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origincar_controller/HARDWARE/MPU6050/MPU6050.c
cyy_mac 93ca37e36c 完善阿克曼控制与高速串口遥测 
- 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
2026-08-12 18:51:48 +08:00

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#include "MPU6050.h"
#include "I2C.h"
#include "usart.h"
#define PRINT_ACCEL (0x01)
#define PRINT_GYRO (0x02)
#define PRINT_QUAT (0x04)
#define ACCEL_ON (0x01)
#define GYRO_ON (0x02)
#define MOTION (0)
#define NO_MOTION (1)
#define DEFAULT_MPU_HZ (200)
#define FLASH_SIZE (512)
#define FLASH_MEM_START ((void*)0x1800)
#define q30 1073741824.0f
short gyro[3], accel[3], sensors;
//<2F><><EFBFBD>Ư<EFBFBD>Ƽ<EFBFBD><C6BC><EFBFBD>
int Deviation_Count;
short sum_gyro[3];
short sum_accel[3];
// Gyro static error, raw data
//<2F><><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><C7BE>ԭʼ<D4AD><CABC><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;
//static signed char gyro_orientation[9] = {-1, 0, 0,
// 0,-1, 0,
// 0, 0, 1};
//static unsigned short inv_row_2_scale(const signed char *row)
//{
// unsigned short b;
// if (row[0] > 0)
// b = 0;
// else if (row[0] < 0)
// b = 4;
// else if (row[1] > 0)
// b = 1;
// else if (row[1] < 0)
// b = 5;
// else if (row[2] > 0)
// b = 2;
// else if (row[2] < 0)
// b = 6;
// else
// b = 7; // error
// return b;
//}
void MPU6050_task(void *pvParameters)
{
u32 lastWakeTime = getSysTickCnt();
while(1)
{
//This task runs at 100Hz
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>100Hz<48><7A>Ƶ<EFBFBD><C6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
vTaskDelayUntil(&lastWakeTime, F2T(RATE_100_HZ));
//Read the gyroscope zero before starting
//<2F><><EFBFBD><EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(Deviation_Count<CONTROL_DELAY)
{
Deviation_Count++;
sum_gyro[0]+=gyro[0];
sum_gyro[1]+=gyro[1];
sum_gyro[2]+=gyro[2];
sum_accel[0]+=accel[0];
sum_accel[1]+=accel[1];
sum_accel[2]+=accel[2];
for(int i=0;i<3;i++)
{
Deviation_gyro[i] = (short)(sum_gyro[i] / (short)Deviation_Count);
}
// memcpy(Deviation_gyro,gyro,sizeof(gyro));
memcpy(Deviation_accel,accel,sizeof(accel));
}
//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)
//{
// unsigned short scalar;
// scalar = inv_row_2_scale(mtx);
// scalar |= inv_row_2_scale(mtx + 3) << 3;
// scalar |= inv_row_2_scale(mtx + 6) << 6;
// return scalar;
//}
//static void run_self_test(void)
//{
// int result;
// long gyro[3], accel[3];
// result = mpu_run_self_test(gyro, accel);
// if (result == 0x7) {
// /* Test passed. We can trust the gyro data here, so let's push it down
// * to the DMP.
