mpu9250下載mpu9250源代碼下載

mpu9250

C#源碼

v1.0.3

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Libdriver MPU9250

MPU9250是一個多芯片模塊（MCM），該模塊由兩個模具組成，該模塊集成到單個QFN軟件包中。一個模具容納3軸陀螺儀和3軸加速度計。另一個模具容納了Asahi Kasei Microdevices Corporation的AK8963 3軸磁力計。因此，MPU9250是一種9軸運動跟踪設備，結合了3軸陀螺儀，3軸加速度計，3軸磁力計和數字運動處理器（DMP），所有這些都可以在小型3x3x1mm套件中以PIN型的固定式升級為單位。 9軸MotionFusion™輸出。 MPU9250運動跟踪設備，其9軸集成，芯片運動融合™和運行時校準固件，使製造商能夠消除離散設備的昂貴且複雜的選擇，資格和系統水平集成，並為消費者提供最佳運動性能，以供多個ITS互動的INS互動，以供多個固定的Interial Interformer.mpu9250，以下port.MPU9250具有三個16位類似物對數字轉換器（ADC），用於數字化陀螺儀輸出，三個16位ADC用於數字化加速度計輸出和三個16位ADC，用於數字化磁力計輸出。為了精確跟踪快速和緩慢的運動，該部分具有用戶可編程的全尺度範圍±250，±500，±1000和±2000°/sec（dps），用戶可編程的加速度計的全尺度範圍為±2G，±4G，±4G，±8G和±8G和±8G和±8G和±8G和±8G和±8G和±8G和一個範圍。

Libdriver MPU9250是Libdriver推出的MPU9250的完整功能驅動程序。它提供加速度讀數，角速度讀數，磁力計讀數，態度角度讀數，DMP讀數，TAP檢測和其他功能。 Libdriver符合Misra的規定。

操作說明

/src包括libdriver mpu9250源文件。

/接口包括Libdriver MPU9250 IIC，SPI平台獨立模板。

/測試包括Libdriver MPU9250驅動程序測試代碼，此代碼可以簡單地測試芯片必要的功能。

/示例包括Libdriver MPU9250示例代碼。

/DOC包括Libdriver MPU9250離線文檔。

/數據表包括MPU9250數據表。

/項目包括通用Linux和MCU開發委員會樣本代碼。所有項目都使用Shell腳本來調試驅動程序，並且可以在每個項目的readme.md中找到詳細說明。

/Misra包括Libdriver Misra代碼掃描結果。

安裝

參考 /接口IIC，SPI平台獨立模板，並完成您的平台IIC，SPI驅動程序。

將 /src目錄，平台的接口驅動程序以及您自己的驅動程序添加到項目中，如果您想使用默認示例驅動程序，請在項目中添加 /示例目錄。

用法

您可以參考 /示例目錄中的示例以完成自己的驅動程序。如果您想使用默認的編程示例，則是如何使用它們的方法。

示例基本

 #include "driver_mpu9250_basic.h"

uint8_t res ;
uint32_t i ;
uint32_t times ;
float g [ 3 ];
float dps [ 3 ];
float ut [ 3 ];
float degrees ;
mpu9250_address_t addr ;

/* init */
addr = MPU9250_ADDRESS_AD0_LOW ;
res = mpu9250_basic_init ( MPU9250_INTERFACE_IIC , addr );
if ( res != 0 )
{
    return 1 ;
}

...
    
/* read all */
times = 3 ;
for ( i = 0 ; i < times ; i ++ )
{
    /* read */
    if ( mpu9250_basic_read ( g , dps , ut ) != 0 )
    {
        ( void ) mpu9250_basic_deinit ();

        return 1 ;
    }

    ...
        
    if ( mpu9250_basic_read_temperature ( & degrees ) != 0 )
    {
        ( void ) mpu9250_basic_deinit ();

        return 1 ;
    }

    ...
        
