mpu6050六轴传感器msp430驱动程序

玩智能车的可以参考

#include <msp430g2553.h>
#include"mpu6050.h"
#include "USCI_A0.h"
#include "IMU.h "
/**  ======== BCSplus_graceInit ========*  Initialize MSP430 Basic Clock System*/
void BCSplus_graceInit(void)
{/* USER CODE START (section: BCSplus_graceInit_prologue) *//* User initialization code *//* USER CODE END (section: BCSplus_graceInit_prologue) *//* * Basic Clock System Control 2* * SELM_0 -- DCOCLK* DIVM_0 -- Divide by 1* ~SELS -- DCOCLK* DIVS_1 -- Divide by 2* ~DCOR -- DCO uses internal resistor* * Note: ~<BIT> indicates that <BIT> has value zero*/BCSCTL2 = SELM_0 | DIVM_0 | DIVS_1;if (CALBC1_16MHZ != 0xFF) {/* Adjust this accordingly to your VCC rise time */__delay_cycles(100000);/* Follow recommended flow. First, clear all DCOx and MODx bits. Then* apply new RSELx values. Finally, apply new DCOx and MODx bit values.*/DCOCTL = 0x00;BCSCTL1 = CALBC1_16MHZ;     /* Set DCO to 16MHz */DCOCTL = CALDCO_16MHZ;}/* * Basic Clock System Control 1* * XT2OFF -- Disable XT2CLK* ~XTS -- Low Frequency* DIVA_0 -- Divide by 1* * Note: ~XTS indicates that XTS has value zero*/BCSCTL1 |= XT2OFF | DIVA_0;/* * Basic Clock System Control 3* * XT2S_0 -- 0.4 - 1 MHz* LFXT1S_0 -- If XTS = 0, XT1 = 32768kHz Crystal ; If XTS = 1, XT1 = 0.4 - 1-MHz crystal or resonator* XCAP_1 -- ~6 pF*/BCSCTL3 = XT2S_0 | LFXT1S_0 | XCAP_1;/* USER CODE START (section: BCSplus_graceInit_epilogue) *//* User code *//* USER CODE END (section: BCSplus_graceInit_epilogue) */
}/** main.c*/
int main(void)
{WDTCTL = WDTPW | WDTHOLD;        // Stop watchdog timerBCSplus_graceInit();        //MCLK = 16M,SMCLK = 8M,ack =32.768kWDTCTL = WDTPW | WDTTMSEL | WDTIS0;IE1 |= WDTIE;USCI_A0_init();             //uart 38400bps  P1DIR |= BIT0;              //initialize led control PIN _EINT();MPU6050_Init();             //initialize mpu6050while(1){/*Get_Attitude();//MPU6050_Dataanl();// ReadMPU6050All();//Prepare_Data();             //耗时6.15ms//Uart1_Send_AF();             //耗时8.42msP1OUT ^= BIT0;Get_Attitude();//ReadMPU6050All();//MPU6050_Dataanl();         //未使用多字节读取，耗时6ms,使用多字节读取，耗时3.6ms//Prepare_Data();// Uart1_Send_AF();P1OUT ^= BIT0;*/}}//watchdog interrupt server program per 1ms
#pragma vector=WDT_VECTOR
__interrupt void WDT_ISR_HOOK(void)
{/* USER CODE START (section: WDT_ISR_HOOK) *//* replace this comment with your code */static unsigned int count=0;static unsigned char ms2 = 0,ms5 = 0,ms10 = 0;count++;ms2++;ms5++;ms10++;if(ms2 == 2){ms2 = 0;Prepare_Data();//MPU6050_Dataanl();}if(ms5 >= 4){ms5 = 0;Get_Attitude();}if(ms10 >= 10){ms10 = 0;Uart1_Send_AF();}if(count== 200){count=0;P1OUT ^= BIT0;}/* USER CODE END (section: WDT_ISR_HOOK) */
}/** This file contains some mpu6050 operation.* By IC爬虫 (1394024051@qq.com)* 2014-4-13 v1.0*/
#include "mpu6050.h"unsigned char   mpu6050_buffer[14];     //I2C读取后存放数据int ACC_OFFSET_X,ACC_OFFSET_Y,ACC_OFFSET_Z;
