//MPU6050初始化
static uint8 MPU6050_Init(void)
{
fd = open("/dev/i2c-1", O_RDWR); // open file and enable read and write
if(fd < 0)
{
perror("Can't open /dev/MPU6050 \n"); // open i2c dev file fail
exit(1);
}
printf("open /dev/i2c-1 success !\n"); // open i2c dev file succes
if(ioctl(fd, I2C_SLAVE, Address)<0) { //set i2c address
printf("fail to set i2c device slave address!\n");
close(fd);
return -1;
}
printf("set slave address to 0x%x success!\n", Address);