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完善阿克曼控制与高速串口遥测

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- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
This commit is contained in:
cyy_mac
2026-08-12 18:51:48 +08:00
parent 576784bb4d
commit 93ca37e36c
17 changed files with 2151 additions and 932 deletions
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222
HARDWARE/MPU6050/MPU6050.c
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@@ -13,14 +13,14 @@
#define FLASH_MEM_START ((void*)0x1800)
#define q30 1073741824.0f
short gyro[3], accel[3], sensors;
//零点漂移计数
//<EFBFBD><EFBFBD><EFBFBD>Ư<EFBFBD>Ƽ<EFBFBD><EFBFBD><EFBFBD>
int Deviation_Count;
short sum_gyro[3];
short sum_accel[3];
// Gyro static error, raw data
//陀螺仪静差，原始数据
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><EFBFBD>ԭʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
short Deviation_gyro[3],Original_gyro[3];
short Deviation_accel[3],Original_accel[3];
float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f;
@@ -55,11 +55,11 @@ void MPU6050_task(void *pvParameters)
while(1)
{
//This task runs at 100Hz
//此任务以100Hz的频率运行
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>100Hz<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
vTaskDelayUntil(&lastWakeTime, F2T(RATE_100_HZ));
//Read the gyroscope zero before starting
//开机前，读取陀螺仪零点
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(Deviation_Count<CONTROL_DELAY)
{
Deviation_Count++;
@@ -78,10 +78,14 @@ void MPU6050_task(void *pvParameters)
memcpy(Deviation_accel,accel,sizeof(accel));
}
MPU_Get_Gyroscope(); //得到陀螺仪数据
MPU_Get_Accelscope(); //获得加速度计值(原始值)
//Stamp just before the I2C burst read, as close to the physical IMU
//sample as we can get without a data-ready interrupt.
//<2F><> I2C <20><>ȡǰ<C8A1><C7B0>㣬<EFBFBD>ھ<EFBFBD><DABE><EFBFBD> DRDY <20>жϵ<D0B6><CFB5><EFBFBD><EFBFBD><EFBFBD>¾<EFBFBD><C2BE><EFBFBD><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>̡<EFBFBD>
g_imu_sample_time_us = mcu_time_us();
MPU_Get_Gyroscope(); //<2F>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
MPU_Get_Accelscope(); //<2F><>ü<EFBFBD><C3BC>ٶȼ<D9B6>ֵ(ԭʼֵ)
}
}
}
//static unsigned short inv_orientation_matrix_to_scalar(
// const signed char *mtx)
@@ -132,17 +136,17 @@ int16_t Gx_offset=0,Gy_offset=0,Gz_offset=0;
/**************************************************************************
Function: The new ADC data is updated to FIFO array for filtering
Input : ax，ay，az：x，y, z-axis acceleration data；gx，gy，gz：x. Y, z-axis angular acceleration data
Input : ax<EFBFBD><EFBFBD>ay<EFBFBD><EFBFBD>az<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD>y, z-axis acceleration data<EFBFBD><EFBFBD>gx<EFBFBD><EFBFBD>gy<EFBFBD><EFBFBD>gz<EFBFBD><EFBFBD>x. Y, z-axis angular acceleration data
Output : none
函数功能：将新的ADC数据更新到 FIFO数组，进行滤波处理
入口参数：ax，ay，az：x，y，z轴加速度数据；gx，gy，gz：x，y，z轴角加速度数据
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD>ADC<EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><EFBFBD>µ<EFBFBD> FIFO<46><4F><EFBFBD>飬<EFBFBD><E9A3AC><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ax<EFBFBD><EFBFBD>ay<EFBFBD><EFBFBD>az<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD>y<EFBFBD><EFBFBD>z<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>gx<EFBFBD><EFBFBD>gy<EFBFBD><EFBFBD>gz<EFBFBD><EFBFBD>x<EFBFBD><EFBFBD>y<EFBFBD><EFBFBD>z<EFBFBD><EFBFBD>Ǽ<EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
**************************************************************************/
void MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz)
{
unsigned char i ;
int32_t sum=0;
for(i=1;i<10;i++){ //FIFO 操作
for(i=1;i<10;i++){ //FIFO <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
MPU6050_FIFO[0][i-1]=MPU6050_FIFO[0][i];
MPU6050_FIFO[1][i-1]=MPU6050_FIFO[1][i];
MPU6050_FIFO[2][i-1]=MPU6050_FIFO[2][i];
@@ -150,7 +154,7 @@ MPU6050_FIFO[3][i-1]=MPU6050_FIFO[3][i];
MPU6050_FIFO[4][i-1]=MPU6050_FIFO[4][i];
MPU6050_FIFO[5][i-1]=MPU6050_FIFO[5][i];
}
MPU6050_FIFO[0][9]=ax;//将新的数据放置到 数据的最后面
