MPU9250配置例程

1、MPU9250的SPI读取例程，由一个忘了什么来源的程序改成，只需要改SPI和CS的宏定义，加上延时函数，就可以使用，亲测可用，发上来给那些找不到例程的朋友，配置后的状态在另一个文档里，名为 MPU9250刷新速率和单位，程序如有侵权等，请联系 /MPU9250 的陀螺仪单位转换系数：/#define MPU9250_Gyro_FS1000 32.8/MPU9250 的加速度计单位转换系数：/#define Acc_FS2g 1671.84 /to m/ss/MPU9250 磁力计的单位转换系数：/#define Mega_FS16BIT_Ga 6.83/*1uT-10mGass*/stati

2、c s16 MPU9250_AK8963_ASA3 = 0, 0, 0;/1T=10000GASS 1uT=0.01GASS/ 定义 MPU9250 内部地址/Register Map for Gyroscope and Accelerometer#define MPU9250_SELF_TEST_X_GYRO#define MPU9250_SELF_TEST_Y_GYRO#define MPU9250_SELF_TEST_Z_GYRO#define MPU9250_SELF_TEST_X_ACCEL#define MPU9250_SELF_TEST_Y_ACCEL#define MPU925

3、0_SELF_TEST_Z_ACCEL#define MPU9250_XG_OFFSET_H#define MPU9250_XG_OFFSET_L#define MPU9250_YG_OFFSET_H#define MPU9250_YG_OFFSET_L#define MPU9250_ZG_OFFSET_H#define MPU9250_ZG_OFFSET_L#define MPU9250_SMPLRT_DIV#define MPU9250_CONFIG#define MPU9250_GYRO_CONFIG0x18(不自检，2000deg/s)#define MPU9250_ACCEL_CON

4、FIG频率，典型值：0x01(不自本叙,2G, 5Hz)#define MPU9250_ACCEL_CONFIG2#define MPU9250_LP_ACCEL_ODR#define MPU9250_WOM_THR#define MPU9250_FIFO_EN#define MPU9250_I2C_MST_CTRL#define MPU9250_I2C_SLV0_ADDR#define MPU9250_I2C_SLV0_REG#define MPU9250_I2C_SLV0_CTRL#define MPU9250I2CSLV1ADDR0x000x010x020x0D0x0E0x0F0x130

5、x140x150x160x170x180x19陀螺仪采样率，典型值：0x07(125Hz)0x1A / 低通滤波频率，典型值： 0x06(5Hz)0x1B/ 陀螺仪自检及测量范围，典型值：0x1C/ 加速计自检、测量范围及高通滤波0x1D0x1E0x1F0x230x240x250x260x270x28#define MPU9250_I2C_SLV1_REG0x29#define MPU9250_I2C_SLV1_CTRL0x2A#define MPU9250_I2C_SLV2_ADDR0x2B#define MPU9250_I2C_SLV2_REG0x2C#define MPU9250_I2C

6、_SLV2_CTRL0x2D#define MPU9250_I2C_SLV3_ADDR0x2E#define MPU9250_I2C_SLV3_REG0x2F#define MPU9250_I2C_SLV3_CTRL0x30#define MPU9250_I2C_SLV4_ADDR0x31#define MPU9250_I2C_SLV4_REG0x32#define MPU9250_I2C_SLV4_DO0x33#define MPU9250_I2C_SLV4_CTRL0x34#define MPU9250_I2C_SLV4_DI0x35#define MPU9250_I2C_MST_STAT

7、US0x36#define MPU9250_INT_PIN_CFG0x37#define MPU9250_INT_ENABLE0x38#define MPU9250_INT_STATUS0x3A#define MPU9250_ACCEL_XOUT_H0x3B#define MPU9250_ACCEL_XOUT_L0x3C#define MPU9250_ACCEL_YOUT_H0x3D#define MPU9250_ACCEL_YOUT_L0x3E#define MPU9250_ACCEL_ZOUT_H0x3F#define MPU9250_ACCEL_ZOUT_L0x40#define MPU