// */
// float sens;
// unsigned short accel_sens;
// mpu_get_gyro_sens(&sens);
// gyro[0] = (long)(gyro[0] * sens);
// gyro[1] = (long)(gyro[1] * sens);
// gyro[2] = (long)(gyro[2] * sens);
// dmp_set_gyro_bias(gyro);
// mpu_get_accel_sens(&accel_sens);
// accel[0] *= accel_sens;
// accel[1] *= accel_sens;
// accel[2] *= accel_sens;
// dmp_set_accel_bias(accel);
// //printf("setting bias succesfully ......\r\n");
// }
//}
uint8_t buffer[14];
int16_t MPU6050_FIFO[6][11];
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<61><78>ay<61><79>az<61><7A>x<EFBFBD><78>y, z-axis acceleration data<74><61>gx<67><78>gy<67><79>gz<67><7A>x. Y, z-axis angular acceleration data
Output : none
<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 <20><><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];
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;//<2F><><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>ݷ<EFBFBD><DDB7>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;
MPU6050_FIFO[4][9]=gy;
MPU6050_FIFO[5][9]=gz;
sum=0;
for(i=0;i<10;i++){ //<2F><>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>ĺϣ<C4BA><CFA3><EFBFBD>ȡƽ<C8A1><C6BD>ֵ
sum+=MPU6050_FIFO[0][i];
}
MPU6050_FIFO[0][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[1][i];
}
MPU6050_FIFO[1][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[2][i];
}
MPU6050_FIFO[2][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[3][i];
}
MPU6050_FIFO[3][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[4][i];
}
MPU6050_FIFO[4][10]=sum/10;
sum=0;
for(i=0;i<10;i++){
sum+=MPU6050_FIFO[5][i];
}
MPU6050_FIFO[5][10]=sum/10;
}
/**************************************************************************
Function: Setting the clock source of mpu6050
Input : source<63><65>Clock source number
Output : none
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <20><>ʱ<EFBFBD><CAB1>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
* 1 | PLL with X Gyro reference
* 2 | PLL with Y Gyro reference
* 3 | PLL with Z Gyro reference
* 4 | PLL with external 32.768kHz reference
* 5 | PLL with external 19.2MHz reference
* 6 | Reserved
* 7 | Stops the clock and keeps the timing generator in reset
**************************************************************************/
void MPU6050_setClockSource(uint8_t source){
I2C_WriteBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source);
}
/** Set full-scale gyroscope range.
* @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) {
I2C_WriteBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);
}
/**************************************************************************
Function: Setting the maximum range of mpu6050 accelerometer
Input : range<67><65>Acceleration maximum range number
Output : none
<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 //===<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-2G
//#define MPU6050_ACCEL_FS_4 0x01 //===<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-4G
//#define MPU6050_ACCEL_FS_8 0x02 //===<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+-8G
//#define MPU6050_ACCEL_FS_16 0x03 //===<3D><><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<6C><65>1<EFBFBD><31>sleep<65><70>0<EFBFBD><30>work<72><6B>
Output : none
<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);
}
/**************************************************************************
Function: Read identity
Input : none
Output : 0x68
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD>ȡ MPU6050 WHO_AM_I <20><>ʶ
<EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
<EFBFBD><EFBFBD><EFBFBD><EFBFBD> ֵ<><D6B5>0x68
**************************************************************************/
uint8_t MPU6050_getDeviceID(void) {
return I2C_ReadOneByte(devAddr,MPU6050_RA_WHO_AM_I);
// IICreadBytes(devAddr, MPU6050_RA_WHO_AM_I, 1, buffer);
// return buffer[0];
}
/**************************************************************************
Function: Check whether mpu6050 is connected
Input : none
Output : 1<><31>Connected<65><64>0<EFBFBD><30>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;
return 1;
else return 0;
}
/**************************************************************************
Function: Setting whether mpu6050 is the host of aux I2C cable
Input : enable<6C><65>1<EFBFBD><31>yes<65><73>0;not
Output : none
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <20>Ƿ<EFBFBD>ΪAUX I2C<32>ߵ<EFBFBD><DFB5><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);
