MPU6050.cpp知多少

今天调试dmp各种头大于是跑去libraries看.h和.cpp的文件…………结果…………（真是骑驴找驴）

/** Default constructor, uses default I2C address.默认的函数结构，使用默认的I2C地址。

@see MPU6050_DEFAULT_ADDRESS

/

MPU6050::MPU6050() {

devAddr = MPU6050_DEFAULT_ADDRESS;

}

直接使用MPU6050 mpu；复制代码的格式,mpu是设备名可以改的。

/* Specific address constructor.特殊地址的函数结构。
@param address I2C address
@see MPU6050_DEFAULT_ADDRESS
@see MPU6050_ADDRESS_AD0_LOW
@see MPU6050_ADDRESS_AD0_HIGH

/

MPU6050::MPU6050(uint8_t address) {

devAddr = address;

}

这里是MPU6050 mpu(0x68);复制代码默认地址是68，可以改。

/* Power on and prepare for general usage.上电，调试
This will activate the device and take it out of sleep mode (which must be done
after start-up). This function also sets both the accelerometer and the gyroscope
to their most sensitive settings, namely +/- 2g 加速度计设为+/- 2gand +/- 250 degrees/sec陀螺仪设为+/- 250度/秒, and sets
the clock source to use the X Gyro for reference, which is slightly better than
the default internal clock source.

/

void MPU6050::initialize() {

setClockSource(MPU6050_CLOCK_PLL_XGYRO);

setFullScaleGyroRange(MPU6050_GYRO_FS_250);

setFullScaleAccelRange(MPU6050_ACCEL_FS_2);

setSleepEnabled(false); // thanks to Jack Elston for pointing this one out!

}

这里是mpu.initialize();复制代码/* Verify the I2C connection.验证I2C接口。
Make sure the device is connected and responds as expected.
@return True if connection is valid, false otherwise

/

bool MPU6050::testConnection() {

return getDeviceID() == 0x34;

}mpu.testConnection();复制代码// AUX_VDDIO register (InvenSense demo code calls this RA_*G_OFFS_TC)

/* Get the auxiliary I2C supply voltage level.获取I2C辅助电源电压。
When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
the MPU-6000, which does not have a VLOGIC pin.
@return I2C supply voltage level (0=VLOGIC, 1=VDD)

*/

uint8_t MPU6050::getAuxVDDIOLevel() {

I2Cdev::readBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);

return buffer[];

}mpu.getAuxVDDIOLevel();复制代码/** Set the auxiliary I2C supply voltage level.设定I2C辅助电源电压。
When set to 1, the auxiliary I2C bus high logic level is VDD. When cleared to
0, the auxiliary I2C bus high logic level is VLOGIC. This does not apply to
the MPU-6000, which does not have a VLOGIC pin.
@param level I2C supply voltage level (0=VLOGIC, 1=VDD)

/

void MPU6050::setAuxVDDIOLevel(uint8_t level) {

I2Cdev::writeBit(devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);

}mpu.setAuxVDDIOLevel(uint8_t level) ;复制代码// SMPLRT_DIV register

/* Get gyroscope output rate divider.获取陀螺仪输出频率间隔。
The sensor register output, FIFO output, DMP sampling, Motion detection, Zero
Motion detection, and Free Fall detection are all based on the Sample Rate.
The Sample Rate is generated by dividing the gyroscope output rate by
SMPLRT_DIV:

*
Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)

*
where Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or
7), and 1kHz when the DLPF is enabled (see Register 26).

*
Note: The accelerometer output rate is 1kHz. This means that for a Sample
Rate greater than 1kHz, the same accelerometer sample may be output to the
FIFO, DMP, and sensor registers more than once.

*
For a diagram of the gyroscope and accelerometer signal paths, see Section 8
of the MPU-6000/MPU-6050 Product Specification document.