8、9250_TEMP_OUT_H0x41#define MPU9250_TEMP_OUT_L0x42#define MPU9250_GYRO_XOUT_H0x43#define MPU9250_GYRO_XOUT_L0x44#define MPU9250_GYRO_YOUT_H0x45#define MPU9250_GYRO_YOUT_L0x46#define MPU9250_GYRO_ZOUT_H0x47#define MPU9250_GYRO_ZOUT_L0x48#define MPU9250_EXT_SENS_DATA_000x49#define MPU9250_EXT_SENS_DATA

9、_010x4A#define MPU9250_EXT_SENS_DATA_020x4B#define MPU9250_EXT_SENS_DATA_030x4C#define MPU9250_EXT_SENS_DATA_040x4D#define MPU9250_EXT_SENS_DATA_050x4E#define MPU9250_EXT_SENS_DATA_060x4F#define MPU9250_EXT_SENS_DATA_070x50#define MPU9250_EXT_SENS_DATA_080x51#define MPU9250_EXT_SENS_DATA_090x52#defi

10、ne MPU9250_EXT_SENS_DATA_100x53#define MPU9250_EXT_SENS_DATA_110x54#define MPU9250_EXT_SENS_DATA_12#define MPU9250_EXT_SENS_DATA_13#define MPU9250_EXT_SENS_DATA_14#define MPU9250_EXT_SENS_DATA_15#define MPU9250_EXT_SENS_DATA_16#define MPU9250_EXT_SENS_DATA_17#define MPU9250_EXT_SENS_DATA_18#define M

11、PU9250_EXT_SENS_DATA_19#define MPU9250_EXT_SENS_DATA_20#define MPU9250_EXT_SENS_DATA_21#define MPU9250_EXT_SENS_DATA_22#define MPU9250_EXT_SENS_DATA_23#define MPU9250_I2C_SLV0_DO#define MPU9250_I2C_SLV1_DO#define MPU9250_I2C_SLV2_DO#define MPU9250_I2C_SLV3_DO#define MPU9250_I2C_MST_DELAY_CTRL#define

12、 MPU9250_SIGNAL_PATH_RESET#define MPU9250_MOT_DETECT_CTRL#define MPU9250_USER_CTRL#define MPU9250_PWR_MGMT_1#define MPU9250_PWR_MGMT_2#define MPU9250_FIFO_COUNTH#define MPU9250_FIFO_COUNTL#define MPU9250_FIFO_R_W#define MPU9250_WHO_AM_I#define MPU9250_XA_OFFSET_H#define MPU9250_XA_OFFSET_L#define MP

13、U9250_YA_OFFSET_H#define MPU9250_YA_OFFSET_L0x550x560x570x580x590x5A0x5B0x5C0x5D0x5E0x5F0x600x630x640x650x660x670x680x690x6A0x6B /电源管理，典型值：0x00（正常启用）0x6C0x720x730x740x75 /ID寄存器（默认数值0x71,只读）0x770x780x7A0x7B#define MPU9250_ZA_OFFSET_H0x7D#define MPU9250_ZA_OFFSET_L0x7E/#define MPU9250_I2C_READ 0x80/Ma

14、gnetometer register maps#define MPU9250_AK8963_WIA0x00#define MPU9250_AK8963_INFO0x01#define MPU9250_AK8963_ST10x02#define MPU9250AK8963XOUTL0x03#define MPU9250_AK8963_XOUT_H#define MPU9250_AK8963_YOUT_L#define MPU9250_AK8963_YOUT_H#define MPU9250_AK8963_ZOUT_L#define MPU9250_AK8963_ZOUT_H#define MP

