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*/static s1

2、6 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 0x00#define MPU9250_SELF_TEST_Y_GYRO 0x01#define MPU9250_SELF_TEST_Z_GYRO 0x02#define MPU9250_SELF_TEST_X_ACCEL 0x0D#define MPU9250_SELF_TEST_Y_ACCEL

3、 0x0E#define MPU9250_SELF_TEST_Z_ACCEL 0x0F#define MPU9250_XG_OFFSET_H 0x13#define MPU9250_XG_OFFSET_L 0x14#define MPU9250_YG_OFFSET_H 0x15#define MPU9250_YG_OFFSET_L 0x16#define MPU9250_ZG_OFFSET_H 0x17#define MPU9250_ZG_OFFSET_L 0x18#define MPU9250_SMPLRT_DIV 0x19/陀螺仪采样率，典型值：0x07(125Hz) #define MP

4、U9250_CONFIG 0x1A/低通滤波频率，典型值：0x06(5Hz)#define MPU9250_GYRO_CONFIG 0x1B/陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)#define MPU9250_ACCEL_CONFIG 0x1C/加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)#define MPU9250_ACCEL_CONFIG2 0x1D#define MPU9250_LP_ACCEL_ODR 0x1E#define MPU9250_WOM_THR 0x1F#define MPU9250_FIFO_EN 0x23

5、#define MPU9250_I2C_MST_CTRL 0x24#define MPU9250_I2C_SLV0_ADDR 0x25#define MPU9250_I2C_SLV0_REG 0x26#define MPU9250_I2C_SLV0_CTRL 0x27#define MPU9250_I2C_SLV1_ADDR 0x28#define MPU9250_I2C_SLV1_REG 0x29#define MPU9250_I2C_SLV1_CTRL 0x2A#define MPU9250_I2C_SLV2_ADDR 0x2B#define MPU9250_I2C_SLV2_REG 0x

6、2C#define MPU9250_I2C_SLV2_CTRL 0x2D#define MPU9250_I2C_SLV3_ADDR 0x2E#define MPU9250_I2C_SLV3_REG 0x2F#define MPU9250_I2C_SLV3_CTRL 0x30#define MPU9250_I2C_SLV4_ADDR 0x31#define MPU9250_I2C_SLV4_REG 0x32#define MPU9250_I2C_SLV4_DO 0x33#define MPU9250_I2C_SLV4_CTRL 0x34#define MPU9250_I2C_SLV4_DI 0x

7、35#define MPU9250_I2C_MST_STATUS 0x36#define MPU9250_INT_PIN_CFG 0x37#define MPU9250_INT_ENABLE 0x38#define MPU9250_INT_STATUS 0x3A#define MPU9250_ACCEL_XOUT_H 0x3B#define MPU9250_ACCEL_XOUT_L 0x3C#define MPU9250_ACCEL_YOUT_H 0x3D#define MPU9250_ACCEL_YOUT_L 0x3E#define MPU9250_ACCEL_ZOUT_H 0x3F#def

8、ine MPU9250_ACCEL_ZOUT_L 0x40#define MPU9250_TEMP_OUT_H 0x41#define MPU9250_TEMP_OUT_L 0x42#define MPU9250_GYRO_XOUT_H 0x43#define MPU9250_GYRO_XOUT_L 0x44#define MPU9250_GYRO_YOUT_H 0x45#define MPU9250_GYRO_YOUT_L 0x46#define MPU9250_GYRO_ZOUT_H 0x47#define MPU9250_GYRO_ZOUT_L 0x48#define MPU9250_E

9、XT_SENS_DATA_00 0x49#define MPU9250_EXT_SENS_DATA_01 0x4A#define MPU9250_EXT_SENS_DATA_02 0x4B#define MPU9250_EXT_SENS_DATA_03 0x4C#define MPU9250_EXT_SENS_DATA_04 0x4D#define MPU9250_EXT_SENS_DATA_05 0x4E#define MPU9250_EXT_SENS_DATA_06 0x4F#define MPU9250_EXT_SENS_DATA_07 0x50#define MPU9250_EXT_S

10、ENS_DATA_08 0x51#define MPU9250_EXT_SENS_DATA_09 0x52#define MPU9250_EXT_SENS_DATA_10 0x53#define MPU9250_EXT_SENS_DATA_11 0x54#define MPU9250_EXT_SENS_DATA_12 0x55#define MPU9250_EXT_SENS_DATA_13 0x56#define MPU9250_EXT_SENS_DATA_14 0x57#define MPU9250_EXT_SENS_DATA_15 0x58#define MPU9250_EXT_SENS_

