83 lines
2.6 KiB
C
83 lines
2.6 KiB
C
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#ifndef __MPU__
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#define __MPU__
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#include "data.h"
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// Read-only Reg
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#define AK8963_I2C_ADDR 0x18 // slave address for the AK8963
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#define AK8963_DEVICE_ID 0x48
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#define AK8963_WIA 0x00
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#define AK8963_INFO 0x01
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#define AK8963_ST1 0x02 // data ready status bit 0
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#define AK8963_XOUT_L 0x03 // data
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#define AK8963_XOUT_H 0x04
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#define AK8963_YOUT_L 0x05
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#define AK8963_YOUT_H 0x06
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#define AK8963_ZOUT_L 0x07
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#define AK8963_ZOUT_H 0x08
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#define AK8963_ST2 0x09 // Data overflow bit 3 and data read error status bit 2
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#define AK8963_CNTL 0x0A // Power down (0000), single-measurement (0001), self-test (1000) and Fuse ROM (1111) modes on bits 3:0
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#define AK8963_ASTC 0x0C // Self test control
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#define AK8963_I2CDIS 0x0F // I2C disable
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#define AK8963_ASAX 0x10 // Fuse ROM x-axis sensitivity adjustment value
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#define AK8963_ASAY 0x11 // Fuse ROM y-axis sensitivity adjustment value
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#define AK8963_ASAZ 0x12 // Fuse ROM z-axis sensitivity adjustment value
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// Write/Read Reg
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#define AK8963_CNTL1 0x0A
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#define AK8963_CNTL2 0x0B
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#define AK8963_ASTC 0x0C
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#define AK8963_TS1 0x0D
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#define AK8963_TS2 0x0E
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#define AK8963_I2CDIS 0x0F
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// Read-only Reg ( ROM )
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#define AK8963_ASAX 0x10
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#define AK8963_ASAY 0x11
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#define AK8963_ASAZ 0x12
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#define SMPLRT_DIV 0x19 //陀螺仪采样率，典型值：0x07(125Hz)
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#define CONFIGL 0x1A //低通滤波频率，典型值：0x06(5Hz)
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#define GYRO_CONFIG 0x1B //陀螺仪自检及测量范围，典型值：0x18(不自检<E887AA><E6A380>?000deg/s)
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#define ACCEL_CONFIG 0x1C //加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检<E887AA><E6A380>?G<><47>?Hz)
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#define ACCEL_CONFIG2 0X1D //加速度计低通滤波器 0x06 5hz
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#define PWR_MGMT_1 0X6B//电源管理1 典型值为0x00
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#define INT_PIN_CFG 0x37
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#define ACCEL_ADDRESS 0x3B
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#define ACCEL_XOUT_H 0x3B
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#define ACCEL_XOUT_L 0x3C
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#define ACCEL_YOUT_H 0x3D
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#define ACCEL_YOUT_L 0x3E
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#define ACCEL_ZOUT_H 0x3F
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#define ACCEL_ZOUT_L 0x40
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#define TEMP_OUT_H 0x41
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#define TEMP_OUT_L 0x42
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#define GYRO_XOUT_H 0x43
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#define GYRO_ADDRESS 0x43
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#define GYRO_XOUT_L 0x44
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#define GYRO_YOUT_H 0x45
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#define GYRO_YOUT_L 0x46
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#define GYRO_ZOUT_H 0x47
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#define GYRO_ZOUT_L 0x48
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#define WHO_AM_I 0x75 //IIC地址寄存<E5AF84><E5AD98>?默认数<E8AEA4><E695B0>?x68，只<EFBC8C><E58FAA>?
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#define MPU6050_PRODUCT_ID 0x68
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#define MPU6052C_PRODUCT_ID 0x72
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#define MPU9250_PRODUCT_ID 0x71 //
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#define I2C_SLV0_ADDR 0x25
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#define EXT_SENS_DATA_00 0x49
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#define I2C_SLV0_CTRL 0x27
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#define I2C_SLV0_DO 0x64
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#define USER_CTRL 0x6A
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extern _st_Mpu MPU6050; //MPU6050原始数据
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extern _st_AngE Angle;
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extern _st_AngE Angle;
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int8_t MpuInit(void); //初始<E5889D><E5A78B>?
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void MpuGetData(void); //读取陀螺仪数据加滤<E58AA0><E6BBA4>?
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#endif
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