15、U9250_AK8963_ST2#define MPU9250_AK8963_CNTL#define MPU9250_AK8963_CNTL2#define MPU9250_AK8963_RSV<MPU9250_AK8963_CNTL2>#define MPU9250_AK8963_ASTC#define MPU9250_AK8963_TS1#define MPU9250_AK8963_TS2#define MPU9250_AK8963_I2CDIS#define MPU9250_AK8963_ASAX#define MPU9250_AK8963_ASAY#define MPU92

16、50AK8963ASAZ0x040x050x060x070x080x090x0A0x0B0x0B /DO NOT ACCESS0x0C0x0D /DO NOT ACCESS0x0E /DO NOT ACCESS0x0F0x100x110x12#define MPU9250_AK8963_I2C_ADDR 0x0C#define MPU9250_AK8963_POWER_DOWN 0x10#define MPU9250_AK8963_FUSE_ROM_ACCESS 0x1F#define MPU9250_AK8963_SINGLE_MEASUREMENT 0x11#define MPU9250_

17、AK8963_CONTINUOUS_MEASUREMENT 0x16 /MODE2 刷新速率 100Hz#define MPU9250_AK8963_DATA_READY(0x01)#define MPU9250_AK8963_DATA_OVERRUN (0x02)#define MPU9250_AK8963_OVERFLOW(0x80)#define MPU9250_AK8963_DATA_ERROR(0x40)#define MPU9250_AK8963_CNTL2_SRST 0x01/#define MPU9250_I2C_SLV4_EN 0x80#define MPU9250_I2C_

18、SLV4_DONE 0x40#define MPU9250_I2C_SLV4_NACK 0x10 /#define MPU9250_I2C_IF_DIS (0x10)#define MPU9250_I2C_MST_EN (0x20)#define MPU9250_FIFO_RST (0x04)#define MPU9250_FIFO_ENABLE (0x40)/#define MPU9250_RESET 0x80#define MPU9250_CLOCK_MASK 0xF8#define MPU9250_CLOCK_INTERNAL 0x00#define MPU9250_CLOCK_PLL

19、0x01#define MPU9250_CLOCK_PLLGYROZ 0x03#define MPU9250_FS_SEL_MASK 0xE7#define MPU9250_SLEEP_MASK 0x40/#define MPU9250_XYZ_GYRO 0xC7#define MPU9250_XYZ_ACCEL 0xF8/#define MPU9250_RAW_RDY_EN (0x01)#define MPU9250_RAW_DATA_RDY_INT (0x01)#define MPU9250_FIFO_OVERFLOW (0x10) /#define MPU9250_INT_ANYRD_2

20、CLEAR (0x10)#define MPU9250_LATCH_INT_EN (0x20)/#define MPU9250_MAX_FIFO (1024)#define MPU9250_FIFO_SIZE_1024 (0x40)#define MPU9250_FIFO_SIZE_2048 (0x80)#define MPU9250_FIFO_SIZE_4096 (0xC0)#define MPU9250_TEMP_OUT (0x80)#define MPU9250_GYRO_XOUT (0x40)#define MPU9250_GYRO_YOUT (0x20)#define MPU9250

21、_GYRO_ZOUT (0x10)#define MPU9250_ACCEL (0x08)/#define SMPLRT_DIV 0#define MPU9250_SPIx_ADDR 0x00/*/#define MPU9250_SPI_ReadWriteByte(x) SPI1_ReadWriteByte(x)#define MPU9250_CS_LGPIO_ResetBits(GPIOA,GPIO_Pin_4)#define MPU9250_CS_HGPIO_SetBits(GPIOA,GPIO_Pin_4)/*/enum MPU9250_GYRO_DLPFMPU9250_GYRO_DLP

22、F_250HZ = 0,MPU9250_GYRO_DLPF_184HZ,MPU9250_GYRO_DLPF_92HZ,MPU9250_GYRO_DLPF_41HZ,MPU9250_GYRO_DLPF_20HZ,MPU9250_GYRO_DLPF_10HZ,MPU9250_GYRO_DLPF_5HZ, MPU9250_GYRO_DLPF_3600HZ, NUM_GYRO_DLPF;enum MPU9250_GYRO_FSRMPU9250_FSR_250DPS = 0,MPU9250_FSR_500DPS,MPU9250_FSR_1000DPS,MPU9250_FSR_2000DPS, MPU92