*
@return Current sample rate
@see MPU6050_RA_SMPLRT_DIV

*/

uint8_t MPU6050::getRate() {

I2Cdev::readByte(devAddr, MPU6050_RA_SMPLRT_DIV, buffer);

return buffer[];

}mpu.getRate();复制代码/** Set gyroscope sample rate divider.设定陀螺仪的采样频率间隔。
@param rate New sample rate divider
@see getRate()
@see MPU6050_RA_SMPLRT_DIV

/

void MPU6050::setRate(uint8_t rate) {

I2Cdev::writeByte(devAddr, MPU6050_RA_SMPLRT_DIV, rate);

}mpu.setRate(uint8_t rate);复制代码// CONFIG register

/* Get external FSYNC configuration.获取FSYNC函数外接配置。
Configures the external Frame Synchronization (FSYNC) pin sampling. An
external signal connected to the FSYNC pin can be sampled by configuring
EXT_SYNC_SET. Signal changes to the FSYNC pin are latched so that short
strobes may be captured. The latched FSYNC signal will be sampled at the
Sampling Rate, as defined in register 25. After sampling, the latch will
reset to the current FSYNC signal state.

*
The sampled value will be reported in place of the least significant bit in
a sensor data register determined by the value of EXT_SYNC_SET according to
the following table.

*
<pre>
EXT_SYNC_SET | FSYNC Bit Location
-------------+-------------------
0 | Input disabled
1 | TEMP_OUT_L[
2 | GYRO_XOUT_L[
3 | GYRO_YOUT_L[
4 | GYRO_ZOUT_L[
5 | ACCEL_XOUT_L[
6 | ACCEL_YOUT_L[
7 | ACCEL_ZOUT_L[
</pre>

*
@return FSYNC configuration value

*/

uint8_t MPU6050::getExternalFrameSync() {

I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);

return buffer[];

}mpu.getExternalFrameSync();复制代码/** Set external FSYNC configuration.设定FSYNC函数外接配置。
@see getExternalFrameSync()
@see MPU6050_RA_CONFIG
@param sync New FSYNC configuration value

/

void MPU6050::setExternalFrameSync(uint8_t sync) {

I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT, MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);

}mpu.setExternalFrameSync(uint8_t sync);复制代码!!!好东西来了！

/* Get digital low-pass filter configuration.获取数字低通滤波器的配置。
The DLPF_CFG parameter sets the digital low pass filter configuration. It
also determines the internal sampling rate used by the device as shown in
the table below.

*
Note: The accelerometer output rate is 1kHz. This means that for a Sample
Rate greater than 1kHz, the same accelerometer sample may be output to the
FIFO, DMP, and sensor registers more than once.

*
<pre>
| ACCELEROMETER | GYROSCOPE
DLPF_CFG | Bandwidth | Delay| Bandwidth | Delay| Sample Rate
---------+-----------+--------+-----------+--------+-------------
0 | 260Hz | 0ms | 256Hz | 0.98ms | 8kHz
1 | 184Hz | 2.0ms| 188Hz | 1.9ms| 1kHz
2 | 94Hz | 3.0ms| 98Hz | 2.8ms| 1kHz
3 | 44Hz | 4.9ms| 42Hz | 4.8ms| 1kHz
4 | 21Hz | 8.5ms| 20Hz | 8.3ms| 1kHz
5 | 10Hz | 13.8ms | 10Hz | 13.4ms | 1kHz
6 | 5Hz | 19.0ms | 5Hz | 18.6ms | 1kHz
7 | -- Reserved -- | -- Reserved -- | Reserved
</pre>

*
@return DLFP configuration
@see MPU6050_RA_CONFIG
@see MPU6050_CFG_DLPF_CFG_BIT
@see MPU6050_CFG_DLPF_CFG_LENGTH

*/

uint8_t MPU6050::getDLPFMode() {

I2Cdev::readBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, buffer);

return buffer[];

}mpu.getDLPFMode();复制代码/** Set digital low-pass filter configuration.设定数字低通滤波器的配置。
@param mode New DLFP configuration setting
@see getDLPFBandwidth()
@see MPU6050_DLPF_BW_256
@see MPU6050_RA_CONFIG
@see MPU6050_CFG_DLPF_CFG_BIT
@see MPU6050_CFG_DLPF_CFG_LENGTH

/

void MPU6050::setDLPFMode(uint8_t mode) {

I2Cdev::writeBits(devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT, MPU6050_CFG_DLPF_CFG_LENGTH, mode);

}mpu.setDLPFMode(uint8_t mode);复制代码// GYRO_CONFIG register

/* Get full-scale gyroscope range.获取全量程的陀螺仪范围。
The FS_SEL parameter allows setting the full-scale range of the gyro sensors,
as described in the table below.