}
/**************************************************************************
Function: Setting whether mpu6050 is the host of aux I2C cable
Input : enable<6C><65>1<EFBFBD><31>yes<65><73>0;not
Output : none
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> MPU6050 <20>Ƿ<EFBFBD>ΪAUX I2C<32>ߵ<EFBFBD><DFB5><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);
}
/**************************************************************************
Function: initialization Mpu6050 to enter the available state
Input : none
Output : none
<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 //<2F><>ʼ<EFBFBD><CABC>IIC<49><43><EFBFBD><EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X80); //Reset MPUrobot_select_init.h //<2F><>λMPUrobot_select_init.h
delay_ms(200); //Delay 200 ms //<2F><>ʱ200ms
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_1,0X00); //Wake mpurobot_select_init.h //<2F><><EFBFBD><EFBFBD>MPUrobot_select_init.h
//MPU6050_Set_Gyro_Fsr(1); //Gyroscope sensor //<2F><><EFBFBD><EFBFBD><EFBFBD>Ǵ<EFBFBD><C7B4><EFBFBD><EFBFBD><EFBFBD>,<2C><>500dps=<3D><>500<30><30>/s <20><>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 //<2F><><EFBFBD>ٶȴ<D9B6><C8B4><EFBFBD><EFBFBD><EFBFBD>,<2C><>2g=<3D><>2*9.8m/s^2 <20><>32768 accel/32768*19.6=accel/1671.84
MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2);
MPU6050_Set_Rate(50); //Set the sampling rate to 50Hz //<2F><><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD>50Hz
I2C_WriteOneByte(devAddr,MPU6050_RA_INT_ENABLE,0X00); //Turn off all interrupts //<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_USER_CTRL,0X00); //The I2C main mode is off //I2C<32><43>ģʽ<C4A3>ر<EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_FIFO_EN,0X00); //Close the FIFO //<2F>ر<EFBFBD>FIFO
//The INT pin is low, enabling bypass mode to read the magnetometer directly
//INT<4E><54><EFBFBD>ŵ͵<C5B5>ƽ<EFBFBD><C6BD>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>bypassģʽ<C4A3><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>Ӷ<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_INT_PIN_CFG,0X80);
//Read the ID of MPU6050
//<2F><>ȡMPU6050<35><30>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 //<2F><><EFBFBD><EFBFBD>ID<49><44>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 //<2F><><EFBFBD><EFBFBD>CLKSEL,PLL X<><58>Ϊ<EFBFBD>ο<EFBFBD>
I2C_WriteOneByte(devAddr,MPU6050_RA_PWR_MGMT_2,0X00); //Acceleration and gyroscope both work //<2F><><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD>
MPU6050_Set_Rate(50); //Set the sampling rate to 50Hz //<2F><><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD>Ϊ50Hz
}else return 1;
return 0;
}
/**************************************************************************
Function: Initialization of DMP in mpu6050
Input : none
Output : none
<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)
//{
// u8 temp[1]={0};
// i2cRead(0x68,0x75,1,temp);
// printf("mpu_set_sensor complete ......\r\n");
// if(temp[0]!=0x68)NVIC_SystemReset();
// if(!mpu_init())
// {
// if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))
// printf("mpu_set_sensor complete ......\r\n");
// if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL))
// printf("mpu_configure_fifo complete ......\r\n");
// if(!mpu_set_sample_rate(DEFAULT_MPU_HZ))
// printf("mpu_set_sample_rate complete ......\r\n");
// if(!dmp_load_motion_driver_firmware())
// printf("dmp_load_motion_driver_firmware complete ......\r\n");
// if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation)))
// printf("dmp_set_orientation complete ......\r\n");
// if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP |
// DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO |
// DMP_FEATURE_GYRO_CAL))
// printf("dmp_enable_feature complete ......\r\n");
// if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ))
// printf("dmp_set_fifo_rate complete ......\r\n");
// run_self_test();
// if(!mpu_set_dmp_state(1))
// printf("mpu_set_dmp_state complete ......\r\n");
// }
//}
/**************************************************************************
Function: Read the attitude information of DMP in mpu6050
Input : none
Output : none
<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)
//{
// unsigned long sensor_timestamp;
// unsigned char more;
// long quat[4];
// dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more); //<2F><>ȡDMP<4D><50><EFBFBD><EFBFBD>
// if (sensors & INV_WXYZ_QUAT )
// {
// q0=quat[0] / q30;
