STM32模拟I2C读取MPU9250数据

supergiant · 发表于 2020-9-10 21:09:35

1、整体思路介绍
一共是分为两个部分分别是写通讯过程和读通讯过程，具体说明如下：

每个数据字节在传送时都是高位(MSB)在前；

写通讯过程: 1. 主控在检测到总线空闲的状况下，首先发送一个START信号掌管总线； 2. 发送一个地址字节(包括7位地址码和一位R/W)； 3. 当被控器件检测到主控发送的地址与自己的地址相同时发送一个应答信号(ACK)； 4. 主控收到ACK后开始发送第一个数据字节； 5. 被控器收到数据字节后发送一个ACK表示继续传送数据，发送NACK表示传送数据结束； 6. 主控发送完全部数据后，发送一个停止位STOP，结束整个通讯并且释放总线；

读通讯过程: 1. 主控在检测到总线空闲的状况下，首先发送一个START信号掌管总线； 2. 发送一个地址字节(包括7位地址码和一位R/W)； 3. 当被控器件检测到主控发送的地址与自己的地址相同时发送一个应答信号(ACK)； 4. 主控收到ACK后释放数据总线，开始接收第一个数据字节； 5. 主控收到数据后发送ACK表示继续传送数据，发送NACK表示传送数据结束； 6. 主控发送完全部数据后，发送一个停止位STOP，结束整个通讯并且释放总线；

2、总线信号时序分析
2.1 IIC 配置底层代码

I2C[backcolor=inherit !important].c文件
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[backcolor=inherit !important]static [backcolor=inherit !important]void [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]Delay_us[backcolor=inherit !important]([backcolor=inherit !important]3[backcolor=inherit !important])[backcolor=inherit !important];  [backcolor=inherit !important]//已经定义的函数，在此处调用[backcolor=inherit !important]}
[backcolor=inherit !important]/*************************************************************** Name: II2_Config Params: void Return: void Description: 配置引脚工作模式***************************************************************/[backcolor=inherit !important]/* SCL=>PA6 SDA=>PA7 */[backcolor=inherit !important]void [backcolor=inherit !important]I2C_Config[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ GPIO_InitTypeDef GPIO_InitStructure[backcolor=inherit !important];    [backcolor=inherit !important]RCC_AHBPeriphClockCmd[backcolor=inherit !important](RCC_AHBPeriph_GPIOA[backcolor=inherit !important], ENABLE[backcolor=inherit !important])[backcolor=inherit !important];       GPIO_InitStructure[backcolor=inherit !important].GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7[backcolor=inherit !important]; GPIO_InitStructure[backcolor=inherit !important].GPIO_Speed = GPIO_Speed_50MHz[backcolor=inherit !important]; GPIO_InitStructure[backcolor=inherit !important].GPIO_Mode = GPIO_Mode_OUT[backcolor=inherit !important];    [backcolor=inherit !important]//输出 GPIO_InitStructure[backcolor=inherit !important].GPIO_OType = GPIO_OType_OD[backcolor=inherit !important];[backcolor=inherit !important]//开漏输出    [backcolor=inherit !important]GPIO_Init[backcolor=inherit !important](GPIOA[backcolor=inherit !important], &GPIO_InitStructure[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//初始化GPIO [backcolor=inherit !important]GPIO_SetBits[backcolor=inherit !important](GPIOA[backcolor=inherit !important],GPIO_Pin_6|GPIO_Pin_7[backcolor=inherit !important])[backcolor=inherit !important];  [backcolor=inherit !important]//PB6,PB7[backcolor=inherit !important]}[backcolor=inherit !important]/*************************************************************** Name:I2C_Start Params: void Return: void Description: IIC产生起始信号***************************************************************/[backcolor=inherit !important]void [backcolor=inherit !important]I2C_Start[backcolor=inherit !important]( [backcolor=inherit !important]void [backcolor=inherit !important])[backcolor=inherit !important]{[backcolor=inherit !important]/* 当SCL高电平时，SDA出现一个下跳沿表示I2C总线启动信号 */ I2C_SDA_H[backcolor=inherit !important]; I2C_SCL_H[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];    I2C_SDA_L[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; I2C_SCL_L[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];
[backcolor=inherit !important]}
[backcolor=inherit !important]/*************************************************************** Name:  I2C_Ack Params: void Return:  void Description:  CPU产生一个ACK信号***************************************************************/[backcolor=inherit !important]void [backcolor=inherit !important]I2C_Ack[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{
I2C_SDA_L[backcolor=inherit !important]; [backcolor=inherit !important]/* CPU驱动SDA = 0 */ [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; I2C_SCL_H[backcolor=inherit !important];[backcolor=inherit !important]/* CPU产生1个时钟 */ [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; I2C_SCL_L[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; I2C_SDA_H[backcolor=inherit !important]; [backcolor=inherit !important]/* CPU释放SDA总线 */[backcolor=inherit !important]}
[backcolor=inherit !important]/*************************************************************** Name:  I2C-NAck Params: void Return: Description: CPU产生一个时钟，并读取器件的ACK应答信号***************************************************************/
[backcolor=inherit !important]void [backcolor=inherit !important]I2C_NAck[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ I2C_SDA_H[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; I2C_SCL_H[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; I2C_SCL_L[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]}
