InvenSense1655.doc

/SDA 输出控制宏定义,需要根据定义#define SDA_OUT()/SDA 输入控制宏定义,需要根据定义#define SDA_IN()/延时US函数，单位1USvoid DELAY_US(unsigned char DYTuS)while(DYTuS-)NOP();/产生IIC起始信号void IIC_Start(void)SDA_OUT(); /sda线输出SDA=1; SCL=1;DELAY_US(1); SDA=0;DELAY_US(1); SCL=0; /产生IIC停止信号void IIC_Stop(void)SDA_OUT();/sda线输出SCL=0;SDA=0;DELAY_US(1); SCL=1; SDA=1;/发送I2C总线结束信号DELAY_US(1); /等待应答信号到来/返回值：1，接收应答失败/ 0，接收应答成功unsigned char IIC_Wait_Ack(void)unsigned char ucErrTime=0;SDA_IN(); /SDA设置为输入 DELAY_US(1); SCL=1;DELAY_US(1); while(SDAin)ucErrTime+;if(ucErrTime100)IIC_Stop();return 1;SCL=0;/时钟输出0 return 0; /产生ACK应答void IIC_Ack(void)/SCL=0;SDA_OUT();SDA=0;DELAY_US(1);SCL=1;DELAY_US(1);SCL=0;/不产生ACK应答 void IIC_NAck(void)/SCL=0;SDA_OUT();SDA=1;DELAY_US(1);SCL=1;DELAY_US(1);SCL=0; /IIC发送一个字节/返回从机有无应答/1，有应答/0，无应答 void IIC_Send_Byte(unsigned char OUTPUT) unsigned char t; SDA_OUT(); for(t=0;t8;t+) SCL=0;/拉低时钟开始数据传输if(OUTPUT&0X80)SDA=1;elseSDA=0;OUTPUT=1; SCL=1;DELAY_US(1); SCL=0; /读1个字节，ack=1时，发送ACK，ack=0，发送nACK unsigned char IIC_Read_Byte(unsigned char ack)unsigned char i,receive=0;SDA_IN();/SDA设置为输入SCL=0; for(i=0;i8;i+ )DELAY_US(1);SCL=1;SCL=1;receive=1;if(SDAin)receive+;SCL=0; if (!ack)IIC_NAck();/发送nACKelseIIC_Ack(); /发送ACK return receive;void GyroRead(unsigned char iADDRESS,unsigned char iDATA)while(1)IIC_Start();IIC_Send_Byte(0XD0);/AD0=0;WriteCommandif(IIC_Wait_Ack()continue;IIC_Send_Byte(iADDRESS);if(IIC_Wait_Ack()continue;IIC_Send_Byte(iDATA);if(IIC_Wait_Ack()continue;IIC_Stop();return;void GyroWrite(unsigned char iADDRESS,unsigned char *iDATA)while(1)IIC_Start();IIC_Send_Byte(0XD0);/AD0=0;WriteCommandif(IIC_Wait_Ack()continue;IIC_Send_Byte(iADDRESS);if(IIC_Wait_Ack()continue;IIC_Start();IIC_Send_Byte(0XD1);if(IIC_Wait_Ack()continue;*iDATA=IIC_Read_Byte(0);IIC_Stop();return;/返回1 则检测到MPU6050/返回2 则检测到MPU3050/返回0 则异常，可能焊接或者陀螺仪有问题unsigned char CheckGryoType(void)unsigned char i;GyroWrite(0X75,0);GyroRead(0X75,&i);if(i&0X7E=0X68)return 1;/MPU6050GyroRead(0,&i);if(i&0X7E=0X68)return 2;/MPU3050return 0;/Errorvoid Gyro1init(void)/MPU6050模式/。void Gyro2Init(void)/MPU3050模式/。/调用GetGyro1()或者GetGyro2()后，更新陀螺仪数据，再取用相应的轴输出做处理unsigned char GyroY1/*Y轴高位*/,GyroY2/*Y轴底位*/,GyroZ1/*Z轴高位*/,GyroZ2/*Z轴底位*/;void GetGyro1(void)/YGyroRead(0X45,&GyroY1);GyroRead(0X46,&GyroY2);/ZGyroRead(0X45,&GyroY1);GyroRead(0X46,&GyroY2);void GetGyro2(void)/YGyroRead(0X1F,&GyroY1);GyroRead(0X20,&GyroY2);/ZGyroRead(0X21,&GyroY1);GyroRead(0X22,&GyroY2);void main(void)unsigned char I,J,GyroTp;/主芯片外设和寄存器初始化/开始检测陀螺仪GyroTp=CheckGryoType();if(I=GyroTp)/检测到MPU6050Gyro1init();else if