xhcv 发表于 2013-6-5 15:39:47

MPU6050的 I2C dmp


   看了invensense官网的 MPU6050的specification:PS-MPU-6000A.pdf , 给出读写I2C时序如下

写函数,及写时序
writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data);
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

读函数,及读时序:
readBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t *data, uint16_t timeout=I2Cdev::readTimeout);

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


6050的寄存器都是 单字节的, 如果连续读2个BYTE的话,应该是读到了 regAddr 和 regAddr+1 两个BYTE.

但是在dmpInitialize() 函数里面, 因为要把好多 代码 写入到 6050里面去, 这里的I2C读写地址空间是咋么个样子呢? 有人知道吗?

    dmpInitialize() 调用了函数 I2Cdev::writeByes(advAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer )
其中 宏MPU6050_RA_MEM_R_W ==0x6F,chunkSize是数据块的大小,DEBUG跟了下,好像是把数据块分成多个16字节大小写入。
    这时的I2C不可能写入寄存器空间: 0x6F, 0x70, 0x71, ...;    因为0x75就是 WHO AM I 寄存器了
    那又是那个空间呢?

   期待大侠给指点指点

   

xhcv 发表于 2013-6-5 16:49:41

MPU6050的下面的寄存器

#define MPU6050_RA_BANK_SEL                0x6D
#define MPU6050_RA_MEM_START_ADDR   0x6E
#define MPU6050_RA_MEM_R_W               0x6F

应该是和 write prog Memory Block 相关的吧

catluoq 发表于 2013-6-5 17:14:46

先在 0x6D 写块号(0-7),选择块,然后在 0x6E 写地址 (0x00-0xff) , 然后反复取数据写到 0x6f 里,数据就进了 Memory,每写一个数,地址(0x6e)就自动加1 。楼主把寄存器和memory地址搞混了。

xhcv 发表于 2013-6-5 17:27:39

明白了,哥们说的非常对。

我自己写了个I2C读写, 一次只能写一个BYTE。 现在正在尝试改写 文件 I2Cdev , 完成后就应该就可以实现 DMP 移植了。

谢谢 catluoq

拾瑞 发表于 2014-6-13 09:35:15

楼主成功没有?写入的时候,我感觉成功了,但读FIFO数值时,也有值的!但是但是,读到的DMP数据全是0......
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