1.0 mpu6050

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本篇通过Renesas RA6M4开发板采用I2C读取mpu演示6050传感器的角加速度、角速度和温度示例程序。

1.1 mpu6050介绍

MPU6050是一种非常流行的空间运动传感器芯片，可以获得当前三个加速度重量和三个旋转角速度。由于其体积小、功能强、精度高，不仅广泛应用于工业中，而且是模型爱好者的工艺品，安装在各种飞机上在蓝天上疾驰。

1.2 mpu6050特点

使用芯片:MPU-6050 供电电源:3-5V(内部低压差稳压) 通信方式：标准lIC通信协议芯片内置16BITAD转换器，16位数据输出陀螺仪范围：±250 500 1000 2000 °/s 加速范围：±2±4±8±16G 温度范围：-20℃~60℃ 采用沉金PCB,机焊工艺保证质量引脚间距2.54MM 液体和反接电源需要在气体环境中工作

尺寸如下：

1.3 mpu6050应用

运动感知游戏现实增强行人导航器零触摸手势用户界面快速姿势认证电子稳像（EIS: Electronic lmage Stabilization ) 光学稳像（Ols: Optical lmage Stabilization )

2. RT-theard配置

2.1 硬件需求

1、需要mpu气体环境下的气压和温度采集6050，I2C通讯接线SDA—p504;SCL—p506，地址后面的仓库配置不需要注意，和ssd1306不同

实现功能：采用I2C读取mpu6050传感器的角加速度、角速度和温度示例

2、RA6M4开发板 3、USB下载线，ch340串口和6条母线，rx—p613;tx—p614

2.2 软件配置

Renesas RA6M4开发板环境配置参考：基于 RT-Thread Studio的CPK-RA6M4 开发板环境建设】 1、新建项目RA6M4-mpu6050工程 2、点击RT-theard Setting，在软件包下添加软件包，然后搜索mpu相关软件支持包，点击添加，然后出现相应的包。

3、配置ssd306，右键选择配置项

在软件包中打开示例程序。

5硬件中，启动I2C，设置端口SDA—p505;SCL—p506

6.保存所有刚性配置，更新当前配置文件

保存是灰色的，保存为蓝色。

3. 代码分析

1.刚加载软件包packages文件夹下，

mpu6xxx.c代码变更如下 (或添加头文件#include "bsp_api.h",否则会报错unitx_t，根据提示全部改为rt_unitx_t也OK，以下是增加手动校准的第二种方法。 mpu6xxx.c

/* * Copyright (c) 2006-2022, RT-Thread Development Team * * SPDX-License-Identifier: Apache-2.0 * * Change Logs: * Date Author Notes * 2018-10-23 flybreak the first version * 2021-09-09 scratch-er added setting and getting sensor offsets */  #include <rtthread.h> #include <rtdevice.h>  #include <string.h> #include <stdlib.h>  #define DBG_TAG "mpu6xxx" #define DBG_LVL DBG_INFO #include <rtdbg.h>  #include "mpu6xxx.h" #include "mpu6xxx_reg.h"  #ifdefPKG_USING_MPU6XXX_MAG
#include "ak8963_reg.h"
#endif

#define MPU6XXX_ACCEL_SEN (16384)
#define MPU6XXX_GYRO_SEN (1310)

#define MPU60X0_SPI_MAX_SPEED (1000 * 1000)
#define MPU60X0_TEMP_SEN (340)
#define MPU60X0_TEMP_OFFSET (36.5)

#define MPU6500_TEMP_SEN (333.87)
#define MPU6500_TEMP_OFFSET (21)

// MAG
#define AK8963_RANGE (4912)
#define AK8963_FULLSCALE (32760)

/** * This function writes the value of the register for mpu6xxx * * @param dev the pointer of device driver structure * @param reg the register for mpu6xxx * @param data value to write * * @return the writing status, RT_EOK reprensents writing the value of the register successfully. */
static rt_err_t mpu6xxx_write_reg(struct mpu6xxx_device *dev, rt_uint8_t reg, rt_uint8_t data)
{ 
        
    rt_int8_t res = 0;
#ifdef RT_USING_I2C
    struct rt_i2c_msg msgs;
    rt_uint8_t buf[2] = { 
        reg, data};
#endif
    if (dev->bus->type == RT_Device_Class_I2CBUS)
    { 
        