[backcolor=inherit !important]/*************************************************************** Name:  Drv_I2C_WaitAck Params: void Return:  返回0表示正确应答，1表示无器件响应 Description: CPU产生一个时钟，并读取器件的ACK应答信号***************************************************************/u8 [backcolor=inherit !important]I2C_WaitAck[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{  u8 re[backcolor=inherit !important]; I2C_SDA_H[backcolor=inherit !important]; [backcolor=inherit !important]/* CPU释放SDA总线 */ [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; I2C_SCL_H[backcolor=inherit !important];  [backcolor=inherit !important]/* CPU驱动SCL = 1, 此时器件会返回ACK应答 */ [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];    [backcolor=inherit !important]if[backcolor=inherit !important](I2C_SDA_GET[backcolor=inherit !important])  [backcolor=inherit !important]/* CPU读取SDA口线状态 */ [backcolor=inherit !important]{       [backcolor=inherit !important]return [backcolor=inherit !important]1[backcolor=inherit !important]; [backcolor=inherit !important]} [backcolor=inherit !important]else [backcolor=inherit !important]{    re = [backcolor=inherit !important]0[backcolor=inherit !important]; [backcolor=inherit !important]} I2C_SCL_L[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];    [backcolor=inherit !important]return re[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]/*************************************************************** Name: I2C_Stop Params: void Return: void Description:  CPU发起I2C总线停止信号***************************************************************/[backcolor=inherit !important]void [backcolor=inherit !important]I2C_Stop[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{[backcolor=inherit !important]/* 当SCL高电平时，SDA出现一个上跳沿表示I2C总线停止信号 */ I2C_SDA_L[backcolor=inherit !important]; I2C_SCL_H[backcolor=inherit !important]; [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; I2C_SDA_H[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]/*************************************************************** Name: Drv_I2C_CheckDevice Params: _Address：设备的I2C总线地址 Return:  返回值 0 表示正确，返回1表示未探测到 Description: 检测I2C总线设备，CPU向发送设备地址，然后读取设备应答来判断该设备是否存在***************************************************************/[backcolor=inherit !important]void [backcolor=inherit !important]I2C_Work_Init[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]I2C_Config[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]/*************************************************************** Name: I2C_SendByte Params: [SendByte:发送的字节] Return: void Description: IIC发送一个字节***************************************************************/[backcolor=inherit !important]void [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](u8 SendByte[backcolor=inherit !important]) [backcolor=inherit !important]//数据从高位到低位[backcolor=inherit !important]{  u8 i[backcolor=inherit !important]; [backcolor=inherit !important]/* 先发送字节的高位bit7 */ [backcolor=inherit !important]for [backcolor=inherit !important](i = [backcolor=inherit !important]0[backcolor=inherit !important]; i < [backcolor=inherit !important]8[backcolor=inherit !important]; i++[backcolor=inherit !important]) [backcolor=inherit !important]{       [backcolor=inherit !important]if[backcolor=inherit !important](SendByte & [backcolor=inherit !important]0x80[backcolor=inherit !important])       [backcolor=inherit !important]{          I2C_SDA_H[backcolor=inherit !important];       [backcolor=inherit !important]}       [backcolor=inherit !important]else       [backcolor=inherit !important]{          I2C_SDA_L[backcolor=inherit !important];       [backcolor=inherit !important]}       [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];       I2C_SCL_H[backcolor=inherit !important];       [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];       I2C_SCL_L[backcolor=inherit !important]; [backcolor=inherit !important]if[backcolor=inherit !important](i == [backcolor=inherit !important]7[backcolor=inherit !important]) [backcolor=inherit !important]{       I2C_SDA_H[backcolor=inherit !important]; [backcolor=inherit !important]//释放总线 [backcolor=inherit !important]}       SendByte <<= [backcolor=inherit !important]1[backcolor=inherit !important]; [backcolor=inherit !important]/* 左移一个bit */       [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]}[backcolor=inherit !important]}[backcolor=inherit !important]/*************************************************************** Name:  I2C_ReceiveByte Params: void Return:  读到的数据 Description: 从IIC设备读取一字节***************************************************************/u8 [backcolor=inherit !important]I2C_ReceiveByte[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])  [backcolor=inherit !important]//数据从高位到低位//[backcolor=inherit !important]{ u8 i[backcolor=inherit !important]; u8 value[backcolor=inherit !important];
[backcolor=inherit !important]/* 读到第1个bit为数据的bit7 */
  value = [backcolor=inherit !important]0[backcolor=inherit !important]; [backcolor=inherit !important]for [backcolor=inherit !important](i = [backcolor=inherit !important]0[backcolor=inherit !important]; i < [backcolor=inherit !important]8[backcolor=inherit !important]; i++[backcolor=inherit !important]) [backcolor=inherit !important]{       value <<= [backcolor=inherit !important]1[backcolor=inherit !important];       I2C_SCL_H[backcolor=inherit !important];       [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];       [backcolor=inherit !important]if[backcolor=inherit !important](I2C_SDA_GET[backcolor=inherit !important])       [backcolor=inherit !important]{          value++[backcolor=inherit !important];       [backcolor=inherit !important]}       I2C_SCL_L[backcolor=inherit !important];       [backcolor=inherit !important]i2c_Delay[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]}[backcolor=inherit !important]return value[backcolor=inherit !important];[backcolor=inherit !important]}
2.2 配置MPU9250底层代码