23、50_NUM_GYRO_FSR ;enum MPU9250_ACCEL_DLPFMPU9250_ACCEL_DLPF_460HZ = 0, MPU9250_ACCEL_DLPF_184HZ, MPU9250_ACCEL_DLPF_92HZ,MPU9250_ACCEL_DLPF_41HZ,MPU9250_ACCEL_DLPF_20HZ,MPU9250_ACCEL_DLPF_10HZ,MPU9250_ACCEL_DLPF_5HZ, MPU9250_ACCEL_DLPF_460HZ2, MPU9250_NUM_ACCEL_DLPF ;enum MPU9250_ACCEL_FSRMPU9250_FSR

24、_2G = 0,MPU9250_FSR_4G,MPU9250_FSR_8G,MPU9250_FSR_16G,MPU9250_NUM_ACCEL_FSR;enum MPU9250_CLKMPU9250_CLK_INTERNAL = 0,MPU9250_CLK_PLL,MPU9250_NUM_CLK;/MPU9250_SPI_WriteMPU9250的SPI写一个字节函数/reg_addr 寄存器地址data 要写入的数据void MPU9250_SPI_Write(u8 reg_addr, u8 data) MPU9250_CS_L;MPU9250_SPI_ReadWriteByte(reg_a

25、ddr);MPU9250_SPI_ReadWriteByte(data);MPU9250_CS_H;/MPU9250_SPI_Writes/MPU9250的SPI写多个字节函数/ reg_addr 寄存器地址len 字节数*data 要写入的数据存放的数组void MPU9250_SPI_Writes(u8 reg_addr, u8 len, u8* data) u32 i = 0;MPU9250_CS_L;MPU9250_SPI_ReadWriteByte(reg_addr); while(i < len) MPU9250_SPI_ReadWriteByte(datai+);MPU92

26、50_CS_H;/MPU9250_SPI_Read/MPU9250 的读一个字节函数/reg_addr 寄存器地址u8 MPU9250_SPI_Read(u8 reg_addr) u8 dummy = 0;u8 data = 0;MPU9250_CS_L;MPU9250_SPI_ReadWriteByte(0x80 | reg_addr);data = MPU9250_SPI_ReadWriteByte(dummy);MPU9250_CS_H;return data;/MPU9250_SPI_Reads/MPU9250 的读多个字节函数/reg_addr 寄存器地址len 读取字节数*data

27、 数据存放数组void MPU9250_SPI_Reads(u8 reg_addr, u8 len, u8* data) u32 i = 0;u8 dummy = 0x00;MPU9250_CS_L;MPU9250_SPI_ReadWriteByte(MPU9250_I2C_READ | reg_addr); while(i < len)datai+ = MPU9250_SPI_ReadWriteByte(dummy);MPU9250_CS_H;/ 以下四个函数，作用是设置磁力计int MPU9250_AK8963_SPI_Read(u8 akm_addr, u8 reg_addr, u

28、8* data)u8 status = 0;u32 timeout = 0;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_REG, 1, &reg_addr); delay_ms(1);reg_addr = akm_addr | MPU9250_I2C_READ;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_ADDR, 1, &reg_addr); delay_ms(1);reg_addr = MPU9250_I2C_SLV4_EN;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_CTRL, 1, &a

29、mp;reg_addr); delay_ms(1);doif (timeout+ > 50)return -2;MPU9250_SPI_Reads(MPU9250_I2C_MST_STATUS, 1, &status); delay_ms(1);while (status & MPU9250_I2C_SLV4_DONE) = 0);MPU9250_SPI_Reads(MPU9250_I2C_SLV4_DI, 1, data); return 0;int MPU9250_AK8963_SPI_Reads(u8 akm_addr, u8 reg_addr, u8 len, u

