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陀螺仪mpu6050 数据采集实现
发表于 2017-5-11 16:30:50
浏览：8335
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/************************************************************/
//文件名：mpu6050.c
//功能:测试linux下iic读写mpu6050程序
//使用说明: (1)
// (2)
// (3)
// (4)
//作者:huangea
//日期:2016-10-03
/************************************************************/
//包含头文件
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/select.h>
#include <sys/time.h>
#include <errno.h>
//宏定义
#define SMPLRT_DIV 0x19
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define ACCEL_CONFIG 0x1C
#define ACCEL_XOUT_H 0x3B
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40
#define TEMP_OUT_H 0x41
#define TEMP_OUT_L 0x42
#define GYRO_XOUT_H 0x43
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48
#define PWR_MGMT_1 0x6B
#define WHO_AM_I 0x75
#define SlaveAddress 0xD0
#define Address 0x68 //MPU6050地址
#define I2C_RETRIES 0x0701
#define I2C_TIMEOUT 0x0702
#define I2C_SLAVE 0x0703 //IIC从器件的地址设置
#define I2C_BUS_MODE 0x0780
typedef unsigned char uint8;
int fd = -1;
//函数声明
static uint8 MPU6050_Init(void);
static uint8 i2c_write(int fd, uint8 reg, uint8 val);
static uint8 i2c_read(int fd, uint8 reg, uint8 *val);
static uint8 printarray(uint8 Array[], uint8 Num);
//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);
i2c_write(fd,PWR_MGMT_1,0X00);
i2c_write(fd,SMPLRT_DIV,0X07);
i2c_write(fd,CONFIG,0X06);
i2c_write(fd,ACCEL_CONFIG,0X01);
return(1);
}
//MPU6050 wirte byte
static uint8 i2c_write(int fd, uint8 reg, uint8 val)
{
int retries;
uint8 data[2];
data[0] = reg;
data[1] = val;
for(retries=5; retries; retries--) {
if(write(fd, data, 2)==2)
return 0;
usleep(1000*10);
}
return -1;
}
//MPU6050 read byte
static uint8 i2c_read(int fd, uint8 reg, uint8 *val)
{
int retries;
for(retries=5; retries; retries--)
if(write(fd, ®, 1)==1)
if(read(fd, val, 1)==1)
return 0;
return -1;
}
//get data
int GetData(unsigned char REG_Address)
{
char H,L;
uint8 ret;
int return_value = 0;
ret = i2c_read(fd, REG_Address, &H);
if (ret)
{
printf("Read error\n");
}
i2c_read(fd, REG_Address + 1, &L);
//return (H<<8)+L;
return_value = (H<<8)+L;
}
// main
int main(int argc, char *argv[])
{
MPU6050_Init();
usleep(1000*100);
while(1)
{
printf("\033[2J");
usleep(1000*200);
printf("ACCE_X:%u\n ",GetData(ACCEL_XOUT_H));
printf("ACCE_Y:%u\n ",GetData(ACCEL_YOUT_H));
printf("ACCE_Z:%u\n ",GetData(ACCEL_ZOUT_H));
printf("GYRO_X:%u\n ",GetData(GYRO_XOUT_H));
printf("GYRO_Y:%u\n ",GetData(GYRO_YOUT_H));
printf("GYRO_Z:%u\n ",GetData(GYRO_ZOUT_H));
}
close(fd);
} |
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