STM32F103C8T6 双MPU6050 HAL库例程

/* $License: Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. See included License.txt for License information. $ */ /** * @addtogroup DRIVERS Sensor Driver Layer * @brief Hardware drivers to communicate with sensors via I2C. * * @{ * @file inv_mpu.c * @brief An I2C-based driver for Invensense gyroscopes. * @details This driver currently works for the following devices: * MPU6050 * MPU6500 * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) */ #include <stdio.h> #include <stdint.h> #include <stdlib.h> #include <string.h> #include <math.h> #include "inv_mpu_1.h" #include "inv_mpu_dmp_motion_driver_1.h" #include "mpu6050_1.h" #include "delay.h" #include "usart.h" #define MPU6050 //定义我们使用的传感器为MPU6050 #define MOTION_DRIVER_TARGET_MSP430 //定义驱动部分,采用MSP430的驱动(移植到STM32F4) /* The following functions must be defined for this platform: * i2c_write(unsigned char slave_addr, unsigned char reg_addr, * unsigned char length, unsigned char const *data) * i2c_read(unsigned char slave_addr, unsigned char reg_addr, * unsigned char length, unsigned char *data) * delay_ms(unsigned long num_ms) * get_ms(unsigned long *count) * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin) * labs(long x) * fabsf(float x) * min(int a, int b) */ #if defined MOTION_DRIVER_TARGET_MSP430 //#include "msp430.h" //#include "msp430_i2c.h" //#include "msp430_clock.h" //#include "msp430_interrupt.h" #define i2c_write MPU_Write_Len_1 #define i2c_read MPU_Read_Len_1 #define delay_ms delay_ms #define get_ms_1 mget_ms_1 #define mpu_init mpu_init_1 #define mpu_init_slave mpu_init_slave_1 #define mpu_set_bypass mpu_set_bypass_1 #define mpu_lp_accel_mode mpu_lp_accel_mode_1 #define mpu_lp_motion_interrupt mpu_lp_motion_interrupt_1 #define mpu_set_int_level mpu_set_int_level_1 #define mpu_set_int_latched mpu_set_int_latched_1 #define mpu_set_dmp_state mpu_set_dmp_state_1 #define mpu_get_dmp_state mpu_get_dmp_state_1 #define mpu_get_lpf mpu_get_lpf_1 #define mpu_set_lpf mpu_set_lpf_1 #define mpu_get_gyro_fsr mpu_get_gyro_fsr_1 #define mpu_set_gyro_fsr mpu_set_gyro_fsr_1 #define mpu_get_accel_fsr mpu_get_accel_fsr_1 #define mpu_set_accel_fsr mpu_set_accel_fsr_1 #define mpu_get_compass_fsr mpu_get_compass_fsr_1 #define mpu_get_gyro_sens mpu_get_gyro_sens_1 #define mpu_get_accel_sens mpu_get_accel_sens_1 #define mpu_get_sample_rate mpu_get_sample_rate_1 #define mpu_set_sample_rate mpu_set_sample_rate_1 #define mpu_get_compass_sample_rate mpu_get_compass_sample_rate_1 #define mpu_set_compass_sample_rate mpu_set_compass_sample_rate_1 #define mpu_get_fifo_config mpu_get_fifo_config_1 #define mpu_configure_fifo mpu_configure_fifo_1 #define mpu_get_power_state mpu_get_power_state_1 #define mpu_set_sensors mpu_set_sensors_1 #define mpu_set_accel_bias mpu_set_accel_bias_1 #define mpu_get_gyro_reg mpu_get_gyro_reg_1 #define mpu_get_accel_reg mpu_get_accel_reg_1 #define mpu_get_compass_reg mpu_get_compass_reg_1 #define mpu_get_temperature mpu_get_temperature_1 #define mpu_get_int_status mpu_get_int_status_1 #define mpu_read_fifo mpu_read_fifo_1 #define mpu_read_fifo_stream mpu_read_fifo_stream_1 #define mpu_reset_fifo mpu_reset_fifo_1 #define mpu_write_mem mpu_write_mem_1 #define mpu_read_mem mpu_read_mem_1 #define mpu_load_firmware mpu_load_firmware_1 #define mpu_reg_dump mpu_reg_dump_1 #define mpu_read_reg mpu_read_reg_1 #define mpu_run_self_test mpu_run_self_test_1 #define mpu_register_tap_cb mpu_register_tap_cb_1 #define mget_ms_1 mget_ms_1 #define inv_row_2_scale inv_row_2_scale_1 #define inv_orientation_matrix_to_scalar inv_orientation_matrix_to_scalar_1 #define run_self_test run_self_test_1 #define mpu_dmp_init mpu_dmp_init_1 #define mpu_dmp_get_data mpu_dmp_get_data_1 //static inline int reg_int_cb(struct int_param_s *int_param) //{ // return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit, // int_param->active_low); //} #define log_i printf //打印信息 #define log_e printf //打印信息 /* labs is already defined by TI's toolchain. */ /* fabs is for doubles. fabsf is for floats. */ #define fabs fabsf #define min(a,b) ((a<b)?a:b) #elif defined EMPL_TARGET_MSP430 #include "msp430.h" #include "msp430_i2c.h" #include "msp430_clock.h" #include "msp430_interrupt.h" #include "log.h" #define i2c_write msp430_i2c_write #define i2c_read msp430_i2c_read #define delay_ms msp430_delay_ms #define get_ms msp430_get_clock_ms static inline int reg_int_cb(struct int_param_s *int_param) { return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit, int_param->active_low); } #define log_i MPL_LOGI #define log_e MPL_LOGE /* labs is already defined by TI's toolchain. */ /* fabs is for doubles. fabsf is for floats. */ #define fabs fabsf #define min(a,b) ((a<b)?a:b) #elif defined EMPL_TARGET_UC3L0 /* Instead of using the standard TWI driver from the ASF library, we're using * a TWI driver that follows the slave address + register address convention. */ #include "twi.h" #include "delay.h" #include "sysclk.h" #include "log.h" #include "sensors_xplained.h" #include "uc3l0_clock.h" #define i2c_write(a, b, c, d) twi_write(a, b, d, c) #define i2c_read(a, b, c, d) twi_read(a, b, d, c) /* delay_ms is a function already defined in ASF. */ #define get_ms uc3l0_get_clock_ms static inline int reg_int_cb(struct int_param_s *int_param) { sensor_board_irq_connect(int_param->pin, int_param->cb, int_param->arg); return 0; } #define log_i MPL_LOGI #define log_e MPL_LOGE /* UC3 is a 32-bit processor, so abs and labs are equivalent. */ #define labs abs #define fabs(x) (((x)>0)?(x):-(x)) #else #error Gyro driver is missing the system layer implementations. #endif #if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250 #error Which gyro are you using? Define MPUxxxx in your compiler options. #endif /* Time for some messy macro work. =] * #define MPU9150 * is equivalent to.. * #define MPU6050 * #define AK8975_SECONDARY * * #define MPU9250 * is equivalent to.. * #define MPU6500 * #define AK8963_SECONDARY */ #if defined MPU9150 #ifndef MPU6050 #define MPU6050 #endif /* #ifndef MPU6050 */ #if defined AK8963_SECONDARY #error "MPU9150 and AK8963_SECONDARY cannot both be defined." #elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */ #define AK8975_SECONDARY #endif /* #if defined AK8963_SECONDARY */ #elif defined MPU9250 /* #if defined MPU9150 */ #ifndef MPU6500 #define MPU6500 #endif /* #ifndef MPU6500 */ #if defined AK8975_SECONDARY #error "MPU9250 and AK8975_SECONDARY cannot both be defined." #elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */ #define AK8963_SECONDARY #endif /* #if defined AK8975_SECONDARY */ #endif /* #if defined MPU9150 */ #if defined AK8975_SECONDARY || defined AK8963_SECONDARY #define AK89xx_SECONDARY #else /* #warning "No compass = less profit for Invensense. Lame." */ #endif static int set_int_enable(unsigned char enable); /* Hardware registers needed by driver. */ struct gyro_reg_s { unsigned char w