// q1=quat[1] / q30;
// q2=quat[2] / q30;
// q3=quat[3] / q30; //<2F><>Ԫ<EFBFBD><D4AA>
// Roll = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; //<2F><><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; // <20><><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; //<2F><><EFBFBD><EFBFBD><EFBFBD>ƫ<EFBFBD><C6AB><EFBFBD><EFBFBD>
// }
//}
/**************************************************************************
Function: Read mpu6050 built-in temperature sensor data
Input : none
Output : Centigrade temperature
<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; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>
Temp=(36.53f+Temp/340)*10; //<2F>¶ȷŴ<C8B7>ʮ<EFBFBD><CAAE><EFBFBD><EFBFBD><EFBFBD>
return (int)Temp;
}
/**************************************************************************
Function: Initialize TIM2 as the encoder interface mode
Input : LPF: Digital low-pass filtering frequency (Hz)
Output : 0: Settings successful, others: Settings failed
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPUrobot_select_init.h<><68><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><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)
{
u8 data=0;
if(lpf>=188)data=1;
else if(lpf>=98)data=2;
else if(lpf>=42)data=3;
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><EFBFBD>
}
/**************************************************************************
Function: Initialize TIM2 as the encoder interface mode
Input : rate:4~1000(Hz)
Output : 0: Settings successful, others: Settings failed
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>MPUrobot_select_init.h<>IJ<EFBFBD><C4B2><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)
{
u8 data;
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD>ͨ<EFBFBD>˲<EFBFBD><CBB2><EFBFBD>
return MPU6050_Set_LPF(rate/2); //Automatically sets LPF to half of the sampling rate //<2F>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>LPFΪ<46><CEAA><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>һ<EFBFBD><D2BB>
}
/**************************************************************************
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
<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); //<2F><>ȡX<C8A1><58><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); //<2F><>ȡY<C8A1><59><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); //<2F><>ȡZ<C8A1><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //<2F><><EFBFBD><EFBFBD>ǰ10<31><30>
{
Led_Count=1; //LED high frequency flashing //LED<45><44>Ƶ<EFBFBD><C6B5>˸
Flag_Stop=1; //The software fails to flag location 1 //<2F><><EFBFBD><EFBFBD>ʧ<EFBFBD>ܱ<EFBFBD>־λ<D6BE><CEBB>1
}
else //10 seconds after starting //<2F><><EFBFBD><EFBFBD>10<31><30><EFBFBD>
{
if(Deviation_Count==CONTROL_DELAY)
Flag_Stop=0; //The software fails to flag location 0 //<2F><><EFBFBD><EFBFBD>ʧ<EFBFBD>ܱ<EFBFBD>־λ<D6BE><CEBB>0
Led_Count=300; //The LED returns to normal flicker frequency //LED<45>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˸Ƶ<CBB8><C6B5>
//Save the raw data to update zero by clicking the user button
//<2F><><EFBFBD><EFBFBD>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD>û<EFBFBD><C3BB><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
//ȥ<><C8A5><EFBFBD><EFBFBD><EFBFBD>Ư<EFBFBD>Ƶ<EFBFBD><C6B5><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];
}
}
/**************************************************************************
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
<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); //<2F><>ȡX<C8A1><58><EFBFBD><EFBFBD>ٶȼ<D9B6>
accel[1]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_YOUT_L); //<2F><>ȡX<C8A1><58><EFBFBD><EFBFBD>ٶȼ<D9B6>
accel[2]=(I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_ACCEL_ZOUT_L); //<2F><>ȡZ<C8A1><5A><EFBFBD><EFBFBD>ٶȼ<D9B6>
if(Deviation_Count<CONTROL_DELAY) // 10 seconds before starting //<2F><><EFBFBD><EFBFBD>ǰ10<31><30>
{
}
else //10 seconds after starting //<2F><><EFBFBD><EFBFBD>10<31><30><EFBFBD>
{
//Save the raw data to update zero by clicking the user button
//<2F><><EFBFBD><EFBFBD>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD>û<EFBFBD><C3BB><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
//ȥ<><C8A5><EFBFBD><EFBFBD><EFBFBD>Ư<EFBFBD>Ƶ<EFBFBD><C6B5><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;
}
}
//------------------End of File----------------------------
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