11、DATA_16 0x59#define MPU9250_EXT_SENS_DATA_17 0x5A#define MPU9250_EXT_SENS_DATA_18 0x5B#define MPU9250_EXT_SENS_DATA_19 0x5C#define MPU9250_EXT_SENS_DATA_20 0x5D#define MPU9250_EXT_SENS_DATA_21 0x5E#define MPU9250_EXT_SENS_DATA_22 0x5F#define MPU9250_EXT_SENS_DATA_23 0x60#define MPU9250_I2C_SLV0_DO 0

12、x63#define MPU9250_I2C_SLV1_DO 0x64#define MPU9250_I2C_SLV2_DO 0x65#define MPU9250_I2C_SLV3_DO 0x66#define MPU9250_I2C_MST_DELAY_CTRL 0x67#define MPU9250_SIGNAL_PATH_RESET 0x68#define MPU9250_MOT_DETECT_CTRL 0x69#define MPU9250_USER_CTRL 0x6A#define MPU9250_PWR_MGMT_1 0x6B/电源管理，典型值：0x00(正常启用)#define

13、 MPU9250_PWR_MGMT_2 0x6C#define MPU9250_FIFO_COUNTH 0x72#define MPU9250_FIFO_COUNTL 0x73#define MPU9250_FIFO_R_W 0x74#define MPU9250_WHO_AM_I 0x75/ID寄存器(默认数值0x71，只读)#define MPU9250_XA_OFFSET_H 0x77#define MPU9250_XA_OFFSET_L 0x78#define MPU9250_YA_OFFSET_H 0x7A#define MPU9250_YA_OFFSET_L 0x7B#define

14、 MPU9250_ZA_OFFSET_H 0x7D#define MPU9250_ZA_OFFSET_L 0x7E/#define MPU9250_I2C_READ 0x80/Magnetometer register maps#define MPU9250_AK8963_WIA 0x00#define MPU9250_AK8963_INFO 0x01#define MPU9250_AK8963_ST1 0x02#define MPU9250_AK8963_XOUT_L 0x03#define MPU9250_AK8963_XOUT_H 0x04#define MPU9250_AK8963_Y

15、OUT_L 0x05#define MPU9250_AK8963_YOUT_H 0x06#define MPU9250_AK8963_ZOUT_L 0x07#define MPU9250_AK8963_ZOUT_H 0x08#define MPU9250_AK8963_ST2 0x09#define MPU9250_AK8963_CNTL 0x0A#define MPU9250_AK8963_CNTL2 0x0B#define MPU9250_AK8963_RSV 0x0B /DO NOT ACCESS <MPU9250_AK8963_CNTL2>#define MPU9250_A

16、K8963_ASTC 0x0C#define MPU9250_AK8963_TS1 0x0D /DO NOT ACCESS#define MPU9250_AK8963_TS2 0x0E /DO NOT ACCESS#define MPU9250_AK8963_I2CDIS 0x0F#define MPU9250_AK8963_ASAX 0x10#define MPU9250_AK8963_ASAY 0x11#define MPU9250_AK8963_ASAZ 0x12#define MPU9250_AK8963_I2C_ADDR 0x0C#define MPU9250_AK8963_POWE

17、R_DOWN 0x10#define MPU9250_AK8963_FUSE_ROM_ACCESS 0x1F#define MPU9250_AK8963_SINGLE_MEASUREMENT 0x11#define MPU9250_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 MPU92

18、50_AK8963_DATA_ERROR (0x40)#define MPU9250_AK8963_CNTL2_SRST 0x01/#define MPU9250_I2C_SLV4_EN 0x80#define MPU9250_I2C_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)/#

19、define MPU9250_RESET 0x80#define MPU9250_CLOCK_MASK 0xF8#define MPU9250_CLOCK_INTERNAL 0x00#define MPU9250_CLOCK_PLL 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_

20、RDY_EN (0x01)#define MPU9250_RAW_DATA_RDY_INT (0x01)#define MPU9250_FIFO_OVERFLOW (0x10)/#define MPU9250_INT_ANYRD_2CLEAR (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

21、(0xC0)#define MPU9250_TEMP_OUT (0x80)#define MPU9250_GYRO_XOUT (0x40)#define MPU9250_GYRO_YOUT (0x20)#define MPU9250_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_L GPIO_Re

22、setBits(GPIOA,GPIO_Pin_4)#define MPU9250_CS_H GPIO_SetBits(GPIOA,GPIO_Pin_4)/*/enum MPU9250_GYRO_DLPF MPU9250_GYRO_DLPF_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,

23、 NUM_GYRO_DLPF;enum MPU9250_GYRO_FSR MPU9250_FSR_250DPS = 0, MPU9250_FSR_500DPS, MPU9250_FSR_1000DPS, MPU9250_FSR_2000DPS, MPU9250_NUM_GYRO_FSR;enum MPU9250_ACCEL_DLPF MPU9250_ACCEL_DLPF_460HZ = 0, MPU9250_ACCEL_DLPF_184HZ, MPU9250_ACCEL_DLPF_92HZ, MPU9250_ACCEL_DLPF_41HZ, MPU9250_ACCEL_DLPF_20HZ, M