MPU6050_FIFO[0][9]=ax;//<EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݷ<EFBFBD><EFBFBD>õ<EFBFBD> <20><><EFBFBD>ݵ<EFBFBD><DDB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
MPU6050_FIFO[1][9]=ay;
MPU6050_FIFO[2][9]=az;
MPU6050_FIFO[3][9]=gx;
@@ -158,7 +162,7 @@ MPU6050_FIFO[4][9]=gy;
MPU6050_FIFO[5][9]=gz;
sum=0;
for(i=0;i<10;i++){ //求当前数组的合，再取平均值
for(i=0;i<10;i++){ //<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĺϣ<EFBFBD><EFBFBD><EFBFBD>ȡƽ<EFBFBD><EFBFBD>ֵ
sum+=MPU6050_FIFO[0][i];
}
MPU6050_FIFO[0][10]=sum/10;
@@ -196,11 +200,11 @@ MPU6050_FIFO[5][10]=sum/10;
/**************************************************************************
Function: Setting the clock source of mpu6050
Input : source：Clock source number
Input : source<EFBFBD><EFBFBD>Clock source number
Output : none
函数功能：设置 MPU6050 的时钟源
入口参数：source：时钟源编号
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>Դ
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>source<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
* CLK_SEL | Clock Source
* --------+--------------------------------------
* 0 | Internal oscillator
@@ -231,27 +235,27 @@ void MPU6050_setFullScaleGyroRange(uint8_t range) {
/**************************************************************************
Function: Setting the maximum range of mpu6050 accelerometer
Input : range：Acceleration maximum range number
Input : range<EFBFBD><EFBFBD>Acceleration maximum range number
Output : none
函数功能：设置 MPU6050 加速度计的最大量程
入口参数：range：加速度最大量程编号
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <20><><EFBFBD>ٶȼƵ<C8BC><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>range<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̱<EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
**************************************************************************/
//#define MPU6050_ACCEL_FS_2 0x00 //===最大量程+-2G
//#define MPU6050_ACCEL_FS_4 0x01 //===最大量程+-4G
//#define MPU6050_ACCEL_FS_8 0x02 //===最大量程+-8G
//#define MPU6050_ACCEL_FS_16 0x03 //===最大量程+-16G
//#define MPU6050_ACCEL_FS_2 0x00 //===<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-2G
//#define MPU6050_ACCEL_FS_4 0x01 //===<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-4G
//#define MPU6050_ACCEL_FS_8 0x02 //===<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-8G
//#define MPU6050_ACCEL_FS_16 0x03 //===<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-16G
void MPU6050_setFullScaleAccelRange(uint8_t range) {
I2C_WriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}
/**************************************************************************
Function: Set mpu6050 to sleep mode or not
Input : enable：1，sleep；0，work；
Input : enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>sleep<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>work<EFBFBD><EFBFBD>
Output : none
函数功能：设置 MPU6050 是否进入睡眠模式
入口参数：enable：1，睡觉；0，工作；
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <20>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>˯<EFBFBD><CBAF>ģʽ
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>˯<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
**************************************************************************/
void MPU6050_setSleepEnabled(uint8_t enabled) {
I2C_WriteOneBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
@@ -261,9 +265,9 @@ void MPU6050_setSleepEnabled(uint8_t enabled) {
Function: Read identity
Input : none
Output : 0x68
函数功能：读取 MPU6050 WHO_AM_I 标识
入口参数：无
返回 值：0x68
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ȡ MPU6050 WHO_AM_I <EFBFBD><EFBFBD>ʶ
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5>0x68
**************************************************************************/
uint8_t MPU6050_getDeviceID(void) {
@@ -277,10 +281,10 @@ uint8_t MPU6050_getDeviceID(void) {
/**************************************************************************
Function: Check whether mpu6050 is connected
Input : none
Output : 1：Connected；0：Not connected
函数功能：检测MPU6050 是否已经连接
入口参数：无
返回 值：1：已连接；0：未连接
Output : 1<EFBFBD><EFBFBD>Connected<EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>Not connected