    /* output */
    mpu9250_interface_debug_print ( "mpu9250: %d/%d.n" , i + 1 , times );
    mpu9250_interface_debug_print ( "mpu9250: acc x is %0.2fg.n" , g [ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: acc y is %0.2fg.n" , g [ 1 ]);
    mpu9250_interface_debug_print ( "mpu9250: acc z is %0.2fg.n" , g [ 2 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro x is %0.2fdps.n" , dps [ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro y is %0.2fdps.n" , dps [ 1 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro z is %0.2fdps.n" , dps [ 2 ]);
    mpu9250_interface_debug_print ( "mpu9250: mag x is %0.2fuT.n" , ut [ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: mag y is %0.2fuT.n" , ut [ 1 ]);
    mpu9250_interface_debug_print ( "mpu9250: mag z is %0.2fuT.n" , ut [ 2 ]);
    mpu9250_interface_debug_print ( "mpu9250: temperature %0.2fC.n" , degrees );

    ...
        
    /* delay 1000 ms */
    mpu9250_interface_delay_ms ( 1000 );

    ...
}

...
    
/* deinit */
( void ) mpu9250_basic_deinit ();

return 0 ;

示例FIFO

 #include "driver_mpu9250_fifo.h"

uint32_t i ;
uint32_t times ;
uint16_t len ;
uint8_t ( * g_gpio_irq )( void ) = NULL ;
static int16_t gs_accel_raw [ 128 ][ 3 ];
static float gs_accel_g [ 128 ][ 3 ];
static int16_t gs_gyro_raw [ 128 ][ 3 ];
static float gs_gyro_dps [ 128 ][ 3 ];
atic int16_t gs_mag_raw [ 128 ][ 3 ];
static float gs_mag_ut [ 128 ][ 3 ];
mpu9250_address_t addr ;

/* gpio init */
if ( gpio_interrupt_init () != 0 )
{
    return 1 ;
}
g_gpio_irq = mpu9250_fifo_irq_handler ;

/* init */
addr = MPU9250_ADDRESS_AD0_LOW ;
if ( mpu9250_fifo_init ( MPU9250_INTERFACE_IIC , addr ) != 0 )
{
    g_gpio_irq = NULL ;
    ( void ) gpio_interrupt_deinit ();

    return 1 ;
}

/* delay 100 ms */
mpu9250_interface_delay_ms ( 100 );

...

times = 3 ;
for ( i = 0 ; i < times ; i ++ )
{
    len = 128 ;

    /* read */
    if ( mpu9250_fifo_read ( gs_accel_raw , gs_accel_g ,
                          gs_gyro_raw , gs_gyro_dps , gs_mag_raw , gs_mag_ut , & len ) != 0 )
    {
        ( void ) mpu9250_fifo_deinit ();
        g_gpio_irq = NULL ;
        ( void ) gpio_interrupt_deinit ();

        return 1 ;
    }
    
    ...
        
    /* output */
    mpu9250_interface_debug_print ( "mpu9250: %d/%d.n" , i + 1 , times );
    mpu9250_interface_debug_print ( "mpu9250: fifo %d.n" , len );
    mpu9250_interface_debug_print ( "mpu9250: acc x[0] is %0.2fg.n" , gs_accel_g [ 0 ][ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: acc y[0] is %0.2fg.n" , gs_accel_g [ 0 ][ 1 ]);
    mpu9250_interface_debug_print ( "mpu9250: acc z[0] is %0.2fg.n" , gs_accel_g [ 0 ][ 2 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro x[0] is %0.2fdps.n" , gs_gyro_dps [ 0 ][ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro y[0] is %0.2fdps.n" , gs_gyro_dps [ 0 ][ 1 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro z[0] is %0.2fdps.n" , gs_gyro_dps [ 0 ][ 2 ]);
    mpu9250_interface_debug_print ( "mpu9250: mag x[0] is %0.2fuT.n" , gs_mag_ut [ 0 ][ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: mag y[0] is %0.2fuT.n" , gs_mag_ut [ 0 ][ 1 ]);
    mpu9250_interface_debug_print ( "mpu9250: mag z[0] is %0.2fuT.n" , gs_mag_ut [ 0 ][ 2 ]);
    
    ...
        
