65 lines
2.1 KiB
C
65 lines
2.1 KiB
C
/******************** (C) COPYRIGHT 2020 GEEKIMU *******************************
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* File Name : MPU6500.h
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* Current Version : V2.0 & ST 3.5.0
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* Author : zhanli 719901725@qq.com & JustFeng.
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* Date of Issued : 2019.5.26 zhanli : Create
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* Comments : MPU6500驱动
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********************************************************************************/
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#ifndef __MPU6500_H
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#define __MPU6500_H
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#include "stm32f10x.h"
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typedef struct {
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int16_t Gyro[3];
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int16_t Accel[3];
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int16_t Temp;
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}MPU_RawData;
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typedef struct {
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float Gyro[3];
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float Accel[3];
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float Mag[3];
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float Temp;
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}MPU_Data;
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uint8_t MPU6500_Init(void);
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/**----------------------------------------------------------------------
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* Function : MPU6500_Get_Rawdata
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* 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
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DMA直接读取提高速度
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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void MPU6500_Get_Rawdata(s16 *ax,s16 *ay,s16 *az,
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s16 *gx,s16 *gy,s16 *gz,
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s16 *temp);
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/**----------------------------------------------------------------------
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* Function : MPU6500_GetData
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* Description : 读取MPU6500数据,这里读取的数据是转换过的
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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void MPU6500_GetData(MPU_Data *mMPU_Data);
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/**----------------------------------------------------------------------
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* Function : MPU6500_Write_Byte
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* Description : MPU6500写一字节
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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uint8_t MPU6500_Write_Byte(uint8_t reg,uint8_t data);
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/**----------------------------------------------------------------------
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* Function : MPU6500_Read_Byte
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* Description : MPU6500读一字节
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* Author : zhanli&719901725@qq.com
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* Date : 2019/5/26 zhanli
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*---------------------------------------------------------------------**/
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uint8_t MPU6500_Read_Byte(uint8_t reg);
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#endif
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