MPU9250 由MPU6500（[backcolor=inherit !important]3轴陀螺仪和三轴街速度计）和（地磁仪）支持I2C（低速[backcolor=inherit !important]100KHz、高速[backcolor=inherit !important]400Hz）和SPI（速度可达[backcolor=inherit !important]3.4Mhz）读写
[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"mpu9250.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"Delay.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"I2c.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"Uart2.h"[backcolor=inherit !important]#[backcolor=inherit !important]include[backcolor=inherit !important] [backcolor=inherit !important]"stm32f30x_it.h"[backcolor=inherit !important]/*====================================================================================================*/[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU_CORRECTION_FLASH    0x0800F000       [backcolor=inherit !important]//存储校正数据的FLASH地址，SIZE=6*3*4字节[backcolor=inherit !important]//相关常数定义[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] G 9.86[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] M 0.27[backcolor=inherit !important]//10000GS(高斯)等于1T(特斯拉)，地磁场约0.6Gs[backcolor=inherit !important]//5883输出-2048-2047，超量程后，输出为-4096[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU_ACCE_K (8 * G / 32768.0)          [backcolor=inherit !important]//单位换算，将LSB化为m*s^-2，前面的"2"需根据量程修改[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU_GYRO_K (1000 / 32768.0 * PI / 180) [backcolor=inherit !important]//单位换算，将LSB化为rad/s[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU_MAGN_K (49.12 / 32760.0)          [backcolor=inherit !important]//单位换算，将LSB化为Gs[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU_TEMP_K (0.002995177763f)          [backcolor=inherit !important]//degC/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU_GYRO_ZERO_CALI_FACT 512             [backcolor=inherit !important]//陀螺仪零点校正采样次数，512次约600ms，需保持陀螺仪静止[backcolor=inherit !important]/*====================================================================================================*/[backcolor=inherit !important]/*|    |    ACCELEROMETER    |       GYROSCOPE       || LPF | BandW | Delay  | Sample | BandW | Delay  | Sample |+-----+-------+--------+--------+-------+--------+--------+|  0  | 260Hz | 0ms |  1kHz  | 256Hz | 0.98ms |  8kHz  ||  1  | 184Hz |  2.0ms |  1kHz  | 188Hz |  1.9ms |  1kHz  ||  2  |  94Hz |  3.0ms |  1kHz  |  98Hz |  2.8ms |  1kHz  ||  3  |  44Hz |  4.9ms |  1kHz  |  42Hz |  4.8ms |  1kHz  ||  4  |  21Hz |  8.5ms |  1kHz  |  20Hz |  8.3ms |  1kHz  ||  5  |  10Hz | 13.8ms |  1kHz  |  10Hz | 13.4ms |  1kHz  ||  6  | 5Hz | 19.0ms |  1kHz  | 5Hz | 18.6ms |  1kHz  ||  7  | -- Reserved -- |  1kHz  | -- Reserved -- |  8kHz  |*/[backcolor=inherit !important]typedef [backcolor=inherit !important]enum [backcolor=inherit !important]{ MPU_GYRO_LPS_250HZ = [backcolor=inherit !important]0x00[backcolor=inherit !important], MPU_GYRO_LPS_184HZ = [backcolor=inherit !important]0x01[backcolor=inherit !important], MPU_GYRO_LPS_92HZ = [backcolor=inherit !important]0x02[backcolor=inherit !important], MPU_GYRO_LPS_41HZ = [backcolor=inherit !important]0x03[backcolor=inherit !important], MPU_GYRO_LPS_20HZ = [backcolor=inherit !important]0x04[backcolor=inherit !important], MPU_GYRO_LPS_10HZ = [backcolor=inherit !important]0x05[backcolor=inherit !important], MPU_GYRO_LPS_5HZ    = [backcolor=inherit !important]0x06[backcolor=inherit !important], MPU_GYRO_LPS_DISABLE = [backcolor=inherit !important]0x07[backcolor=inherit !important],[backcolor=inherit !important]} MPU_GYRO_LPF_TypeDef[backcolor=inherit !important];[backcolor=inherit !important]typedef [backcolor=inherit !important]enum [backcolor=inherit !important]{ MPU_ACCE_LPS_460HZ = [backcolor=inherit !important]0x00[backcolor=inherit !important], MPU_ACCE_LPS_184HZ = [backcolor=inherit !important]0x01[backcolor=inherit !important], MPU_ACCE_LPS_92HZ = [backcolor=inherit !important]0x02[backcolor=inherit !important], MPU_ACCE_LPS_41HZ = [backcolor=inherit !important]0x03[backcolor=inherit !important], MPU_ACCE_LPS_20HZ = [backcolor=inherit !important]0x04[backcolor=inherit !important], MPU_ACCE_LPS_10HZ = [backcolor=inherit !important]0x05[backcolor=inherit !important], MPU_ACCE_LPS_5HZ    = [backcolor=inherit !important]0x06[backcolor=inherit !important], MPU_ACCE_LPS_DISABLE = [backcolor=inherit !important]0x08[backcolor=inherit !important],[backcolor=inherit !important]} MPU_ACCE_LPF_TypeDef[backcolor=inherit !important];[backcolor=inherit !important]typedef [backcolor=inherit !important]enum [backcolor=inherit !important]{ MPU_GYRO_FS_250  = [backcolor=inherit !important]0x00[backcolor=inherit !important], MPU_GYRO_FS_500  = [backcolor=inherit !important]0x08[backcolor=inherit !important], MPU_GYRO_FS_1000 = [backcolor=inherit !important]0x10[backcolor=inherit !important], MPU_GYRO_FS_2000 = [backcolor=inherit !important]0x18[backcolor=inherit !important],[backcolor=inherit !important]} MPU_GYRO_FS_TypeDef[backcolor=inherit !important];[backcolor=inherit !important]typedef [backcolor=inherit !important]enum [backcolor=inherit !important]{ MPU_ACCE_FS_2G  = [backcolor=inherit !important]0x00[backcolor=inherit !important], MPU_ACCE_FS_4G  = [backcolor=inherit !important]0x08[backcolor=inherit !important], MPU_ACCE_FS_8G  = [backcolor=inherit !important]0x10[backcolor=inherit !important], MPU_ACCE_FS_16G = [backcolor=inherit !important]0x18[backcolor=inherit !important],[backcolor=inherit !important]} MPU_ACCE_FS_TypeDef[backcolor=inherit !important];[backcolor=inherit !important]typedef [backcolor=inherit !important]enum [backcolor=inherit !important]{ MPU_READ_ACCE = [backcolor=inherit !important]1 << [backcolor=inherit !important]0[backcolor=inherit !important], MPU_READ_TEMP = [backcolor=inherit !important]1 << [backcolor=inherit !important]1[backcolor=inherit !important], MPU_READ_GYRO = [backcolor=inherit !important]1 << [backcolor=inherit !important]2[backcolor=inherit !important], MPU_READ_MAGN = [backcolor=inherit !important]1 << [backcolor=inherit !important]3[backcolor=inherit !important], MPU_READ_ALL  = [backcolor=inherit !important]0x0F[backcolor=inherit !important],[backcolor=inherit !important]} MPU_READ_TypeDef[backcolor=inherit !important];[backcolor=inherit !important]typedef [backcolor=inherit !important]enum [backcolor=inherit !important]{ MPU_CORRECTION_PX = [backcolor=inherit !important]0x01[backcolor=inherit !important], MPU_CORRECTION_NX = [backcolor=inherit !important]0x02[backcolor=inherit !important],    [backcolor=inherit !important]//三轴磁强寄存器 MPU_CORRECTION_PY = [backcolor=inherit !important]0x03[backcolor=inherit !important], MPU_CORRECTION_NY = [backcolor=inherit !important]0x04[backcolor=inherit !important], MPU_CORRECTION_PZ = [backcolor=inherit !important]0x05[backcolor=inherit !important], MPU_CORRECTION_NZ = [backcolor=inherit !important]0x06[backcolor=inherit !important], MPU_CORRECTION_GYRO = [backcolor=inherit !important]0x07[backcolor=inherit !important], MPU_CORRECTION_CALCX = [backcolor=inherit !important]0x08[backcolor=inherit !important], MPU_CORRECTION_CALCY = [backcolor=inherit !important]0x09[backcolor=inherit !important], MPU_CORRECTION_CALCZ = [backcolor=inherit !important]0x0A[backcolor=inherit !important], MPU_CORRECTION_SAVE = [backcolor=inherit !important]0x0B[backcolor=inherit !important], MPU_CORRECTION_CIRCLE = [backcolor=inherit !important]0x0C[backcolor=inherit !important], MPU_CORRECTION_CIRCLEZ = [backcolor=inherit !important]0x0D[backcolor=inherit !important],[backcolor=inherit !important]} MPU_CORRECTION_TypeDef[backcolor=inherit !important];[backcolor=inherit !important]/* ---- Sensitivity --------------------------------------------------------- */[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250A_2g    ((fp32)0.000061035156f) [backcolor=inherit !important]// 0.000061035156 g/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250A_4g    ((fp32)0.000122070312f) [backcolor=inherit !important]// 0.000122070312 g/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250A_8g    ((fp32)0.000244140625f) [backcolor=inherit !important]// 0.000244140625 g/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250A_16g    ((fp32)0.000488281250f) [backcolor=inherit !important]// 0.000488281250 g/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250G_250dps ((fp32)0.007633587786f) [backcolor=inherit !important]// 0.007633587786 dps/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250G_500dps ((fp32)0.015267175572f) [backcolor=inherit !important]// 0.015267175572 dps/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250G_1000dps  ((fp32)0.030487804878f) [backcolor=inherit !important]// 0.030487804878 dps/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250G_2000dps  ((fp32)0.060975609756f) [backcolor=inherit !important]// 0.060975609756 dps/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250M_4800uT ((fp32)0.6f)          [backcolor=inherit !important]// 0.6 uT/LSB[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU9250T_85degC ((fp32)0.002995177763f) [backcolor=inherit !important]// 0.002995177763 degC/LSB[backcolor=inherit !important]/* ---- MPU6500 Reg In MPU9250 ---------------------------------------------- */[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_ADDR          ((u8)0xD0)  [backcolor=inherit !important]//MPU9250设备地址[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_Device_ID          ((u8)0x71)  [backcolor=inherit !important]// In MPU9250[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_SELF_TEST_XG       ((u8)0x00)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_SELF_TEST_YG       ((u8)0x01)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_SELF_TEST_ZG       ((u8)0x02)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_SELF_TEST_XA       ((u8)0x0D)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_SELF_TEST_YA       ((u8)0x0E)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_SELF_TEST_ZA       ((u8)0x0F)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_XG_OFFSET_H       ((u8)0x13)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_XG_OFFSET_L       ((u8)0x14)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_YG_OFFSET_H       ((u8)0x15)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_YG_OFFSET_L       ((u8)0x16)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ZG_OFFSET_H       ((u8)0x17)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ZG_OFFSET_L       ((u8)0x18)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_SMPLRT_DIV       ((u8)0x19)  [backcolor=inherit !important]//采样率分频寄存器，输入采样时钟为1kHz[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_CONFIG             ((u8)0x1A) [backcolor=inherit !important]//配置寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_GYRO_CONFIG       ((u8)0x1B) [backcolor=inherit !important]//陀螺仪（角速度）配置寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ACCEL_CONFIG       ((u8)0x1C)[backcolor=inherit !important]//加速度配置寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ACCEL_CONFIG_2    ((u8)0x1D)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_LP_ACCEL_ODR       ((u8)0x1E)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_MOT_THR          ((u8)0x1F)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_FIFO_EN          ((u8)0x23)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_MST_CTRL       ((u8)0x24)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV0_ADDR    ((u8)0x25)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV0_REG       ((u8)0x26)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV0_CTRL    ((u8)0x27)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV1_ADDR    ((u8)0x28)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV1_REG       ((u8)0x29)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV1_CTRL    ((u8)0x2A)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV2_ADDR    ((u8)0x2B)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV2_REG       ((u8)0x2C)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV2_CTRL    ((u8)0x2D)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV3_ADDR    ((u8)0x2E)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV3_REG       ((u8)0x2F)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV3_CTRL    ((u8)0x30)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV4_ADDR    ((u8)0x31)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV4_REG       ((u8)0x32)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV4_DO       ((u8)0x33)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV4_CTRL    ((u8)0x34)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV4_DI       ((u8)0x35)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_MST_STATUS    ((u8)0x36)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_INT_PIN_CFG       ((u8)0x37) [backcolor=inherit !important]//INT引脚配置和Bypass模式配置寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_INT_ENABLE       ((u8)0x38)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_INT_STATUS       ((u8)0x3A)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ACCEL_XOUT_H 0x3B [backcolor=inherit !important]//三轴加速度寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ACCEL_XOUT_L 0x3C[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ACCEL_YOUT_H 0x3D[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ACCEL_YOUT_L 0x3E[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ACCEL_ZOUT_H 0x3F[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ACCEL_ZOUT_L 0x40[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_TEMP_OUT_H       ((u8)0x41)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_TEMP_OUT_L       ((u8)0x42)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] GYRO_XOUT_H       0x43[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] GYRO_XOUT_L       0x44 [backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] GYRO_YOUT_H       0x45[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] GYRO_YOUT_L       0x46[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] GYRO_ZOUT_H       0x47[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] GYRO_ZOUT_L       0x48[backcolor=inherit !important]//三轴陀螺仪（角速度）寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_GYRO_XOUT_H       ((u8)0x43)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_GYRO_XOUT_L       ((u8)0x44)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_GYRO_YOUT_H       ((u8)0x45)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_GYRO_YOUT_L       ((u8)0x46)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_GYRO_ZOUT_H       ((u8)0x47)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_GYRO_ZOUT_L       ((u8)0x48)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_00 ((u8)0x49)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_01 ((u8)0x4A)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_02 ((u8)0x4B)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_03 ((u8)0x4C)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_04 ((u8)0x4D)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_05 ((u8)0x4E)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_06 ((u8)0x4F)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_07 ((u8)0x50)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_08 ((u8)0x51)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_09 ((u8)0x52)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_10 ((u8)0x53)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_11 ((u8)0x54)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_12 ((u8)0x55)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_13 ((u8)0x56)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_14 ((u8)0x57)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_15 ((u8)0x58)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_16 ((u8)0x59)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_17 ((u8)0x5A)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_18 ((u8)0x5B)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_19 ((u8)0x5C)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_20 ((u8)0x5D)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_21 ((u8)0x5E)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_22 ((u8)0x5F)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_EXT_SENS_DATA_23 ((u8)0x60)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV0_DO       ((u8)0x63)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV1_DO       ((u8)0x64)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV2_DO       ((u8)0x65)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_SLV3_DO       ((u8)0x66)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_I2C_MST_DELAY_CTRL  ((u8)0x67)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_SIGNAL_PATH_RESET ((u8)0x68)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_MOT_DETECT_CTRL    ((u8)0x69)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_USER_CTRL          ((u8)0x6A)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_PWR_MGMT_1       ((u8)0x6B)  [backcolor=inherit !important]//MPU9250电源管理寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_PWR_MGMT_2       ((u8)0x6C)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_FIFO_COUNTH       ((u8)0x72)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_FIFO_COUNTL       ((u8)0x73) [backcolor=inherit !important]//[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_FIFO_R_W          ((u8)0x74)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_WHO_AM_I          ((u8)0x75) [backcolor=inherit !important]// //MPU9250设备ID寄存器 0x75[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_XA_OFFSET_H       ((u8)0x77)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_XA_OFFSET_L       ((u8)0x78)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_YA_OFFSET_H       ((u8)0x7A)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_YA_OFFSET_L       ((u8)0x7B)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ZA_OFFSET_H       ((u8)0x7D)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MPU6500_ZA_OFFSET_L       ((u8)0x7E)[backcolor=inherit !important]/* ---- AK8963 Reg In MPU9250 ----------------------------------------------- */[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_I2C_ADDR          ((u8)0x0C) [backcolor=inherit !important]//指南针设备地址[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_DEV_ID             ((u8)0x48)  [backcolor=inherit !important]//指南针设备ID[backcolor=inherit !important]//Read-only Reg[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_WIA                ((u8)0x00) [backcolor=inherit !important]//指南针设备ID寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_INFO                ((u8)0x01)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_ST1                ((u8)0x02)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_HXL                ((u8)0x03)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_HXH                ((u8)0x04)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_HYL                ((u8)0x05)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_HYH                ((u8)0x06)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_HZL                ((u8)0x07)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_HZH                ((u8)0x08)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_ST2                ((u8)0x09)[backcolor=inherit !important]//Write/Read Reg[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_CNTL1             ((u8)0x0A) [backcolor=inherit !important]//启动单次传输[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_CNTL2             ((u8)0x0B)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_ASTC                ((u8)0x0C)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_TS1                ((u8)0x0D)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_TS2                ((u8)0x0E)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_I2CDIS             ((u8)0x0F)[backcolor=inherit !important]//Read-only Reg ( ROM )[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_ASAX                ((u8)0x10)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_ASAY                ((u8)0x11)[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] AK8963_ASAZ                ((u8)0x12)[backcolor=inherit !important]# [backcolor=inherit !important]if[backcolor=inherit !important] 0[backcolor=inherit !important]const [backcolor=inherit !important]unsigned [backcolor=inherit !important]char MPU_INIT_REG[backcolor=inherit !important][[backcolor=inherit !important]][backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]] = [backcolor=inherit !important]{ [backcolor=inherit !important]{MPU6500_PWR_MGMT_1[backcolor=inherit !important],       [backcolor=inherit !important]0x80[backcolor=inherit !important]}[backcolor=inherit !important],       [backcolor=inherit !important]// Reset Device [backcolor=inherit !important]{[backcolor=inherit !important]0xFF[backcolor=inherit !important], [backcolor=inherit !important]20[backcolor=inherit !important]}[backcolor=inherit !important],                               [backcolor=inherit !important]// Ñóê± [backcolor=inherit !important]{MPU6500_PWR_MGMT_1[backcolor=inherit !important],       [backcolor=inherit !important]0x03[backcolor=inherit !important]}[backcolor=inherit !important],       [backcolor=inherit !important]// Clock Source [backcolor=inherit !important]{MPU6500_PWR_MGMT_2[backcolor=inherit !important],       [backcolor=inherit !important]0x00[backcolor=inherit !important]}[backcolor=inherit !important],       [backcolor=inherit !important]// Enable Acc & Gyro [backcolor=inherit !important]{MPU6500_SMPLRT_DIV[backcolor=inherit !important],       [backcolor=inherit !important]0x07[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]// 默认代码是 0x00 [backcolor=inherit !important]{MPU6500_CONFIG[backcolor=inherit !important],          MPU_GYRO_LPS_184HZ[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_GYRO_CONFIG[backcolor=inherit !important],       MPU_GYRO_FS_1000[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_ACCEL_CONFIG[backcolor=inherit !important],       MPU_ACCE_FS_8G[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]//sample rate [backcolor=inherit !important]{MPU6500_ACCEL_CONFIG_2[backcolor=inherit !important], MPU_ACCE_LPS_460HZ[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_INT_PIN_CFG[backcolor=inherit !important],       [backcolor=inherit !important]0x30[backcolor=inherit !important]}[backcolor=inherit !important],       [backcolor=inherit !important]// Disable Interrupt [backcolor=inherit !important]{MPU6500_I2C_MST_CTRL[backcolor=inherit !important],       [backcolor=inherit !important]0x4D[backcolor=inherit !important]}[backcolor=inherit !important],       [backcolor=inherit !important]// I2C Speed 400 kHz [backcolor=inherit !important]{MPU6500_USER_CTRL[backcolor=inherit !important],          [backcolor=inherit !important]0x00[backcolor=inherit !important]}[backcolor=inherit !important],       [backcolor=inherit !important]// Disable AUX [backcolor=inherit !important]{MPU6500_I2C_SLV4_CTRL[backcolor=inherit !important],       [backcolor=inherit !important]0x13[backcolor=inherit !important]}[backcolor=inherit !important],  [backcolor=inherit !important]// [backcolor=inherit !important]{MPU6500_I2C_MST_DELAY_CTRL[backcolor=inherit !important],[backcolor=inherit !important]0x01[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_I2C_SLV0_ADDR[backcolor=inherit !important],       AK8963_I2C_ADDR[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_I2C_SLV0_CTRL[backcolor=inherit !important],       [backcolor=inherit !important]0x81[backcolor=inherit !important]}[backcolor=inherit !important],          [backcolor=inherit !important]// Enable slave0 Length=1 [backcolor=inherit !important]{MPU6500_I2C_SLV0_REG[backcolor=inherit !important],       AK8963_CNTL2[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]// reg [backcolor=inherit !important]{MPU6500_I2C_SLV0_DO[backcolor=inherit !important],       [backcolor=inherit !important]0x01[backcolor=inherit !important]}[backcolor=inherit !important],          [backcolor=inherit !important]// dat [backcolor=inherit !important]{[backcolor=inherit !important]0xFF[backcolor=inherit !important], [backcolor=inherit !important]50[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_I2C_SLV0_REG[backcolor=inherit !important],       AK8963_CNTL1[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]// reg [backcolor=inherit !important]{MPU6500_I2C_SLV0_DO[backcolor=inherit !important],       [backcolor=inherit !important]0x16[backcolor=inherit !important]}[backcolor=inherit !important],          [backcolor=inherit !important]// dat [backcolor=inherit !important]{[backcolor=inherit !important]0xFF[backcolor=inherit !important], [backcolor=inherit !important]10[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_I2C_SLV0_ADDR[backcolor=inherit !important],       [backcolor=inherit !important]0x80 | AK8963_I2C_ADDR[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_I2C_SLV0_REG[backcolor=inherit !important],       AK8963_HXL[backcolor=inherit !important]}[backcolor=inherit !important], [backcolor=inherit !important]{MPU6500_I2C_SLV0_CTRL[backcolor=inherit !important],       [backcolor=inherit !important]0x87[backcolor=inherit !important]}[backcolor=inherit !important],          [backcolor=inherit !important]// Enable slave0 Length=6[backcolor=inherit !important]}[backcolor=inherit !important];[backcolor=inherit !important]#[backcolor=inherit !important]endif[backcolor=inherit !important]//传感器返回的原始数据[backcolor=inherit !important]extern [backcolor=inherit !important]signed [backcolor=inherit !important]short mpu_acce[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]][backcolor=inherit !important];[backcolor=inherit !important]extern [backcolor=inherit !important]signed [backcolor=inherit !important]short mpu_gyro[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]][backcolor=inherit !important];[backcolor=inherit !important]extern [backcolor=inherit !important]signed [backcolor=inherit !important]short mpu_magn[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]][backcolor=inherit !important];[backcolor=inherit !important]extern [backcolor=inherit !important]signed [backcolor=inherit !important]short mpu_temp[backcolor=inherit !important];[backcolor=inherit !important]//加速度带宽设置和输出速率配置寄存器[backcolor=inherit !important]/*+-------+----+----+----+|FCHOICE|DLPF|BW  |RATE|+-------+----+----+----+|0    |X |1.13|4K  ||1    |0 |460 |1K  ||1    |1 |184 |1K  ||1    |2 |92  |1K  ||1    |3 |41  |1K  ||1    |4 |20  |1K  ||1    |5 |10  |1K  ||1    |6 |10  |1K  ||1    |7 |460 |1K  |+-------+----+----+----+*/[backcolor=inherit !important]//温度值寄存器[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] TEMP_OUT_H       0x41[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] TEMP_OUT_L       0x42[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MAG_XOUT_L       0x03[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MAG_XOUT_H       0x04[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MAG_YOUT_L       0x05[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MAG_YOUT_H       0x06[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MAG_ZOUT_L       0x07[backcolor=inherit !important]#[backcolor=inherit !important]define[backcolor=inherit !important] MAG_ZOUT_H       0x08[backcolor=inherit !important]void [backcolor=inherit !important]Mpu9250_Init[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ GPIO_InitTypeDef GPIO_InitStructure[backcolor=inherit !important];    [backcolor=inherit !important]RCC_AHBPeriphClockCmd[backcolor=inherit !important](RCC_AHBPeriph_GPIOB[backcolor=inherit !important], ENABLE[backcolor=inherit !important])[backcolor=inherit !important];    GPIO_InitStructure[backcolor=inherit !important].GPIO_Pin = GPIO_Pin_2[backcolor=inherit !important];       [backcolor=inherit !important]// GPIO_InitStructure[backcolor=inherit !important].GPIO_Speed = GPIO_Speed_50MHz[backcolor=inherit !important]; GPIO_InitStructure[backcolor=inherit !important].GPIO_Mode = GPIO_Mode_OUT[backcolor=inherit !important]; GPIO_InitStructure[backcolor=inherit !important].GPIO_OType = GPIO_OType_PP[backcolor=inherit !important]; GPIO_InitStructure[backcolor=inherit !important].GPIO_PuPd = GPIO_PuPd_UP[backcolor=inherit !important]; [backcolor=inherit !important]GPIO_Init[backcolor=inherit !important](GPIOB[backcolor=inherit !important], &GPIO_InitStructure[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]/******************************************************************************/[backcolor=inherit !important]void [backcolor=inherit !important]TurnOnMpu[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]GPIO_SetBits[backcolor=inherit !important](GPIOB[backcolor=inherit !important], GPIO_Pin_2[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]}[backcolor=inherit !important]/******************************************************************************函数名:参数:功能描述: 关MPU输出:******************************************************************************/[backcolor=inherit !important]void [backcolor=inherit !important]TurnOffMpu[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]GPIO_ResetBits[backcolor=inherit !important](GPIOB[backcolor=inherit !important], GPIO_Pin_2[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]}[backcolor=inherit !important]/******************************************************************************/u8 [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](u8 MPU_Adr[backcolor=inherit !important],u8 address[backcolor=inherit !important],u8 val[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]I2C_Start[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](MPU_Adr[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//设置器件地址 [backcolor=inherit !important]I2C_Ack[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](address[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//设置低起始地址 [backcolor=inherit !important]I2C_Ack[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](val[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_Ack[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_Stop[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//注意：因为这里要等待EEPROM写完，可以采用查询或延时方式(10ms)    [backcolor=inherit !important]return [backcolor=inherit !important]1[backcolor=inherit !important];[backcolor=inherit !important]}u8 [backcolor=inherit !important]MPU_Read[backcolor=inherit !important](u8 MPU_Adr[backcolor=inherit !important],u8 