    /* delay 100 ms */
    mpu9250_interface_delay_ms ( 100 );
    
    ...
}

...
    
/* deinit */
( void ) mpu9250_fifo_deinit ();
g_gpio_irq = NULL ;
( void ) gpio_interrupt_deinit ();

return 0 ;

示例DMP

 #include "driver_mpu9250_dmp.h"

uint32_t i ;
uint32_t times ;
uint32_t cnt ;
uint16_t len ;
uint8_t ( * g_gpio_irq )( void ) = NULL ;
static int16_t gs_accel_raw [ 128 ][ 3 ];
static float gs_accel_g [ 128 ][ 3 ];
static int16_t gs_gyro_raw [ 128 ][ 3 ];      
static float gs_gyro_dps [ 128 ][ 3 ];
static int32_t gs_quat [ 128 ][ 4 ];          
static float gs_pitch [ 128 ];              
static float gs_roll [ 128 ];                
static float gs_yaw [ 128 ];                      
mpu9250_address_t addr ;

static void a_receive_callback ( uint8_t type )
{
    switch ( type )
    {
        case MPU9250_INTERRUPT_MOTION :
        {
            mpu9250_interface_debug_print ( "mpu9250: irq motion.n" );
            
            break ;
        }
        case MPU9250_INTERRUPT_FIFO_OVERFLOW :
        {
            mpu9250_interface_debug_print ( "mpu9250: irq fifo overflow.n" );
            
            break ;
        }
        case MPU9250_INTERRUPT_FSYNC_INT :
        {
            mpu9250_interface_debug_print ( "mpu9250: irq fsync int.n" );
            
            break ;
        }
        case MPU9250_INTERRUPT_DMP :
        {
            mpu9250_interface_debug_print ( "mpu9250: irq dmpn" );
            
            break ;
        }
        case MPU9250_INTERRUPT_DATA_READY :
        {
            mpu9250_interface_debug_print ( "mpu9250: irq data readyn" );
            
            break ;
        }
        default :
        {
            mpu9250_interface_debug_print ( "mpu9250: irq unknown code.n" );
            
            break ;
        }
    }
}

static void a_dmp_tap_callback ( uint8_t count , uint8_t direction )
{
    switch ( direction )
    {
        case MPU9250_DMP_TAP_X_UP :
        {
            mpu9250_interface_debug_print ( "mpu9250: tap irq x up with %d.n" , count );
            
            break ;
        }
        case MPU9250_DMP_TAP_X_DOWN :
        {
            mpu9250_interface_debug_print ( "mpu9250: tap irq x down with %d.n" , count );
            
            break ;
        }
        case MPU9250_DMP_TAP_Y_UP :
        {
            mpu9250_interface_debug_print ( "mpu9250: tap irq y up with %d.n" , count );
            
            break ;
        }
        case MPU9250_DMP_TAP_Y_DOWN :
        {
            mpu9250_interface_debug_print ( "mpu9250: tap irq y down with %d.n" , count );
            
            break ;
        }
        case MPU9250_DMP_TAP_Z_UP :
        {
            mpu9250_interface_debug_print ( "mpu9250: tap irq z up with %d.n" , count );
            
            break ;
        }
        case MPU9250_DMP_TAP_Z_DOWN :
        {
            mpu9250_interface_debug_print ( "mpu9250: tap irq z down with %d.n" , count );
            
            break ;
        }
        default :
        {
            mpu9250_interface_debug_print ( "mpu9250: tap irq unknown code.n" );
            
            break ;
        }
    }
}

static void a_dmp_orient_callback ( uint8_t orientation )
{
    switch ( orientation )
    {
        case MPU9250_DMP_ORIENT_PORTRAIT :
        {
            mpu9250_interface_debug_print ( "mpu9250: orient irq portrait.n" );
            