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPU6050 <20>Ƿ<EFBFBD><C7B7>Ѿ<EFBFBD><D1BE><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӣ<EFBFBD>0<EFBFBD><30>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>
**************************************************************************/
uint8_t MPU6050_testConnection(void) {
if(MPU6050_getDeviceID() == 0x68) //0b01101000;
@@ -290,11 +294,11 @@ uint8_t MPU6050_testConnection(void) {
/**************************************************************************
Function: Setting whether mpu6050 is the host of aux I2C cable
Input : enable：1，yes；0;not
Input : enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>yes<EFBFBD><EFBFBD>0;not
Output : none
函数功能：设置 MPU6050 是否为AUX I2C线的主机
入口参数：enable：1，是；0：否
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <EFBFBD>Ƿ<EFBFBD>ΪAUX I2C<EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ǣ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
**************************************************************************/
void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) {
I2C_WriteOneBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
@@ -302,11 +306,11 @@ void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) {
/**************************************************************************
Function: Setting whether mpu6050 is the host of aux I2C cable
Input : enable：1，yes；0;not
Input : enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD>yes<EFBFBD><EFBFBD>0;not
Output : none
函数功能：设置 MPU6050 是否为AUX I2C线的主机
入口参数：enable：1，是；0：否
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <EFBFBD>Ƿ<EFBFBD>ΪAUX I2C<EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>enable<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ǣ<EFBFBD>0<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
**************************************************************************/
void MPU6050_setI2CBypassEnabled(uint8_t enabled) {
I2C_WriteOneBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
@@ -316,38 +320,38 @@ void MPU6050_setI2CBypassEnabled(uint8_t enabled) {
Function: initialization Mpu6050 to enter the available state
Input : none
Output : none
函数功能：初始化 MPU6050 以进入可用状态
入口参数：无
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD> MPU6050 <20>Խ<EFBFBD><D4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
**************************************************************************/
u8 MPU6050_initialize(void)
{
u8 res;
//IIC_Init(); //Initialize the IIC bus //初始化IIC总线
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X80); //Reset MPUrobot_select_init.h //复位MPUrobot_select_init.h
delay_ms(200); //Delay 200 ms //延时200ms
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X00); //Wake mpurobot_select_init.h //唤醒MPUrobot_select_init.h
//IIC_Init(); //Initialize the IIC bus //<EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD>IIC<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X80); //Reset MPUrobot_select_init.h //<EFBFBD><EFBFBD>λMPUrobot_select_init.h
delay_ms(200); //Delay 200 ms //<EFBFBD><EFBFBD>ʱ200ms
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X00); //Wake mpurobot_select_init.h //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPUrobot_select_init.h
//MPU6050_Set_Gyro_Fsr(1); //Gyroscope sensor //陀螺仪传感器,±500dps=±500°/s ±32768 (gyro/32768*500)*PI/180(rad/s)=gyro/3754.9(rad/s)
//MPU6050_Set_Gyro_Fsr(1); //Gyroscope sensor //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>500dps=<EFBFBD><EFBFBD>500<EFBFBD><EFBFBD>/s <EFBFBD><EFBFBD>32768 (gyro/32768*500)*PI/180(rad/s)=gyro/3754.9(rad/s)
MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_500);
//MPU6050_Set_Accel_Fsr(0); //Acceleration sensor //加速度传感器,±2g=±2*9.8m/s^2 ±32768 accel/32768*19.6=accel/1671.84
//MPU6050_Set_Accel_Fsr(0); //Acceleration sensor //<EFBFBD><EFBFBD><EFBFBD>ٶȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><>2g=<EFBFBD><EFBFBD>2*9.8m/s^2 <EFBFBD><EFBFBD>32768 accel/32768*19.6=accel/1671.84
MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
MPU6050_Set_Rate(50); //Set the sampling rate to 50Hz //设置采样率50Hz