#ifdef RT_USING_I2C
        msgs.addr  = dev->i2c_addr;    /* slave address */
        msgs.flags = RT_I2C_WR;        /* write flag */
        msgs.buf   = buf;              /* Send data pointer */
        msgs.len   = 2;

        if (rt_i2c_transfer((struct rt_i2c_bus_device *)dev->bus, &msgs, 1) == 1)
        { 
        
            res = RT_EOK;
        }
        else
        { 
        
            res = -RT_ERROR;
        }
#endif
    }
    else
    { 
        
#ifdef RT_USING_SPI
        res = rt_spi_send_then_send((struct rt_spi_device *)dev->bus, &reg, 1, &data, 1);
#endif
    }
    return res;
}

/** * This function reads the value of registers for mpu6xxx * * @param dev the pointer of device driver structure * @param reg the register for mpu6xxx * @param len number of register * @param buf read data pointer * * @return the reading status, RT_EOK reprensents reading the value of registers successfully. */
static rt_err_t mpu6xxx_read_regs(struct mpu6xxx_device *dev, rt_uint8_t reg, rt_uint8_t len, rt_uint8_t *buf)
{ 
        
    rt_int8_t res = 0;
#ifdef RT_USING_I2C
    struct rt_i2c_msg msgs[2];
#endif
#ifdef RT_USING_SPI
    rt_uint8_t tmp;
#endif
    if (dev->bus->type == RT_Device_Class_I2CBUS)
    { 
        
#ifdef RT_USING_I2C
        msgs[0].addr  = dev->i2c_addr;    /* Slave address */
        msgs[0].flags = RT_I2C_WR;        /* Write flag */
        msgs[0].buf   = &reg;             /* Slave register address */
        msgs[0].len   = 1;                /* Number of bytes sent */

        msgs[1].addr  = dev->i2c_addr;    /* Slave address */
        msgs[1].flags = RT_I2C_RD;        /* Read flag */
        msgs[1].buf   = buf;              /* Read data pointer */
        msgs[1].len   = len;              /* Number of bytes read */

        if (rt_i2c_transfer((struct rt_i2c_bus_device *)dev->bus, msgs, 2) == 2)
        { 
        
            res = RT_EOK;
        }
        else
        { 
        
            res = -RT_ERROR;
        }
#endif
    }
    else
    { 
        
#ifdef RT_USING_SPI
        //The first bit of the first byte contains the Read/Write bit and indicates the Read (1) or Write (0) operation.
        tmp = reg | 0x80;

        res = rt_spi_send_then_recv((struct rt_spi_device *)dev->bus, &tmp, 1, buf, len);
#endif
    }
    return res;
}

/** * This function writes a bit value of registers for mpu6xxx * * @param dev the pointer of device driver structure * @param reg the register for mpu6xxx * @param bit the position of the register * @param data value to write * * @return the writing status, RT_EOK reprensents writing a bit value of registers successfully. */
static rt_err_t mpu6xxx_write_bit(struct mpu6xxx_device *dev, rt_uint8_t reg, rt_uint8_t bit, rt_uint8_t data)
{ 
        
    rt_uint8_t byte;
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, reg, 1, &byte);
    if (res != RT_EOK)
    { 
        
        return res;
    }

    byte = (data != 0) ? (byte | (1 << bit)) : (byte & ~(1 << bit));

    return mpu6xxx_write_reg(dev, reg, byte);
}

/** * This function reads a bit value of registers for mpu6xxx * * @param dev the pointer of device driver structure * @param reg the register for mpu6xxx * @param bit the position of the register * @param data read data pointer * * @return the reading status, RT_EOK reprensents reading a bit value of registers successfully. */
static rt_err_t mpu6xxx_read_bit(struct mpu6xxx_device *dev, rt_uint8_t reg, rt_uint8_t bit, rt_uint8_t *data)
{ 
        
    rt_uint8_t byte;
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, reg, 1, &byte);
    if (res != RT_EOK)
    { 
        
        return res;
    }

    *data = byte & (1 << bit);

    return RT_EOK;
}

/** * This function writes multi-bit value of registers for mpu6xxx * * @param dev the pointer of device driver structure * @param reg the register for mpu6xxx * @param start_bit the start position of the register * @param len number of bits to write * @param data value to write * * @return the writing status, RT_EOK reprensents writing multi-bit value of registers successfully. */
static rt_err_t mpu6xxx_write_bits(struct mpu6xxx_device *dev, rt_uint8_t reg, rt_uint8_t start_bit, rt_uint8_t len, rt_uint8_t data)
{ 
        