30、8* data) u8 index = 0;u8 status = 0;u32 timeout = 0;u8 tmp = 0;tmp = akm_addr | MPU9250_I2C_READ;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_ADDR, 1, &tmp);delay_ms(1);while(index < len)tmp = reg_addr + index;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_REG, 1, &tmp); delay_ms(1);tmp = MPU9250_I2C_SLV4_EN

31、;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_CTRL, 1, &tmp); delay_ms(1);do if (timeout+ > 50)return -2;MPU9250_SPI_Reads(MPU9250_I2C_MST_STATUS, 1, &status); delay_ms(2); while (status & MPU9250_I2C_SLV4_DONE) = 0);MPU9250_SPI_Reads( MPU9250_I2C_SLV4_DI, 1, data + index);delay_ms(1);index+;r

32、eturn 0;int MPU9250_AK8963_SPI_Write(u8 akm_addr, u8 reg_addr, u8 data)u32 timeout = 0;uint8_t status = 0;u8 tmp = 0;tmp = akm_addr;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_ADDR, 1, &tmp); delay_ms(1);tmp = reg_addr;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_REG, 1, &tmp);delay_ms(1);tmp = data;MPU9250_

33、SPI_Writes(MPU9250_I2C_SLV4_DO, 1, &tmp); delay_ms(1);tmp = MPU9250_I2C_SLV4_EN;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_CTRL, 1, &tmp);delay_ms(1);do if (timeout+ > 50) return -2;MPU9250_SPI_Reads(MPU9250_I2C_MST_STATUS, 1, &status); delay_ms(1); while (status & MPU9250_I2C_SLV4_DONE)

34、 = 0);if (status & MPU9250_I2C_SLV4_NACK)return -3;return 0;int MPU9250_AK8963_SPI_Writes(u8 akm_addr, u8 reg_addr, u8 len, u8* data)u32 timeout = 0;uint8_t status = 0;u8 tmp = 0;u8 index = 0;tmp = akm_addr;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_ADDR, 1, &tmp);delay_ms(1);while(index < len)t

35、mp = reg_addr + index;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_REG, 1, &tmp);delay_ms(1);MPU9250_SPI_Writes(MPU9250_I2C_SLV4_DO, 1, data + index); delay_ms(1);tmp = MPU9250_I2C_SLV4_EN;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_CTRL, 1, &tmp);delay_ms(1);do if (timeout+ > 50)return -2;MPU9250_SPI_Rea

36、ds(MPU9250_I2C_MST_STATUS, 1, &status); delay_ms(1); while (status & MPU9250_I2C_SLV4_DONE) = 0);if (status & MPU9250_I2C_SLV4_NACK)return -3;index+;return 0;/ MPU9250_Get9AxisRawData/MPU9250 获取九轴数据/ *accel 加速计数据*gyro 陀螺仪数据*mag 磁力计数据数组 数组大小应为3 x y z void MPU9250_Get9AxisRawData(short *ac

37、cel, short * gyro, short * mag) u8 data22;MPU9250_SPI_Reads(MPU9250_ACCEL_XOUT_H, 22, data);accel0 = (data0 << 8) | data1;accel1 = (data2 << 8) | data3;accel2 = (data4 << 8) | data5;gyro0 = (data8 << 8)| data9;gyro1 = (data10 << 8) | data11;gyro2 = (data12 << 8) |

38、 data13;if (!(data14& MPU9250_AK8963_DATA_READY) |(data14&MPU9250_AK8963_DATA_OVERRUN) return;if (data21 & MPU9250_AK8963_OVERFLOW) return;mag0 = (data16 << 8) | data15;mag1 = (data18 << 8) | data17;mag2 = (data20 << 8) | data19;/ned x,y,zmag0 = (long)mag0 * MPU9250_AK8