MPU6050_Set_Rate(50); //Set the sampling rate to 50Hz //<EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>50Hz
I2C_WriteOneByte(devAddr,MPU6050_RA_INT_ENABLE,0X00); //Turn off all interrupts //关闭所有中断
I2C_WriteOneByte(devAddr,MPU6050_RA_USER_CTRL,0X00); //The I2C main mode is off //I2C主模式关闭
I2C_WriteOneByte(devAddr,MPU6050_RA_FIFO_EN,0X00); //Close the FIFO //关闭FIFO
I2C_WriteOneByte(devAddr,MPU6050_RA_INT_ENABLE,0X00); //Turn off all interrupts //<EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_USER_CTRL,0X00); //The I2C main mode is off //I2C<EFBFBD><EFBFBD>ģʽ<EFBFBD>ر<EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_FIFO_EN,0X00); //Close the FIFO //<EFBFBD>ر<EFBFBD>FIFO
//The INT pin is low, enabling bypass mode to read the magnetometer directly
//INT引脚低电平有效，开启bypass模式，可以直接读取磁力计
//INT<EFBFBD><EFBFBD><EFBFBD>ŵ͵<EFBFBD>ƽ<EFBFBD><EFBFBD>Ч<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>bypassģʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>Ӷ<EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_INT_PIN_CFG,0X80);
//Read the ID of MPU6050
//读取MPU6050的ID
//<EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD>ID
res=I2C_ReadOneByte(devAddr,MPU6050_RA_WHO_AM_I);
if(res==MPU6050_DEFAULT_ADDRESS) //The device ID is correct, The correct device ID depends on the AD pin //器件ID正确, 器件ID的正确取决于AD引脚
if(res==MPU6050_DEFAULT_ADDRESS) //The device ID is correct, The correct device ID depends on the AD pin //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID<EFBFBD><EFBFBD>ȷ, <20><><EFBFBD><EFBFBD>ID<49><44><EFBFBD><EFBFBD>ȷȡ<C8B7><C8A1><EFBFBD><EFBFBD>AD<41><44><EFBFBD><EFBFBD>
{
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X01); //Set CLKSEL,PLL X axis as reference //设置CLKSEL,PLL X轴为参考
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_2,0X00); //Acceleration and gyroscope both work //加速度与陀螺仪都工作
MPU6050_Set_Rate(50); //Set the sampling rate to 50Hz //设置采样率为50Hz
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X01); //Set CLKSEL,PLL X axis as reference //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>CLKSEL,PLL X<EFBFBD><EFBFBD>Ϊ<EFBFBD>ο<EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_2,0X00); //Acceleration and gyroscope both work //<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
MPU6050_Set_Rate(50); //Set the sampling rate to 50Hz //<EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ50Hz
}else return 1;
return 0;
@@ -357,9 +361,9 @@ u8 MPU6050_initialize(void)
Function: Initialization of DMP in mpu6050
Input : none
Output : none
函数功能：MPU6050内置DMP的初始化
入口参数：无
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD>MPU6050<EFBFBD><EFBFBD><EFBFBD><EFBFBD>DMP<EFBFBD>ij<EFBFBD>ʼ<EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
**************************************************************************/
//void DMP_Init(void)
//{
@@ -395,9 +399,9 @@ Output : none
Function: Read the attitude information of DMP in mpu6050
Input : none
Output : none
函数功能：读取MPU6050内置DMP的姿态信息
入口参数：无
返回 值：无
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD><EFBFBD><EFBFBD>DMP<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><EFBFBD>Ϣ
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD>
**************************************************************************/
//void Read_DMP(void)
//{
@@ -405,16 +409,16 @@ Output : none
// unsigned char more;
// long quat[4];
// dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more); //读取DMP数据
// dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more); //<EFBFBD><EFBFBD>ȡDMP<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// if (sensors & INV_WXYZ_QUAT )
// {
// q0=quat[0] / q30;
// q1=quat[1] / q30;
// q2=quat[2] / q30;
// q3=quat[3] / q30; //四元数
// Roll = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; //计算出横滚角
// Pitch = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // 计算出俯仰角
// Yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3; //计算出偏航角
// q3=quat[3] / q30; //<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD>
// Roll = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// Pitch = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// Yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// }
