyro.getI2CMasterModeEnabled()) && accelgyro.getI2CBypassEnabled())
printf("Set MPU6000 Bypass Mode success!\n");
我想把mpu和hmc5883一起用，但是把它们分别和arduino nano的A4A5连接后，把代码复制到一起，然后串口就只能得到mpu的数据？
参考这个帖子http://www.geek-workshop.com/forum.php?mod=viewthread&tid=1793&page=1#pid24528，说要把mup设置成bypass模式 把这个放到代码前面，但是程序不能识别，
请问楼主这短代码该放到哪儿呢？ 好贴，非常详细，谢谢 非常好，谢谢翻译。
继续努力 同在研究6050头痛中！我也是骑驴找驴的人啊.:dizzy:
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