            break ;
        }
        case MPU9250_DMP_ORIENT_LANDSCAPE :
        {
            mpu9250_interface_debug_print ( "mpu9250: orient irq landscape.n" );
            
            break ;
        }
        case MPU9250_DMP_ORIENT_REVERSE_PORTRAIT :
        {
            mpu9250_interface_debug_print ( "mpu9250: orient irq reverse portrait.n" );
            
            break ;
        }
        case MPU9250_DMP_ORIENT_REVERSE_LANDSCAPE :
        {
            mpu9250_interface_debug_print ( "mpu9250: orient irq reverse landscape.n" );
            
            break ;
        }
        default :
        {
            mpu9250_interface_debug_print ( "mpu9250: orient irq unknown code.n" );
            
            break ;
        }
    }
}

/* init */
if ( gpio_interrupt_init () != 0 )
{
    return 1 ;
}
g_gpio_irq = mpu9250_dmp_irq_handler ;

/* init */
addr = MPU9250_ADDRESS_AD0_LOW ;
if ( mpu9250_dmp_init ( MPU9250_INTERFACE_IIC , addr , a_receive_callback , 
                     a_dmp_tap_callback , a_dmp_orient_callback ) != 0 )
{
    g_gpio_irq = NULL ;
    ( void ) gpio_interrupt_deinit ();

    return 1 ;
}

/* delay 500 ms */
mpu9250_interface_delay_ms ( 500 );

...
    
times = 3 ;
for ( i = 0 ; i < times ; i ++ )
{
    len = 128 ;

    /* read */
    if ( mpu9250_dmp_read_all ( gs_accel_raw , gs_accel_g ,
                             gs_gyro_raw , gs_gyro_dps , 
                             gs_quat ,
                             gs_pitch , gs_roll , gs_yaw ,
                             & len ) != 0 )
    {
        ( void ) mpu9250_dmp_deinit ();
        g_gpio_irq = NULL ;
        ( void ) gpio_interrupt_deinit ();

        return 1 ;
    }

    /* output */
    mpu9250_interface_debug_print ( "mpu9250: %d/%d.n" , i + 1 , times );
    mpu9250_interface_debug_print ( "mpu9250: fifo %d.n" , len );
    mpu9250_interface_debug_print ( "mpu9250: pitch[0] is %0.2fdeg.n" , gs_pitch [ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: roll[0] is %0.2fdeg.n" , gs_roll [ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: yaw[0] is %0.2fdeg.n" , gs_yaw [ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: acc x[0] is %0.2fg.n" , gs_accel_g [ 0 ][ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: acc y[0] is %0.2fg.n" , gs_accel_g [ 0 ][ 1 ]);
    mpu9250_interface_debug_print ( "mpu9250: acc z[0] is %0.2fg.n" , gs_accel_g [ 0 ][ 2 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro x[0] is %0.2fdps.n" , gs_gyro_dps [ 0 ][ 0 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro y[0] is %0.2fdps.n" , gs_gyro_dps [ 0 ][ 1 ]);
    mpu9250_interface_debug_print ( "mpu9250: gyro z[0] is %0.2fdps.n" , gs_gyro_dps [ 0 ][ 2 ]);

    /* delay 500 ms */
    mpu9250_interface_delay_ms ( 500 );
    
    ....
        
    /* get the pedometer step count */
    res = mpu9250_dmp_get_pedometer_counter ( & cnt );
    if ( res != 0 )
    {
        ( void ) mpu9250_dmp_deinit ();
        g_gpio_irq = NULL ;
        ( void ) gpio_interrupt_deinit ();

        return 1 ;
    }
    
    ...
}

...

/* deinit */
( void ) mpu9250_dmp_deinit ();
g_gpio_irq = NULL ;
( void ) gpio_interrupt_deinit ();

return 0 ;