    rt_uint8_t byte, mask;
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, reg, 1, &byte);
    if (res != RT_EOK)
    { 
        
        return res;
    }

    mask = ((1 << len) - 1) << (start_bit - len + 1);
    data <<= (start_bit - len + 1); // shift data into correct position
    data &= mask; // zero all non-important bits in data
    byte &= ~(mask); // zero all important bits in existing byte
    byte |= data; // combine data with existing byte

    return mpu6xxx_write_reg(dev, reg, byte);
}

/** * This function reads multi-bit value of registers for mpu6xxx * * @param dev the pointer of device driver structure * @param reg the register for mpu6xxx * @param start_bit the start position of the register * @param len number of bits to write * @param data read data pointer * * @return the reading status, RT_EOK reprensents reading multi-bit value of registers successfully. */
static rt_err_t mpu6xxx_read_bits(struct mpu6xxx_device *dev, rt_uint8_t reg, rt_uint8_t start_bit, rt_uint8_t len, rt_uint8_t *data)
{ 
        
    rt_uint8_t byte, mask;
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, reg, 1, &byte);
    if (res != RT_EOK)
    { 
        
        return res;
    }

    mask = ((1 << len) - 1) << (start_bit - len + 1);
    byte &= mask;
    byte >>= (start_bit - len + 1);
    *data = byte;

    return RT_EOK;
}

// MAG
#ifdef PKG_USING_MPU6XXX_MAG

#define MAG_READ_DELAY_TIME 50

static void mpu92_mag_write_reg(struct mpu6xxx_device *dev, rt_uint8_t addr, rt_uint8_t data)
{ 
        
    rt_uint8_t  status = 0;
    rt_uint32_t timeout = MAG_READ_DELAY_TIME;

    mpu6xxx_write_reg(dev, MPU6XXX_RA_I2C_SLV4_ADDR, AK8963_I2C_ADDR);
    mpu6xxx_write_reg(dev, MPU6XXX_RA_I2C_SLV4_REG, addr);
    mpu6xxx_write_reg(dev, MPU6XXX_RA_I2C_SLV4_DO, data);
    mpu6xxx_write_reg(dev, MPU6XXX_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLVx_EN);

    do
    { 
        
        mpu6xxx_read_regs(dev, MPU6XXX_RA_I2C_MST_STATUS, 1, &status);
        rt_thread_mdelay(1);
    } while (((status & MPU6500_I2C_SLV4_DONE) == 0) && (timeout--));

}

#endif // PKG_USING_MPU6XXX_MAG

/** * This function gets the raw data of the accelerometer * * @param dev the pointer of device driver structure * @param accel the pointer of 3axes structure for receive data * * @return the reading status, RT_EOK reprensents reading the data successfully. */
static rt_err_t mpu6xxx_get_accel_raw(struct mpu6xxx_device *dev, struct mpu6xxx_3axes *accel)
{ 
        
    rt_uint8_t buffer[6];
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, MPU6XXX_RA_ACCEL_XOUT_H, 6, buffer);
    if (res != RT_EOK)
    { 
        
        return res;
    }

    accel->x = ((rt_uint16_t)buffer[0] << 8) + buffer[1];
    accel->y = ((rt_uint16_t)buffer[2] << 8) + buffer[3];
    accel->z = ((rt_uint16_t)buffer[4] << 8) + buffer[5];

    return RT_EOK;
}

/** * This function gets the raw data of the gyroscope * * @param dev the pointer of device driver structure * @param gyro the pointer of 3axes structure for receive data * * @return the reading status, RT_EOK reprensents reading the data successfully. */
static rt_err_t mpu6xxx_get_gyro_raw(struct mpu6xxx_device *dev, struct mpu6xxx_3axes *gyro)
{ 
        
    rt_uint8_t buffer[6];
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, MPU6XXX_RA_GYRO_XOUT_H, 6, buffer);
    if (res != RT_EOK)
    { 
        
        return res;
    }

    gyro->x = ((rt_uint16_t)buffer[0] << 8) + buffer[1];
    gyro->y = ((rt_uint16_t)buffer[2] << 8) + buffer[3];
    gyro->z = ((rt_uint16_t)buffer[4] << 8) + buffer[5];

