MPU6050(MPU6050)

Macro definition

Macro definition	value	Annotation
PRINT_ACCEL	(0x01)	Print acceleration data
PRINT_GYRO	(0x02)	Print gyroscope data
PRINT_QUAT	(0x04)	Print four yuan data data
ACCEL_ON	(0x01)	Acceleration sensor enable
GYRO_ON	(0x02)	Gyroscope sensor enable
MOTION	(0)	Movement status (0 means no exercise)
NO_MOTION	(1)	Non -sports state (1 means exercise)
DEFAULT_MPU_HZ	(200)	The default sampling frequency, the unit is Hz
FLASH_SIZE	(512)	Flash memory, the unit is byte
FLASH_MEM_START	((void*)0x1800)	Start address of flash memory
q30	1073741824.0f	Label factor for the number of four yuan and acceleration/gyroscope data

Global variable

Global variable	type	Annotation
gyro	short[3]	The gyroscope data array, including X, Y, Z -axis data
accel	short[3]	Acceleration data array, including X, Y, Z -axis data
sensors	short	Sensor status logo
Roll	float	Roller
Pitch	float	Pitch angle
Yaw	float	Polar angle
q0	float	Quaternion q0 part
q1	float	Quaternion q1 part
q2	float	Quaternion q2 part
q3	float	Quaternion q3 part
buffer	uint8_t[14]	The buffer area is used to store data
MPU6050_FIFO	int16_t[6][11]	Data cache array for filtering
Gx_offset	int16_t	Rolling axis offset
Gy_offset	int16_t	Pental axis offset
Gz_offset	int16_t	Poor navigation shaft offset

Static variable

Static variable	type	Annotation
gyro_orientation	signed char[9]	Trooria direction matrix

method

MPU6050_Init()

Initialize MPU6050 to enter the available state

Return value	type
none	void

MPU6050_getDate(int way)

2024-11-25 renew

Integrate the algorithm of obtaining gesture

Read MPU6050 posture information

way: 1.DMP 2.Carman Filter 3.Complementary filtering
When using Carman filtering and complementary filtering to obtain posture information, the YAW value read is invalid data (that is, the value of the return value is invalid)

parameter	type	Annotation
way	int	Algorithm of reading posture information: 1.DMP 2. Carman Filter 3. complementary filtering

Return value	type
Gesture information	float*
Back value order: Roll, Pitch, Yaw, gyro(X -axis), gyro(Y -axis),gyro(Z -axis), accel(X -axis),accel(Y -axis),accel(Z -axis)

Read_DMP(void)

Read the attitude information of the MPU6050 built -in DMP

2024-11-18 renew

1. Return value adds original data GYRO and Accel

2024-11-22 renew

1. Fix the error problem of the return value order

Return value	type
Gesture information	float*
Back value order: Roll, Pitch, Yaw, gyro(X -axis), gyro(Y -axis),gyro(Z -axis), accel(X -axis),accel(Y -axis),accel(Z -axis)

Read_Temperature(void)

Read MPU6050 built -in temperature sensor data

Return value	type
Celsius temperature	int

Other functions	Return value	Function
static unsigned short inv_row_2_scale(const signed char *row)	unsigned short	Ring vector label conversion function
static unsigned short inv_orientation_matrix_to_scalar(const signed char *mtx)	unsigned short	Direction matrix marker conversion function
static void run_self_test(void)	void	Run self -inspection and set bias
void MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz)	void	Update the FIFO array and perform filtering
void MPU6050_setClockSource(uint8_t source)	void	Set MPU6050 clock source
void MPU6050_setFullScaleGyroRange(uint8_t range)	void	Set the range range of the gyroscope
void MPU6050_setFullScaleAccelRange(uint8_t range)	void	Set the maximum range of the acceleration meter
void MPU6050_setSleepEnabled(uint8_t enabled)	void	Set whether the MPU6050 enters the sleep mode
uint8_t MPU6050_getDeviceID(void)	uint8_t	Read MPU6050 WHO_AM_I identification
uint8_t MPU6050_testConnection(void)	uint8_t	Detect whether the MPU6050 has been connected
void MPU6050_setI2CMasterModeEnabled(uint8_t enabled)	void	Set the host of the MPU6050 as the AUX I2C line
void MPU6050_setI2CBypassEnabled(uint8_t enabled)	void	Set the host of the MPU6050 as the AUX I2C line
void MPU6050_initialize(void)	void	Initialize MPU6050 to enter the available state
DMP_Init(void)	void	Initialization of MPU6050 built-in DMP
float* Read_DMP(void)	float*	Read the attitude information of the built-in DMP of MPU6050
int Read_Temperature(void)	int	Read the MPU6050 built-in temperature sensor data
void MPU6050_EXTI_Init(void)	void	Initialization interrupt

Usage Examples

MPU6050 relies on the Delay module as a preamplifier


//The new version only needs to import these two header files
#include "delay.h"
#include "MPU6050.h"


//The old version also needs to import these header files
#include "IOI2C.h"
#include "dmpKey.h"
#include "dmpmap.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
int main() {
    MPU6050_Init();
    while(1);
    return 0;
}
void EXTI15_10_IRQHandler() {
    if(MPU6050_INT==0)		
    {   
        EXTI->PR=1<<12;
        // The new version recommends using MPU6050_getDate(1) 
        // Older versions use Read_DMP(); 
        MPU6050_getDate(1);
    }
}