39、963_ASA0) >> 8;mag1 = (long)mag1 * MPU9250_AK8963_ASA1) >> 8;mag2 = (long)mag2 * MPU9250_AK8963_ASA2) >> 8;/MPU9250_GetDeviceID/MPU9250 获取 IDu8 MPU9250_GetDeviceID(void)return MPU9250_SPI_Read(MPU9250_WHO_AM_I);/MPU9250_Init/MPU9250 初始化void MPU9250_Init(void)u8 data = 0, state = 0;

40、uint8_t response3 = 0, 0, 0;/MPU9250 ResetMPU9250_SPI_Write(MPU9250_PWR_MGMT_1, MPU9250_RESET); delay_ms(100);/MPU9250 Set Clock SourceMPU9250_SPI_Write(MPU9250_PWR_MGMT_1, MPU9250_CLOCK_PLLGYROZ);delay_ms(1);/MPU9250 Set Interrupt/Interrupt status is cleared if any read operation is performed.MPU92

41、50_SPI_Write(MPU9250_INT_PIN_CFG, MPU9250_INT_ANYRD_2CLEAR);delay_ms(1);MPU9250_SPI_Write(MPU9250_INT_ENABLE, DISABLE);delay_ms(1);/MPU9250 Set Sensors/Enable all xyzMPU9250_SPI_Write(MPU9250_PWR_MGMT_2,MPU9250_XYZ_GYRO &MPU9250_XYZ_ACCEL);delay_ms(1);/MPU9250 Set SampleRate/SAMPLE_RATE = Intern

42、al_Sample_Rate / (1 + SMPLRT_DIV) MPU9250_SPI_Write(MPU9250_SMPLRT_DIV, SMPLRT_DIV);delay_ms(1);/MPU9250 Set Full Scale Gyro Range/Fchoice_b1:0 = 00 enable DLPFMPU9250_SPI_Write(MPU9250_GYRO_CONFIG, (MPU9250_FSR_1000DPS << 3); delay_ms(1);/MPU9250 Set Full Scale Accel Range PS:2GMPU9250_SPI_Wr

43、ite(MPU9250_ACCEL_CONFIG, (MPU9250_FSR_2G << 3); delay_ms(1);/MPU9250 Set Accel DLPFdata = MPU9250_SPI_Read(MPU9250_ACCEL_CONFIG2);data |= MPU9250_ACCEL_DLPF_41HZ;delay_ms(1);MPU9250_SPI_Write(MPU9250_ACCEL_CONFIG2, data);delay_ms(1);/MPU9250 Set Gyro DLPFMPU9250_SPI_Write(MPU9250_CONFIG, MPU9

44、250_GYRO_DLPF_41HZ);delay_ms(1);/MPU9250 Set SPI Modestate = MPU9250_SPI_Read(MPU9250_USER_CTRL);delay_ms(1);/Reset I2C Slave module and put the serial interface in SPI mode only. This bit auto clears after one clock cycle.MPU9250_SPI_Write(MPU9250_USER_CTRL, state | MPU9250_I2C_IF_DIS); delay_ms(1)

45、;state = MPU9250_SPI_Read(MPU9250_USER_CTRL);delay_ms(1);/Enable the I2C Master I/F module; pins ES_DA and ES_SCL are isolated from pins SDA/SDI and SCL/ SCLK.MPU9250_SPI_Write(MPU9250_USER_CTRL, state | MPU9250_I2C_MST_EN); delay_ms(1);/AK8963 Setup/reset AK8963MPU9250_AK8963_SPI_Write(MPU9250_AK8963_I2C_ADDR,MPU9250_AK8963_CNTL2,MPU9250_AK8963_CNTL2_SRST);delay_ms(2);/BIT: Output bit setting 4800uT/ "1": 16-bit outputMPU9250_AK8963_SPI_Write(MPU9250_AK8963_I2C_ADDR,MPU9250_AK8963_CNTL,MPU9250_AK8963_POWER_DOWN);delay_ms(1);/Fuse ROM access modeMPU