    return RT_EOK;
}

#ifdef PKG_USING_MPU6XXX_MAG
/** * This function gets the raw data of the magnetometer * * @param dev the pointer of device driver structure * @param mag the pointer of 3axes structure for receive data * * @return the reading status, RT_EOK reprensents reading the data successfully. */
static rt_err_t mpu6xxx_get_mag_raw(struct mpu6xxx_device *dev, struct mpu6xxx_3axes *mag)
{ 
        
    rt_uint8_t buffer[8];
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, MPU6XXX_RA_EXT_SENS_DATA_00, 8, buffer);
    if (res != RT_EOK)
    { 
        
        return res;
    }

    mag->x = ((rt_uint16_t)buffer[2] << 8) + buffer[1];
    mag->y = ((rt_uint16_t)buffer[4] << 8) + buffer[3];
    mag->z = ((rt_uint16_t)buffer[6] << 8) + buffer[5];

    return RT_EOK;
}
#endif

/** * This function gets the raw data of the temperature * * @param dev the pointer of device driver structure * @param temp read data pointer * * @return the reading status, RT_EOK reprensents reading the data successfully. */
static rt_err_t mpu6xxx_get_temp_raw(struct mpu6xxx_device *dev, rt_int16_t *temp)
{ 
        
    rt_uint8_t buffer[2];
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, MPU6XXX_RA_TEMP_OUT_H, 2, buffer);
    if (res != RT_EOK)
    { 
        
        return res;
    }

    *temp = ((rt_uint16_t)buffer[0] << 8) + buffer[1];

    return RT_EOK;
}

/** * This function gets mpu6xxx parameters. * * @param dev the pointer of device driver structure * @param cmd Configuration item * @param param read data pointer * * @return the reading status, RT_EOK reprensents reading the data successfully. */
static rt_err_t mpu6xxx_get_param(struct mpu6xxx_device *dev, enum mpu6xxx_cmd cmd, rt_uint16_t *param)
{ 
        
    rt_uint8_t data = 0;
    rt_err_t res = RT_EOK;

    RT_ASSERT(dev);

    switch (cmd)
    { 
        
    case MPU6XXX_GYRO_RANGE:  /* Gyroscope full scale range */
        res = mpu6xxx_read_bits(dev, MPU6XXX_RA_GYRO_CONFIG, MPU6XXX_GCONFIG_FS_SEL_BIT, MPU6XXX_GCONFIG_FS_SEL_LENGTH, &data);
        *param = data;
        break;
    case MPU6XXX_ACCEL_RANGE: /* Accelerometer full scale range */
        res = mpu6xxx_read_bits(dev, MPU6XXX_RA_ACCEL_CONFIG, MPU6XXX_ACONFIG_AFS_SEL_BIT, MPU6XXX_ACONFIG_AFS_SEL_LENGTH, &data);
        *param = data;
        break;
    case MPU6XXX_DLPF_CONFIG: /* Digital Low Pass Filter */
        res = mpu6xxx_read_bits(dev, MPU6XXX_RA_CONFIG, MPU6XXX_CFG_DLPF_CFG_BIT, MPU6XXX_CFG_DLPF_CFG_LENGTH, &data);
        *param = data;
        break;
    case MPU6XXX_SAMPLE_RATE: /* Sample Rate */
        /* Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV) */
        res = mpu6xxx_read_bits(dev, MPU6XXX_RA_CONFIG, MPU6XXX_CFG_DLPF_CFG_BIT, MPU6XXX_CFG_DLPF_CFG_LENGTH, &data);
        if (res != RT_EOK)
        { 
        
            break;
        }

        if (data == 0 || data == 7) /* dlpf is disable */
        { 
        
            res = mpu6xxx_read_regs(dev, MPU6XXX_RA_SMPLRT_DIV, 1, &data);
            *param = 8000 / (data + 1);
        }
        else /* dlpf is enable */
        { 
        
            res = mpu6xxx_read_regs(dev, MPU6XXX_RA_SMPLRT_DIV, 1, &data);
            *param = 1000 / (data + 1);
        }
        break;
    case MPU6XXX_SLEEP: /* sleep mode */
        res = mpu6xxx_read_bit(dev, MPU6XXX_RA_PWR_MGMT_1, MPU6XXX_PWR1_SLEEP_BIT, &data);
        *param = data;
        break;
    }

    return res;
}

/** * This function set mpu6xxx parameters. * * @param de


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【Renesas RA6M4开发板之I2C读取mpu6050】

【Renesas RA6M4开发板之I2C读取mpu6050】

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