82 lines
2.7 KiB
C
82 lines
2.7 KiB
C
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/*
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* Copyright (c) 2020 Jinan Bosai Network Technology Co., Ltd.
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef __MPU6050_H__
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#define __MPU6050_H__
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/* 宏定义 --------------------------------------------------------------------*/
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#define MPU6050_GYRO_OUT 0x43 //MPU6050陀螺仪数据寄存器地址
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#define MPU6050_ACC_OUT 0x3B //MPU6050加速度数据寄存器地址
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#define MPU6050_SLAVE_ADDRESS 0x68 //MPU6050器件读地址
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#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board
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#define MPU6050_RA_CONFIG 0x1A
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#define MPU6050_RA_ACCEL_CONFIG 0x1C
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#define MPU6050_RA_FF_THR 0x1D
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#define MPU6050_RA_FF_DUR 0x1E
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#define MPU6050_RA_MOT_THR 0x1F //运动检测阀值设置寄存器
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#define MPU6050_RA_MOT_DUR 0x20 //运动检测时间阀值
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#define MPU6050_RA_ZRMOT_THR 0x21
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#define MPU6050_RA_ZRMOT_DUR 0x22
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#define MPU6050_RA_FIFO_EN 0x23
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#define MPU6050_RA_INT_PIN_CFG 0x37 //中断/旁路设置寄存器
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#define MPU6050_RA_INT_ENABLE 0x38 //中断使能寄存器
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#define MPU6050_RA_TEMP_OUT_H 0x41
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#define MPU6050_RA_USER_CTRL 0x6A
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#define MPU6050_RA_PWR_MGMT_1 0x6B
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#define MPU6050_RA_WHO_AM_I 0x75
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#define SENSOR_DATA_WIDTH_8_BIT 8 // 8 bit
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#define ACCEL_DATA_LEN 6
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#define TEMP_DATA_LEN 2
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typedef enum
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{
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OFF = 0,
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ON
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} SwitchStatus;
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enum AccelAxisNum {
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ACCEL_X_AXIS = 0,
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ACCEL_Y_AXIS = 1,
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ACCEL_Z_AXIS = 2,
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ACCEL_AXIS_NUM = 3,
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};
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enum AccelAxisPart {
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ACCEL_X_AXIS_LSB = 0,
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ACCEL_X_AXIS_MSB = 1,
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ACCEL_Y_AXIS_LSB = 2,
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ACCEL_Y_AXIS_MSB = 3,
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ACCEL_Z_AXIS_LSB = 4,
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ACCEL_Z_AXIS_MSB = 5,
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ACCEL_AXIS_BUTT,
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};
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enum TempPart {
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TEMP_LSB = 0,
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TEMP_MSB = 1,
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};
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/* MPU6050传感器数据类型定义 ------------------------------------------------------------*/
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typedef struct
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{
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short Temperature;
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short Accel[3];
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} MPU6050Data;
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int BoardInit(void);
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int MPU6050ReadData(MPU6050Data *ReadData);
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void LedD1StatusSet(SwitchStatus status);
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void LedD2StatusSet(SwitchStatus status);
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#endif
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