/******************** (C) COPYRIGHT 2020 GEEKIMU ******************************* * File Name : MPU6500.c * Current Version : V2.0 & ST 3.5.0 * Author : zhanli 719901725@qq.com & JustFeng. * Date of Issued : 2019.5.26 zhanli : Create * Comments : MPU6500驱动 ********************************************************************************/ #include "stm32f10x_spi.h" #include "mpu6500_register_map.h" #include "MPU6500.h" #include "sys.h" #include "delay.h" #include "spi.h" #include "calibrate.h" /* 定义SPI总线连接的GPIO端口 ------------------------------------------------------ */ #define mpu6500_CS GPIO_Pin_4 #define mpu6500_CS_G GPIOA #define mpu6500_DRDY GPIO_Pin_8 #define mpu6500_DRDY_G GPIOB #define mpu6500_CS_L PAout(4) = 0 #define mpu6500_CS_H PAout(4) = 1 #define GYRO_SCALE 2000.0f / 32768 #define ACCEL_SCALE 4.0f / 32768 #define M_PI 3.14159265358979323846f MPU_Data mMPU_Data; extern Calibrate_Info mCali_Info; /**---------------------------------------------------------------------- * Function : MPU6500_IO_Init * Description : 初始化MPU6500的IO口 * Author : zhanli&719901725@qq.com * Date : 2019/5/26 zhanli *---------------------------------------------------------------------**/ void MPU6500_IO_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; MEMS_SPI_Init(); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); /* 使能PA端口时钟 */ GPIO_InitStructure.GPIO_Pin = mpu6500_CS; /* MPU6500 CS端口配置 */ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; /* 推挽输出 */ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; /* IO口速度为50MHz */ GPIO_Init(mpu6500_CS_G, &GPIO_InitStructure); /* 根据设定参数初始化端口 */ GPIO_SetBits(mpu6500_CS_G, mpu6500_CS); /* 先默认设置不片选 */ GPIO_InitStructure.GPIO_Pin = mpu6500_DRDY; /* MPU6500 DRDY 端口配置 */ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; /* 推挽输出 */ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; /* IO口速度为50MHz */ GPIO_Init(mpu6500_CS_G, &GPIO_InitStructure); /* 根据设定参数初始化端口 */ } /**---------------------------------------------------------------------- * Function : MPU6500_Init * Description : 初始化MPU6500配置参数以及自检 * Author : zhanli&719901725@qq.com * Date : 2019/5/26 zhanli *---------------------------------------------------------------------**/ uint8_t MPU6500_Init(void) { uint8_t res = 0xff; MPU6500_IO_Init(); /* 初始化MPU6500对应IO口 */ Delay_Ms(100); /* 保证100ms延迟让传感器稳定 */ MPU6500_Write_Byte(PWR_MGMT_1, DEVICE_RESET); /* 重置设备状态 */ Delay_Ms(10); res = MPU6500_Read_Byte(WHO_AM_I); /* 读取设备ID */ Delay_Ms(100); /* 保证100ms延迟让传感器稳定 */ MPU6500_Write_Byte(SIGNAL_PATH_RESET, TEMP_RESET | /* 重置信号通道 */ GYRO_RESET | ACCEL_RESET); Delay_Ms(100); /* 手册：page 42 延时 100ms */ MPU6500_Write_Byte(USER_CTRL, I2C_IF_DIS); /* 关闭MPU6500 IIC */ Delay_Ms(10); MPU6500_Write_Byte(PWR_MGMT_1, CLKSEL_GYRO_Y); /* 参考DK2 */ Delay_Ms(10); MPU6500_Write_Byte(INV_CONFIG, DLPF_CFG_256); /* 陀螺仪低通滤波250Hz */ Delay_Ms(10); MPU6500_Write_Byte(ACCEL_CONFIG2, ACCEL_FCHOICE_B); /* 加速度计采样频率4khz */ Delay_Ms(10); MPU6500_Write_Byte(GYRO_CONFIG, FS_SEL_2000); /* 敏感度2000deg/s */ Delay_Ms(10); MPU6500_Write_Byte(ACCEL_CONFIG, AFS_SEL_4); /* 加速度计检测范围±4G */ Delay_Ms(10); MPU6500_Write_Byte(INT_PIN_CFG, INT_RD_CLEAR); /* 清除中断 */ // Turn on data ready interrupts // mpu6500_Write_Byte(INT_ENABLE, DATA_RDY_EN); return res; } /**---------------------------------------------------------------------- * Function : MPU6500_Get_Rawdata * Description : 读取MPU6500原始数据，这里按照逐字节读取方式，以后可以优化为 DMA直接读取提高速度 * Author : zhanli&719901725@qq.com * Date : 2019/5/26 zhanli *---------------------------------------------------------------------**/ void MPU6500_Get_Rawdata(s16 *ax,s16 *ay,s16 *az,s16 *gx,s16 *gy,s16 *gz,s16 *temp){ unsigned char Buff[6]; // 读取加速度计数据 Buff[0] = MPU6500_Read_Byte(ACCEL_XOUT_L); Buff[1] = MPU6500_Read_Byte(ACCEL_XOUT_H); *ax = (Buff[1] << 8 ) | Buff[0]; Buff[2] = MPU6500_Read_Byte(ACCEL_YOUT_L); Buff[3] = MPU6500_Read_Byte(ACCEL_YOUT_H); *ay = (Buff[3] << 8 ) | Buff[2]; Buff[4] = MPU6500_Read_Byte(ACCEL_ZOUT_L); Buff[5] = MPU6500_Read_Byte(ACCEL_ZOUT_H); *az = (Buff[5] << 8 ) | Buff[4]; // 读取温度数据 Buff[0] = MPU6500_Read_Byte(TEMP_OUT_L); Buff[1] = MPU6500_Read_Byte(TEMP_OUT_H); *temp = (Buff[1] << 8 ) | Buff[0]; // 读取陀螺仪数据 Buff[0] = MPU6500_Read_Byte(GYRO_XOUT_L); Buff[1] = MPU6500_Read_Byte(GYRO_XOUT_H); *gx = (Buff[1] << 8 ) | Buff[0]; Buff[2] = MPU6500_Read_Byte(GYRO_YOUT_L); Buff[3] = MPU6500_Read_Byte(GYRO_YOUT_H); *gy = (Buff[3] << 8 ) | Buff[2]; Buff[4] = MPU6500_Read_Byte(GYRO_ZOUT_L); Buff[5] = MPU6500_Read_Byte(GYRO_ZOUT_H); *gz = (Buff[5] << 8 ) | Buff[4]; } /**---------------------------------------------------------------------- * Function : MPU6500_GetData * Description : 读取MPU6500数据,这里读取的数据是转换过的 * Author : zhanli&719901725@qq.com * Date : 2019/5/26 zhanli *---------------------------------------------------------------------**/ void MPU6500_GetData(MPU_Data *mMPU_Data){ int i = 0; MPU_RawData mRawData; MPU6500_Get_Rawdata(&mRawData.Accel[0],&mRawData.Accel[1], &mRawData.Accel[2], &mRawData.Gyro[0], &mRawData.Gyro[1], &mRawData.Gyro[2], &mRawData.Temp); for(i = 0; i < 3; i++)mMPU_Data->Accel[i] = (float)((mRawData.Accel[i]) * ACCEL_SCALE); for(i = 0; i < 3; i++)mMPU_Data->Gyro[i] = (float)(M_PI * (mRawData.Gyro[i] - mCali_Info.Gyr_Offset[i]) * GYRO_SCALE / 180.0f); mMPU_Data -> Temp = 10000 * (int32_t)(mRawData.Temp) / 33387 + 2100; } /**---------------------------------------------------------------------- * Function : MPU6500_Write_Byte * Description : MPU6500写一字节 * Author : zhanli&719901725@qq.com * Date : 2019/5/26 zhanli *---------------------------------------------------------------------**/ uint8_t MPU6500_Write_Byte(uint8_t reg,uint8_t data) { mpu6500_CS_L; SPI2_ReadWriteByte(reg); SPI2_ReadWriteByte(data); mpu6500_CS_H; return 0; } /**---------------------------------------------------------------------- * Function : MPU6500_Read_Byte * Description : MPU6500读一字节 * Author : zhanli&719901725@qq.com * Date : 2019/5/26 zhanli *---------------------------------------------------------------------**/ uint8_t MPU6500_Read_Byte(uint8_t reg) { uint8_t tmp=0; mpu6500_CS_L; SPI2_ReadWriteByte(reg|0x80); tmp = SPI2_ReadWriteByte(0xff); mpu6500_CS_H; return tmp; }