stm32读取6050（3）

ID:335302 · 发表于 2018-11-22 17:30

6050（3）我会一直更的
mpu6050.h
#ifndef __MPU6050_H
#define __MPU6050_H
#include "sys.h"
#include "i2c.h"
#include "delay.h"

#define MPU6050_ADD 0xD0 //器件地址（AD0悬空或低电平时地址是0xD0，为高电平时为0xD2，7位地址：1101 000x）

#define MPU6050_RA_XG_OFFS_TC    0x00
#define MPU6050_RA_YG_OFFS_TC    0x01
#define MPU6050_RA_ZG_OFFS_TC    0x02
#define MPU6050_RA_X_FINE_GAIN    0x03
#define MPU6050_RA_Y_FINE_GAIN    0x04
#define MPU6050_RA_Z_FINE_GAIN    0x05
#define MPU6050_RA_XA_OFFS_H       0x06
#define MPU6050_RA_XA_OFFS_L_TC    0x07
#define MPU6050_RA_YA_OFFS_H       0x08
#define MPU6050_RA_YA_OFFS_L_TC    0x09
#define MPU6050_RA_ZA_OFFS_H       0x0A
#define MPU6050_RA_ZA_OFFS_L_TC    0x0B
#define MPU6050_RA_XG_OFFS_USRH    0x13
#define MPU6050_RA_XG_OFFS_USRL    0x14
#define MPU6050_RA_YG_OFFS_USRH    0x15
#define MPU6050_RA_YG_OFFS_USRL    0x16
#define MPU6050_RA_ZG_OFFS_USRH    0x17
#define MPU6050_RA_ZG_OFFS_USRL    0x18
#define MPU6050_RA_SMPLRT_DIV    0x19 ////////////////
#define MPU6050_RA_CONFIG          0x1A ////////////////
#define MPU6050_RA_GYRO_CONFIG    0x1B ////////////////
#define MPU6050_RA_ACCEL_CONFIG    0x1C ////////////////
#define MPU6050_RA_FF_THR          0x1D
#define MPU6050_RA_FF_DUR          0x1E
#define MPU6050_RA_MOT_THR       0x1F
#define MPU6050_RA_MOT_DUR       0x20
#define MPU6050_RA_ZRMOT_THR       0x21
#define MPU6050_RA_ZRMOT_DUR       0x22
#define MPU6050_RA_FIFO_EN       0x23
#define MPU6050_RA_I2C_MST_CTRL    0x24
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
#define MPU6050_RA_I2C_SLV0_REG    0x26
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
#define MPU6050_RA_I2C_SLV1_REG    0x29
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
#define MPU6050_RA_I2C_SLV2_REG    0x2C
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
#define MPU6050_RA_I2C_SLV3_REG    0x2F
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
#define MPU6050_RA_I2C_SLV4_REG    0x32
#define MPU6050_RA_I2C_SLV4_DO    0x33
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
#define MPU6050_RA_I2C_SLV4_DI    0x35
#define MPU6050_RA_I2C_MST_STATUS 0x36
#define MPU6050_RA_INT_PIN_CFG    0x37
#define MPU6050_RA_INT_ENABLE    0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS    0x3A
#define MPU6050_RA_ACCEL_XOUT_H    0x3B
#define MPU6050_RA_ACCEL_XOUT_L    0x3C
#define MPU6050_RA_ACCEL_YOUT_H    0x3D
#define MPU6050_RA_ACCEL_YOUT_L    0x3E
#define MPU6050_RA_ACCEL_ZOUT_H    0x3F
#define MPU6050_RA_ACCEL_ZOUT_L    0x40
#define MPU6050_RA_TEMP_OUT_H    0x41
#define MPU6050_RA_TEMP_OUT_L    0x42
#define MPU6050_RA_GYRO_XOUT_H    0x43
#define MPU6050_RA_GYRO_XOUT_L    0x44
#define MPU6050_RA_GYRO_YOUT_H    0x45
#define MPU6050_RA_GYRO_YOUT_L    0x46
#define MPU6050_RA_GYRO_ZOUT_H    0x47
#define MPU6050_RA_GYRO_ZOUT_L    0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
#define MPU6050_RA_I2C_SLV0_DO    0x63
#define MPU6050_RA_I2C_SLV1_DO    0x64
#define MPU6050_RA_I2C_SLV2_DO    0x65
#define MPU6050_RA_I2C_SLV3_DO    0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
#define MPU6050_RA_MOT_DETECT_CTRL    0x69
#define MPU6050_RA_USER_CTRL       0x6A
#define MPU6050_RA_PWR_MGMT_1    0x6B /////////////////////
#define MPU6050_RA_PWR_MGMT_2    0x6C
#define MPU6050_RA_BANK_SEL       0x6D
#define MPU6050_RA_MEM_START_ADDR 0x6E
#define MPU6050_RA_MEM_R_W       0x6F
#define MPU6050_RA_DMP_CFG_1       0x70
#define MPU6050_RA_DMP_CFG_2       0x71
#define MPU6050_RA_FIFO_COUNTH    0x72
#define MPU6050_RA_FIFO_COUNTL    0x73
#define MPU6050_RA_FIFO_R_W       0x74
#define MPU6050_RA_WHO_AM_I       0x75 /////////////////////

void MPU6050_Init(void);
void MPU6050_READ(u16* n);


#endif

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