*
<pre>
0 = +/- 250 degrees/sec
1 = +/- 500 degrees/sec
2 = +/- 1000 degrees/sec
3 = +/- 2000 degrees/sec
</pre>

*
@return Current full-scale gyroscope range setting
@see MPU6050_GYRO_FS_250
@see MPU6050_RA_GYRO_CONFIG
@see MPU6050_GCONFIG_FS_SEL_BIT
@see MPU6050_GCONFIG_FS_SEL_LENGTH

*/

uint8_t MPU6050::getFullScaleGyroRange() {

I2Cdev::readBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);

return buffer[];

}mpu.getFullScaleGyroRange();复制代码/** Set full-scale gyroscope range.设定全量程的陀螺仪范围。
@param range New full-scale gyroscope range value
@see getFullScaleRange()
@see MPU6050_GYRO_FS_250
@see MPU6050_RA_GYRO_CONFIG
@see MPU6050_GCONFIG_FS_SEL_BIT
@see MPU6050_GCONFIG_FS_SEL_LENGTH

/

void MPU6050::setFullScaleGyroRange(uint8_t range) {

I2Cdev::writeBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range);

}mpu.setFullScaleGyroRange(uint8_t range);复制代码这里我跳过了加速度计的安全测试。

/* Get full-scale accelerometer range.获取全量程的加速度计范围。
The FS_SEL parameter allows setting the full-scale range of the accelerometer
sensors, as described in the table below.

*
<pre>
0 = +/- 2g
1 = +/- 4g
2 = +/- 8g
3 = +/- 16g
</pre>

*
@return Current full-scale accelerometer range setting
@see MPU6050_ACCEL_FS_2
@see MPU6050_RA_ACCEL_CONFIG
@see MPU6050_ACONFIG_AFS_SEL_BIT
@see MPU6050_ACONFIG_AFS_SEL_LENGTH

*/

uint8_t MPU6050::getFullScaleAccelRange() {

I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);

return buffer[];

}mpu.getFullScaleAccelRange();复制代码/** Set full-scale accelerometer range.设定全量程的加速度计范围。
@param range New full-scale accelerometer range setting
@see getFullScaleAccelRange()

/

void MPU6050::setFullScaleAccelRange(uint8_t range) {

I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range);

}mpu.setFullScaleAccelRange(uint8_t range);复制代码高通滤波器！

/* Get the high-pass filter configuration.获取高通滤波器的配置。
The DHPF is a filter module in the path leading to motion detectors (Free
Fall, Motion threshold, and Zero Motion). The high pass filter output is not
available to the data registers (see Figure in Section 8 of the MPU-6000/
MPU-6050 Product Specification document).

*
The high pass filter has three modes:

*
<pre>
Reset: The filter output settles to zero within one sample. This
effectively disables the high pass filter. This mode may be toggled
to quickly settle the filter.

*
On: The high pass filter will pass signals above the cut off frequency.

*
Hold:When triggered, the filter holds the present sample. The filter
output will be the difference between the input sample and the held
sample.
</pre>

*
<pre>
ACCEL_HPF | Filter Mode | Cut-off Frequency
----------+-------------+------------------
0 | Reset | None
1 | On | 5Hz
2 | On | 2.5Hz
3 | On | 1.25Hz
4 | On | 0.63Hz
7 | Hold | None
</pre>

*
@return Current high-pass filter configuration
@see MPU6050_DHPF_RESET
@see MPU6050_RA_ACCEL_CONFIG

*/

uint8_t MPU6050::getDHPFMode() {

I2Cdev::readBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);

return buffer[];

}mpu.getDHPFMode();复制代码/** Set the high-pass filter configuration.设定高通滤波器的配置。
@param bandwidth New high-pass filter configuration
@see setDHPFMode()
@see MPU6050_DHPF_RESET
@see MPU6050_RA_ACCEL_CONFIG

*/

void MPU6050::setDHPFMode(uint8_t bandwidth) {

I2Cdev::writeBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT, MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);

}mpu.setDHPFMode(uint8_t bandwidth);复制代码后面还有很多说明，我在这里抛砖引玉，希望大家能一起来交流，翻译～
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