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mpu3050.c

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YcChan
2017-01-01 14:10:37 +08:00
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parent 98fa7fc2a8
commit bdd0d8cd57
1 changed files with 32 additions and 0 deletions
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#include "stm32f10x.h"
#include "mpu3050.h"
#include "iic.h"
#include <stdio.h>
#define MPU3050_ADDR 0xd0
#define MPU3050_ID 0x68
#define MPU3050_ID_ADDR 0x00
#define AUX_SLV_ADDR 0x14
#define DLPF_FS 0x16
#define AUX_BURST_ADDR 0x18
#define USER_CTRL 0x3d
#define MPU3050_BRUST_ADDR 0x1b
void mpu3050_init(void)
{
u8 data_buf = 0;
data_buf = 0x1e;
iic_rw(&data_buf, 1, DLPF_FS, MPU3050_ADDR , WRITE);
data_buf = 0;
iic_rw(&data_buf, 1, USER_CTRL, MPU3050_ADDR , WRITE);
}
void mpu3050_get_data(s16 *gx, s16 *gy, s16 *gz, s16 *temperature)
{
u8 data_buf[8];
iic_rw(&data_buf[0],8,MPU3050_BRUST_ADDR,MPU3050_ADDR,READ);
*temperature = data_buf[0] * 0x100 + data_buf[1];
*gx = data_buf[2] * 0x100 + data_buf[3];
*gy = data_buf[4] * 0x100 + data_buf[5];
*gz = data_buf[6] * 0x100 + data_buf[7];
}