24、PU9250_ACCEL_DLPF_10HZ, MPU9250_ACCEL_DLPF_5HZ, MPU9250_ACCEL_DLPF_460HZ2, MPU9250_NUM_ACCEL_DLPF;enum MPU9250_ACCEL_FSR MPU9250_FSR_2G = 0, MPU9250_FSR_4G, MPU9250_FSR_8G, MPU9250_FSR_16G, MPU9250_NUM_ACCEL_FSR;enum MPU9250_CLK MPU9250_CLK_INTERNAL = 0, MPU9250_CLK_PLL, MPU9250_NUM_CLK;/MPU9250_SPI

25、_Write/MPU9250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_addr);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_a

26、ddr, u8 len, u8* data)u32 i = 0;MPU9250_CS_L;MPU9250_SPI_ReadWriteByte(reg_addr);while(i < len)MPU9250_SPI_ReadWriteByte(datai+);MPU9250_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_

27、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 <

28、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, u8* 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(MP

29、U9250_I2C_SLV4_ADDR, 1, &reg_addr);delay_ms(1);reg_addr = MPU9250_I2C_SLV4_EN;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_CTRL, 1, &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)

30、 = 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, u8* 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(inde

31、x < len)tmp = reg_addr + index;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_REG, 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(2); wh

32、ile (status & MPU9250_I2C_SLV4_DONE) = 0);MPU9250_SPI_Reads( MPU9250_I2C_SLV4_DI, 1, data + index);delay_ms(1);index+;return 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,

33、&tmp);delay_ms(1);tmp = reg_addr;MPU9250_SPI_Writes(MPU9250_I2C_SLV4_REG, 1, &tmp);delay_ms(1);tmp = data;MPU9250_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)retu

34、rn -2;MPU9250_SPI_Reads(MPU9250_I2C_MST_STATUS, 1, &status);delay_ms(1); while (status & MPU9250_I2C_SLV4_DONE) = 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 =

35、0;u8 index = 0;tmp = akm_addr;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);MPU9250_SPI_Writes(MPU9250_I2C_SLV4_DO, 1, data + index);delay_ms(1);tmp = MPU9250_I2C_SLV4_E

36、N;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) = 0);if (status & MPU9250_I2C_SLV4_NACK)return -3;index+;return 0;/ MPU9250_Get

37、9AxisRawData/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3x y zvoid MPU9250_Get9AxisRawData(short *accel, 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 <<

38、; 8) | data5;gyro0 = (data8 << 8) | data9;gyro1 = (data10 << 8) | data11;gyro2 = (data12 << 8) | data13;if (!(data14 & MPU9250_AK8963_DATA_READY) | (data14 & MPU9250_AK8963_DATA_OVERRUN)return;if (data21 & MPU9250_AK8963_OVERFLOW)return;mag0 = (data16 << 8) | data

39、15;mag1 = (data18 << 8) | data17;mag2 = (data20 << 8) | data19;/ned x,y,zmag0 = (long)mag0 * MPU9250_AK8963_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

40、)return MPU9250_SPI_Read(MPU9250_WHO_AM_I);/MPU9250_Init/MPU9250初始化void MPU9250_Init(void)u8 data = 0, state = 0;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_P

41、LLGYROZ);delay_ms(1);/MPU9250 Set Interrupt/Interrupt status is cleared if any read operation is performed.MPU9250_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(MPU9

42、250_PWR_MGMT_2, MPU9250_XYZ_GYRO & MPU9250_XYZ_ACCEL);delay_ms(1);/MPU9250 Set SampleRate/SAMPLE_RATE = Internal_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_G

43、YRO_CONFIG, (MPU9250_FSR_1000DPS << 3);delay_ms(1);/MPU9250 Set Full Scale Accel Range PS:2GMPU9250_SPI_Write(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_

44、SPI_Write(MPU9250_ACCEL_CONFIG2, data);delay_ms(1);/MPU9250 Set Gyro DLPFMPU9250_SPI_Write(MPU9250_CONFIG, MPU9250_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

45、auto clears after one clock cycle.MPU9250_SPI_Write(MPU9250_USER_CTRL, state | MPU9250_I2C_IF_DIS);delay_ms(1);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_

46、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 output MPU9250_AK8963_SPI_Write(MPU9250_AK8963_I2C_ADDR, MPU9250_AK8963_CNTL, MPU9250_AK8963_POWER_DOWN);delay_ms(1);/Fuse RO