//}
@@ -422,16 +426,16 @@ Output : none
Function: Read mpu6050 built-in temperature sensor data
Input : none
Output : Centigrade temperature
函数功能：读取MPU6050内置温度传感器数据
入口参数：无
返回 值：摄氏温度
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ȡMPU6050<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¶ȴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**************************************************************************/
int Read_Temperature(void)
{
float Temp;
Temp=(I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_L);
if(Temp>32768) Temp-=65536; //数据类型转换
Temp=(36.53f+Temp/340)*10; //温度放大十倍存放
if(Temp>32768) Temp-=65536; //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
Temp=(36.53f+Temp/340)*10; //<EFBFBD>¶ȷŴ<EFBFBD>ʮ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return (int)Temp;
}
@@ -439,9 +443,9 @@ int Read_Temperature(void)
Function: Initialize TIM2 as the encoder interface mode
Input : LPF: Digital low-pass filtering frequency (Hz)
Output : 0: Settings successful, others: Settings failed
函数功能：设置MPUrobot_select_init.h的数字低通滤波器
入口参数：lpf:数字低通滤波频率(Hz)
返回 值：0:设置成功, 其他:设置失败
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPUrobot_select_init.h<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>lpf:<3A><><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD>Ƶ<EFBFBD><C6B5>(Hz)
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5>0:<3A><><EFBFBD>óɹ<C3B3>, <20><><EFBFBD><EFBFBD>:<3A><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
**************************************************************************/
unsigned char MPU6050_Set_LPF(u16 lpf)
{
@@ -452,15 +456,15 @@ unsigned char MPU6050_Set_LPF(u16 lpf)
else if(lpf>=20)data=4;
else if(lpf>=10)data=5;
else data=6;
return I2C_WriteOneByte(devAddr,MPU6050_RA_CONFIG,data); //Set the digital lowpass filter//设置数字低通滤波器
return I2C_WriteOneByte(devAddr,MPU6050_RA_CONFIG,data); //Set the digital lowpass filter//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>
}
/**************************************************************************
Function: Initialize TIM2 as the encoder interface mode
Input : rate:4~1000(Hz)
Output : 0: Settings successful, others: Settings failed
函数功能：设置MPUrobot_select_init.h的采样率(假定Fs=1KHz)
入口参数：rate:4~1000(Hz)
返回 值：0:设置成功, 其他:设置失败
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPUrobot_select_init.h<EFBFBD>IJ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28>ٶ<EFBFBD>Fs=1KHz)
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rate:4~1000(Hz)
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5>0:<3A><><EFBFBD>óɹ<C3B3>, <20><><EFBFBD><EFBFBD>:<3A><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>
**************************************************************************/
unsigned char MPU6050_Set_Rate(u16 rate)
{
@@ -468,42 +472,42 @@ unsigned char MPU6050_Set_Rate(u16 rate)
if(rate>1000)rate=1000;
if(rate<4)rate=4;
data=1000/rate-1;
data=I2C_WriteOneByte(devAddr,MPU6050_RA_SMPLRT_DIV,data); //Set the digital lowpass filter//设置数字低通滤波器
return MPU6050_Set_LPF(rate/2); //Automatically sets LPF to half of the sampling rate //自动设置LPF为采样率的一半
data=I2C_WriteOneByte(devAddr,MPU6050_RA_SMPLRT_DIV,data); //Set the digital lowpass filter//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><EFBFBD><EFBFBD>
return MPU6050_Set_LPF(rate/2); //Automatically sets LPF to half of the sampling rate //<EFBFBD>Զ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>LPFΪ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>һ<EFBFBD><EFBFBD>
}
/**************************************************************************
Function: Initialize TIM2 as the encoder interface mode
Input : Gx, Gy, Gz: raw readings (plus or minus) of the x,y, and z axes of the gyroscope
Output : 0: success, others: error code
函数功能：获得陀螺仪值(原始值)
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ(ԭʼֵ)
**************************************************************************/
void MPU_Get_Gyroscope(void)
{
gyro[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_L); //读取X轴陀螺仪
