先看一下主函数= =
#include <stdbool.h>
#include <stdint.h>
#include "nrf.h"
#include "simple_uart.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "nrf_delay.h"
#include "twi_master.h"
#include "twi_master_config.h"
#include "mpu6050.h"
#include "nrf_gpio.h"
#include "boards.h"
//#define ENABLE_LOOPBACK_TEST /*!< if defined, then this example will be a loopback test, which means that TX should be connected to RX to get data loopback */
#define ERROR_PIN (LED_0) /*!< gpio pin number to show error if loopback is enabled */
#define MAX_TEST_DATA_BYTES (15U) /*!< max number of test bytes to be used for tx and rx */
int main(void)
{
char q[265];
float Yaw=0,Roll=0,Pitch=0;
simple_uart_config(RTS_PIN_NUMBER, TX_PIN_NUMBER, CTS_PIN_NUMBER, RX_PIN_NUMBER, HWFC);
twi_master_init(); //初始化iic
if(mpu6050_init(0x68))
{
simple_uart_putstring((const uint8_t *)"
initsucceeded! ");
}
mpu_init(0);
mpu_dmp_init();
while(1)
{
simple_uart_putstring((const uint8_t *)"
Start: ");
MPU_Get_Temperature();
MPU_Get_Accelerometer();
MPU_Get_Gyroscope();
mpu_dmp_get_data(&Pitch,&Roll,&Yaw);
sprintf(q,"
pitch:%f,roll:%f,yaw:%f",Pitch,Roll,Yaw);
simple_uart_putstring((const uint8_t *)q);
nrf_delay_ms(300);
}
}
这里得到温度，加速度，陀螺仪三个函数是改的原子的程序
void MPU_Get_Temperature(void) //读出摄氏度
{
uint8_t buf[2];
short raw;
float temp;
char t[256];
mpu6050_register_read(MPU_TEMP_OUTH_REG,buf,2);
raw=((uint16_t)buf[0]<<8)|buf[1];
temp=36.53+((double)raw)/340;
sprintf(t,"
mpu_temp:%f",temp);
simple_uart_putstring((const uint8_t *)t);
}
void MPU_Get_Gyroscope(void)
{
int16_t gyro[3];
uint8_t buf[6];
mpu6050_register_read(MPU_GYRO_XOUTH_REG,buf,6);
char g[256];
gyro[0]=((uint16_t)buf[0]<<8)|buf[1];
gyro[1]=((uint16_t)buf[2]<<8)|buf[3];
gyro[2]=((uint16_t)buf[4]<<8)|buf[5];
memset(g,0,256);
sprintf(g,"
mpu_gyro:%d,%d,%d",gyro[0],gyro[1],gyro[2]);
simple_uart_putstring((const uint8_t *)g);
}
void MPU_Get_Accelerometer(void)
{
int16_t acce[3];
uint8_t buf[6];
mpu6050_register_read(MPU_ACCEL_XOUTH_REG,buf,6);
char a[256];
acce[0]=((uint16_t)buf[0]<<8)|buf[1];
acce[1]=((uint16_t)buf[2]<<8)|buf[3];
acce[2]=((uint16_t)buf[4]<<8)|buf[5];
memset(a,0,256);
sprintf(a,"
mpu_acce:%d,%d,%d",acce[0],acce[1],acce[2]);
simple_uart_putstring((const uint8_t *)a);
}mpu的初始化设置如下
int mpu_init(struct int_param_s *int_param)
{
unsigned char data[6], rev;
/* Reset device. */
data[0] = BIT_RESET;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
return -1;
delay_ms(100);
/* Wake up chip. */
data[0] = 0x00;
if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data))
return -1;
/* Check product revision. */
if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data))
return -1;
rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) |
(data[1] & 0x01);
if (rev) {
/* Congrats, these parts are better. */
if (rev == 1)
st.chip_cfg.accel_half = 1;
else if (rev == 2)
st.chip_cfg.accel_half = 0;
else {
log_e("Unsupported software product rev %d.
", rev);
return -1;
}
} else {
if (i2c_read(st.hw->addr, st.reg->prod_id, 1, data))
return -1;
rev = data[0] & 0x0F;
if (!rev) {
log_e("Product ID read as 0 indicates device is either "
"incompatible or an MPU3050.
");
return -1;
} else if (rev == 4) {
log_i("Half sensitivity part found.
");
st.chip_cfg.accel_half = 1;
} else
st.chip_cfg.accel_half = 0;
}
/* Set to invalid values to ensure no I2C writes are skipped. */
st.chip_cfg.sensors = 0xFF;
st.chip_cfg.gyro_fsr = 0xFF;
st.chip_cfg.accel_fsr = 0xFF;
st.chip_cfg.lpf = 0xFF;
st.chip_cfg.sample_rate = 0xFFFF;
st.chip_cfg.fifo_enable = 0xFF;
st.chip_cfg.bypass_mode = 0xFF; /* mpu_set_sensors always preserves this setting. */
st.chip_cfg.clk_src = INV_CLK_PLL;
/* Handled in next call to mpu_set_bypass. */
st.chip_cfg.active_low_int = 1;
st.chip_cfg.latched_int = 0;
st.chip_cfg.int_motion_only = 0;
st.chip_cfg.lp_accel_mode = 0;
memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache));
st.chip_cfg.dmp_on = 0;
st.chip_cfg.dmp_loaded = 0;
st.chip_cfg.dmp_sample_rate = 0;
if (mpu_set_gyro_fsr(2000)) //陀螺仪2000DPS
return -1;
if (mpu_set_accel_fsr(2)) //加速度计2G
return -1;
if (mpu_set_lpf(42)) //DLPF42Hz
return -1;
if (mpu_set_sample_rate(50)) //FIFOrate50Hz
return -1;
if (mpu_configure_fifo(0))
return -1;
if (int_param)
reg_int_cb(int_param);
/* Already disabled by setup_compass. */
if (mpu_set_bypass(0))
return -1;
mpu_set_sensors(0);
return 0;
}串口读出来的数据如下图
手指放在mpu6050芯片上 会看到温度升高
本来想用dmp读出四元数，但是在dmp初始化的加载固件一步总是原因不明的失败……
有知道的童鞋可以互相交流！ qq 349704533
/////////////////////////////////////////问题已经解决///////////////////////////////////////////
问题来源：i2c不能连续的读写
特此感谢指导我解决问题的！……热心人士！