address[backcolor=inherit !important])[backcolor=inherit !important]//读字节[backcolor=inherit !important]{    u8  temp=[backcolor=inherit !important]0[backcolor=inherit !important]; [backcolor=inherit !important]I2C_Start[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](MPU_Adr[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//设置器件地址 [backcolor=inherit !important]I2C_Ack[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](address[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//设置低起始地址 [backcolor=inherit !important]I2C_Ack[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_Start[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](MPU_Adr|[backcolor=inherit !important]0x01[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//设置器件地址       [backcolor=inherit !important]I2C_Ack[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; temp=[backcolor=inherit !important]I2C_ReceiveByte[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]// [backcolor=inherit !important]I2C_NAck[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];  [backcolor=inherit !important]I2C_Stop[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]return temp[backcolor=inherit !important];    [backcolor=inherit !important]}u8 [backcolor=inherit !important]MPU_write_String [backcolor=inherit !important](u8 MPU_Adr[backcolor=inherit !important],u8 *buff[backcolor=inherit !important],u8 address[backcolor=inherit !important],u8 length[backcolor=inherit !important])[backcolor=inherit !important]{    [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](MPU_Adr[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//设置器件地址 [backcolor=inherit !important]if[backcolor=inherit !important](![backcolor=inherit !important]I2C_WaitAck[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]) [backcolor=inherit !important]{       [backcolor=inherit !important]I2C_Stop[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];       [backcolor=inherit !important]return [backcolor=inherit !important]0[backcolor=inherit !important]; [backcolor=inherit !important]}    [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](address[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//设置低起始地址       [backcolor=inherit !important]I2C_WaitAck[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]while[backcolor=inherit !important](length--[backcolor=inherit !important]) [backcolor=inherit !important]{       [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](*buff[backcolor=inherit !important])[backcolor=inherit !important];       [backcolor=inherit !important]I2C_WaitAck[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];       buff++[backcolor=inherit !important]; [backcolor=inherit !important]}          [backcolor=inherit !important]I2C_Stop[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//注意：因为这里要等待EEPROM写完，可以采用查询或延时方式(10ms)[backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]10[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]return [backcolor=inherit !important]1[backcolor=inherit !important]; [backcolor=inherit !important]}u8 [backcolor=inherit !important]MPU_Read_String[backcolor=inherit !important](u8 MPU_Adr[backcolor=inherit !important],u8 address[backcolor=inherit !important],u8 *buff[backcolor=inherit !important],u8 length[backcolor=inherit !important])[backcolor=inherit !important]//读字符串[backcolor=inherit !important]{ [backcolor=inherit !important]I2C_Start[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](MPU_Adr[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//设置器件地址 [backcolor=inherit !important]I2C_WaitAck[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](address[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//设置低起始地址       [backcolor=inherit !important]I2C_WaitAck[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_Start[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]I2C_SendByte[backcolor=inherit !important](MPU_Adr|[backcolor=inherit !important]0x01[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//设置器件地址 [backcolor=inherit !important]I2C_WaitAck[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]while[backcolor=inherit !important](length[backcolor=inherit !important]) [backcolor=inherit !important]{       *buff=[backcolor=inherit !important]I2C_ReceiveByte[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];       [backcolor=inherit !important]if[backcolor=inherit !important](length==[backcolor=inherit !important]1[backcolor=inherit !important])          [backcolor=inherit !important]I2C_NAck[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];       [backcolor=inherit !important]else          [backcolor=inherit !important]I2C_Ack[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important];       buff++[backcolor=inherit !important];       length--[backcolor=inherit !important]; [backcolor=inherit !important]} [backcolor=inherit !important]I2C_Stop[backcolor=inherit !important]([backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]return [backcolor=inherit !important]1[backcolor=inherit !important]; [backcolor=inherit !important]}u8 i2c_dev[backcolor=inherit !important];[backcolor=inherit !important]int i=[backcolor=inherit !important]0[backcolor=inherit !important],j=[backcolor=inherit !important]0[backcolor=inherit !important];  [backcolor=inherit !important]int [backcolor=inherit !important]Mpu9250_Work_Mode_Init[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_PWR_MGMT_1[backcolor=inherit !important],[backcolor=inherit !important]0x00[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]// PWR_MGMT_1  MPU9250电源管理寄存器解除休眠  [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]100[backcolor=inherit !important])[backcolor=inherit !important]; i2c_dev=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_WHO_AM_I[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//i2c_dev  获取MPU_Read 返回值 [backcolor=inherit !important]if[backcolor=inherit !important](i2c_dev == [backcolor=inherit !important]0x71 [backcolor=inherit !important]) [backcolor=inherit !important]//设备ID [backcolor=inherit !important]{    [backcolor=inherit !important]delay_ms[backcolor=inherit !important]([backcolor=inherit !important]1000[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]// 此处的延时很重要，开始比较延时小，导致读的全是0XFF， [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_PWR_MGMT_2[backcolor=inherit !important],[backcolor=inherit !important]0x00[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//使能寄存器 X，Y，Z加速度 [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_SMPLRT_DIV[backcolor=inherit !important],[backcolor=inherit !important]0x07[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]// SMPLRT_DIV 采样率分频寄存器，输入采样时钟为1kHz，陀螺仪采样率1000/(1+7)=125HZ [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_CONFIG[backcolor=inherit !important],[backcolor=inherit !important]0x06[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//设为0x05时，GYRO的带宽为10Hz，延时为17.85ms，设为0x06时，带宽5Hz，延时33.48ms（建议使用0x05） [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_GYRO_CONFIG[backcolor=inherit !important],[backcolor=inherit !important]0x10[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//=>±1000dps  加速度计测量范围正负16g [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_USER_CTRL[backcolor=inherit !important],[backcolor=inherit !important]0x00[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]// 初始化I2C [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_ACCEL_CONFIG[backcolor=inherit !important],[backcolor=inherit !important]0x10[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]// 加速度计测量范围 0X10 正负8g [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_INT_PIN_CFG[backcolor=inherit !important],[backcolor=inherit !important]0x02[backcolor=inherit !important])[backcolor=inherit !important];[backcolor=inherit !important]//进入Bypass模式，用于控制电子指南针 [backcolor=inherit !important]return [backcolor=inherit !important]0[backcolor=inherit !important]; [backcolor=inherit !important]} [backcolor=inherit !important]return [backcolor=inherit !important]1[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]/*读取MPU9250数据*/u8 TX_DATA[backcolor=inherit !important][[backcolor=inherit !important]4[backcolor=inherit !important]][backcolor=inherit !important];[backcolor=inherit !important]//显示据缓存区u8 BUF[backcolor=inherit !important][[backcolor=inherit !important]10[backcolor=inherit !important]][backcolor=inherit !important];[backcolor=inherit !important]//接收数据缓存区u8 T_X[backcolor=inherit !important],T_Y[backcolor=inherit !important],T_Z[backcolor=inherit !important],T_T[backcolor=inherit !important];[backcolor=inherit !important]//X,Y,Z轴，温度[backcolor=inherit !important]/*模拟IIC端口输出输入定义*/[backcolor=inherit !important]/****************************************/[backcolor=inherit !important]void [backcolor=inherit !important]READ_MPU9250_ACCEL[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]//读取计算X轴数据 T_X =advalue/ BUF[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_ACCEL_XOUT_L [backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_ACCEL_XOUT_H [backcolor=inherit !important])[backcolor=inherit !important]; T_X= [backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]][backcolor=inherit !important];    T_X/=[backcolor=inherit !important]4096[backcolor=inherit !important];    [backcolor=inherit !important]//读取计算Y轴数据 BUF[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_ACCEL_YOUT_L[backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_ACCEL_YOUT_H[backcolor=inherit !important])[backcolor=inherit !important]; T_Y= [backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important]; T_Y/=[backcolor=inherit !important]4096[backcolor=inherit !important];    [backcolor=inherit !important]//读取计算Z轴数据 BUF[backcolor=inherit !important][[backcolor=inherit !important]4[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_ACCEL_ZOUT_L[backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]5[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_ACCEL_ZOUT_H[backcolor=inherit !important])[backcolor=inherit !important]; T_Z= [backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]5[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]4[backcolor=inherit !important]][backcolor=inherit !important]; T_Z/=[backcolor=inherit !important]4096[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]void [backcolor=inherit !important]READ_MPU9250_GYRO[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]//读取计算X轴数据 BUF[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_GYRO_XOUT_L[backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_GYRO_XOUT_H[backcolor=inherit !important])[backcolor=inherit !important]; T_X=[backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]][backcolor=inherit !important]; T_X/=[backcolor=inherit !important]32.8[backcolor=inherit !important];    [backcolor=inherit !important]//读取计算Y轴数据 BUF[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_GYRO_YOUT_L[backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_GYRO_YOUT_H[backcolor=inherit !important])[backcolor=inherit !important]; T_Y= [backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important]; T_Y/=[backcolor=inherit !important]32.8[backcolor=inherit !important];    [backcolor=inherit !important]//读取计算Z轴数据 BUF[backcolor=inherit !important][[backcolor=inherit !important]4[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_GYRO_ZOUT_L[backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]5[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](MPU6500_I2C_ADDR[backcolor=inherit !important],MPU6500_GYRO_ZOUT_H[backcolor=inherit !important])[backcolor=inherit !important]; T_Z=[backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]5[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]4[backcolor=inherit !important]][backcolor=inherit !important]; T_Z/=[backcolor=inherit !important]32.8[backcolor=inherit !important];[backcolor=inherit !important]}[backcolor=inherit !important]void [backcolor=inherit !important]READ_MPU9250_MAG[backcolor=inherit !important]([backcolor=inherit !important]void[backcolor=inherit !important])[backcolor=inherit !important]{ [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](AK8963_I2C_ADDR[backcolor=inherit !important],[backcolor=inherit !important]0x37[backcolor=inherit !important],[backcolor=inherit !important]0x02[backcolor=inherit !important])[backcolor=inherit !important];  [backcolor=inherit !important]//turn on Bypass Mode [backcolor=inherit !important]MPU_Write[backcolor=inherit !important](AK8963_I2C_ADDR [backcolor=inherit !important],[backcolor=inherit !important]0x0A[backcolor=inherit !important],[backcolor=inherit !important]0x01[backcolor=inherit !important])[backcolor=inherit !important]; [backcolor=inherit !important]//读取计算X轴数据 BUF[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read [backcolor=inherit !important](AK8963_I2C_ADDR[backcolor=inherit !important],AK8963_HXL[backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read [backcolor=inherit !important](AK8963_I2C_ADDR[backcolor=inherit !important],AK8963_HXH[backcolor=inherit !important])[backcolor=inherit !important]; T_X=[backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]1[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]0[backcolor=inherit !important]][backcolor=inherit !important]; [backcolor=inherit !important]// 读取计算Y轴数据 BUF[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](AK8963_I2C_ADDR[backcolor=inherit !important],AK8963_HYL[backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](AK8963_I2C_ADDR[backcolor=inherit !important],AK8963_HYH[backcolor=inherit !important])[backcolor=inherit !important]; T_Y=[backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]3[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]2[backcolor=inherit !important]][backcolor=inherit !important]; [backcolor=inherit !important]//读取计算Z轴数据 BUF[backcolor=inherit !important][[backcolor=inherit !important]4[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](AK8963_I2C_ADDR[backcolor=inherit !important],AK8963_HZL[backcolor=inherit !important])[backcolor=inherit !important]; BUF[backcolor=inherit !important][[backcolor=inherit !important]5[backcolor=inherit !important]]=[backcolor=inherit !important]MPU_Read[backcolor=inherit !important](AK8963_I2C_ADDR[backcolor=inherit !important],AK8963_HZL[backcolor=inherit !important])[backcolor=inherit !important]; T_Z= [backcolor=inherit !important](BUF[backcolor=inherit !important][[backcolor=inherit !important]5[backcolor=inherit !important]]<<[backcolor=inherit !important]8[backcolor=inherit !important])|BUF[backcolor=inherit !important][[backcolor=inherit !important]4[backcolor=inherit !important]][backcolor=inherit !important]; [backcolor=inherit !important]}
  总结：  按照MPU9250的I2C读写时序去编程。

注意：

1、 AD0接地还是接高电平，I2C的地址与它有关，接地为0xD0,接高为0xD2,第八位为读写位程序开始不能读，由于I2C没有接上拉电阻，同时保证Stm32的GPIO输出模式为开漏输出（I2C芯片的模式也是开漏）

2、可以读出设备ID为0x71,接下来进入MPU9250配置模式，配置电源工作模式，量程和是否自检，以及采样频率、滤波。刚开始读出来的全是0XFF。后来发现是配置MPU9250前的延时太短了，导致配置不成功，从而无法读出数据，延时改为500MS，可以读出数据。

shengkai · 发表于 2020-9-23 11:41:23

大佬可否具体解释一下代码，上传一下文件

zhuizhu · 发表于 2021-1-28 14:10:59

你好，代码可否分享一下

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STM32模拟I2C读取MPU9250数据

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