gyro[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_L); //读取Y轴陀螺仪
gyro[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_L); //读取Z轴陀螺仪
gyro[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_XOUT_L); //<EFBFBD><EFBFBD>ȡX<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
gyro[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_YOUT_L); //<EFBFBD><EFBFBD>ȡY<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
gyro[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_GYRO_ZOUT_L); //<EFBFBD><EFBFBD>ȡZ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //开机前10秒
if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ10<EFBFBD><EFBFBD>
{
Led_Count=1; //LED high frequency flashing //LED高频闪烁
Flag_Stop=1; //The software fails to flag location 1 //软件失能标志位置1
Led_Count=1; //LED high frequency flashing //LED<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD>˸
Flag_Stop=1; //The software fails to flag location 1 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ܱ<EFBFBD>־λ<EFBFBD><EFBFBD>1
}
else //10 seconds after starting //开机10秒后
else //10 seconds after starting //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>10<EFBFBD><EFBFBD><EFBFBD>
{
if(Deviation_Count==CONTROL_DELAY)
Flag_Stop=0; //The software fails to flag location 0 //软件失能标志位置0
Led_Count=300; //The LED returns to normal flicker frequency //LED恢复正常闪烁频率
Flag_Stop=0; //The software fails to flag location 0 //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>ܱ<EFBFBD>־λ<EFBFBD><EFBFBD>0
Led_Count=300; //The LED returns to normal flicker frequency //LED<EFBFBD>ָ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˸Ƶ<EFBFBD><EFBFBD>
//Save the raw data to update zero by clicking the user button
//保存原始数据用于单击用户按键更新零点
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Original_gyro[0] =gyro[0];
Original_gyro[1] =gyro[1];
Original_gyro[2]= gyro[2];
//Removes zero drift data
//去除零点漂移的数据
//ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ư<EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
gyro[0] =Original_gyro[0]-Deviation_gyro[0];
gyro[1] =Original_gyro[1]-Deviation_gyro[1];
gyro[2]= Original_gyro[2]-Deviation_gyro[2];
@@ -514,28 +518,28 @@ void MPU_Get_Gyroscope(void)
Function: Initialize TIM2 as the encoder interface mode
Input : Gx, Gy, Gz: raw readings (plus or minus) of the x,y, and z axes of the gyroscope
Output : 0: success, others: error code
函数功能：获得加速度计值(原始值)
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ü<EFBFBD><EFBFBD>ٶȼ<EFBFBD>ֵ(ԭʼֵ)
**************************************************************************/
void MPU_Get_Accelscope(void)
{
accel[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_L); //读取X轴加速度计
accel[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_L); //读取X轴加速度计
accel[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_L); //读取Z轴加速度计
accel[0]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_XOUT_L); //<EFBFBD><EFBFBD>ȡX<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<EFBFBD>
accel[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_L); //<EFBFBD><EFBFBD>ȡX<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<EFBFBD>
accel[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_L); //<EFBFBD><EFBFBD>ȡZ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȼ<EFBFBD>
if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //开机前10秒
if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ10<EFBFBD><EFBFBD>
{
}
else //10 seconds after starting //开机10秒后
else //10 seconds after starting //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>10<EFBFBD><EFBFBD><EFBFBD>
{
//Save the raw data to update zero by clicking the user button
//保存原始数据用于单击用户按键更新零点
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Original_accel[0] =accel[0];
Original_accel[1] =accel[1];
Original_accel[2]= accel[2];
//Removes zero drift data
//去除零点漂移的数据
//ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ư<EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
accel[0] =Original_accel[0]-Deviation_accel[0];
accel[1] =Original_accel[1]-Deviation_accel[1];
accel[2]= Original_accel[2]-Deviation_accel[2]+16384;