int GYRO_OFFSET_X,GYRO_OFFSET_Y,GYRO_OFFSET_Z;unsigned char        GYRO_OFFSET_OK = 1;
unsigned char        ACC_OFFSET_OK = 1;int MPU6050_ACC_LAST_X,MPU6050_ACC_LAST_Y,MPU6050_ACC_LAST_Z;    //final accelerate speed
int MPU6050_GYRO_LAST_X,MPU6050_GYRO_LAST_Y,MPU6050_GYRO_LAST_Z; //final  gyro  speed/**********************************************************/
//函数名称：void MPU6050_Dataanl
//入口参数：无
//出口参数：无
//函数功能：MPU6050数据读取并处理
/**********************************************************/
void MPU6050_Dataanl(void)
{
#ifndef READALLMPU6050_ACC_LAST_X = GetAccelX() - ACC_OFFSET_X;MPU6050_ACC_LAST_Y = GetAccelY() - ACC_OFFSET_Y;MPU6050_ACC_LAST_Z = GetAccelZ() - ACC_OFFSET_Z;MPU6050_GYRO_LAST_X = GetAnguX() - GYRO_OFFSET_X;MPU6050_GYRO_LAST_Y = GetAnguY() - GYRO_OFFSET_Y;MPU6050_GYRO_LAST_Z = GetAnguZ() - GYRO_OFFSET_Z;//------------------------------------------------------------------////补偿偏移if(!GYRO_OFFSET_OK){static long int tempgx=0,tempgy=0,tempgz=0;static unsigned char cnt_g=0;if(cnt_g==0){GYRO_OFFSET_X=0;GYRO_OFFSET_Y=0;GYRO_OFFSET_Z=0;tempgx = 0;tempgy = 0;tempgz = 0;cnt_g = 1;}tempgx+= MPU6050_GYRO_LAST_X;tempgy+= MPU6050_GYRO_LAST_Y;tempgz+= MPU6050_GYRO_LAST_Z;if(cnt_g==200){GYRO_OFFSET_X=tempgx/cnt_g;GYRO_OFFSET_Y=tempgy/cnt_g;GYRO_OFFSET_Z=tempgz/cnt_g;cnt_g = 0;GYRO_OFFSET_OK = 1;}cnt_g++;}if(!ACC_OFFSET_OK){static long int tempax=0,tempay=0,tempaz=0;static unsigned char cnt_a=0;if(cnt_a==0){ACC_OFFSET_X = 0;ACC_OFFSET_Y = 0;ACC_OFFSET_Z = 0;tempax = 0;tempay = 0;tempaz = 0;cnt_a = 1;}tempax += MPU6050_ACC_LAST_X;//累加tempay += MPU6050_ACC_LAST_Y;tempaz += MPU6050_ACC_LAST_Z;if(cnt_a==200){ACC_OFFSET_X = tempax/cnt_a;ACC_OFFSET_Y = tempay/cnt_a;ACC_OFFSET_Z = tempaz/cnt_a;cnt_a = 0;ACC_OFFSET_OK = 1;}cnt_a++;}//--------------------------------------------//
#else
struct MPU6050Struct *MPU6050WORK;MPU6050WORK = ReadMPU6050All();MPU6050_ACC_LAST_X = (MPU6050WORK ->MPU6050_ACC_X) - ACC_OFFSET_X;MPU6050_ACC_LAST_Y = (MPU6050WORK ->MPU6050_ACC_Y) - ACC_OFFSET_Y;MPU6050_ACC_LAST_Z = (MPU6050WORK ->MPU6050_ACC_Z) - ACC_OFFSET_Z;MPU6050_GYRO_LAST_X = (MPU6050WORK ->MPU6050_GYRO_X) - GYRO_OFFSET_X;MPU6050_GYRO_LAST_Y = (MPU6050WORK ->MPU6050_GYRO_Y) - GYRO_OFFSET_Y;MPU6050_GYRO_LAST_Z = (MPU6050WORK ->MPU6050_GYRO_Z) - GYRO_OFFSET_Z;if(!GYRO_OFFSET_OK){static long int tempgx=0,tempgy=0,tempgz=0;static unsigned char cnt_g=0;if(cnt_g==0){GYRO_OFFSET_X=0;GYRO_OFFSET_Y=0;GYRO_OFFSET_Z=0;tempgx = 0;tempgy = 0;tempgz = 0;cnt_g = 1;}tempgx+= MPU6050_GYRO_LAST_X;tempgy+= MPU6050_GYRO_LAST_Y;tempgz+= MPU6050_GYRO_LAST_Z;if(cnt_g==200){GYRO_OFFSET_X=tempgx/cnt_g;GYRO_OFFSET_Y=tempgy/cnt_g;GYRO_OFFSET_Z=tempgz/cnt_g;cnt_g = 0;GYRO_OFFSET_OK = 1;}cnt_g++;}if(!ACC_OFFSET_OK){static long int tempax=0,tempay=0,tempaz=0;static unsigned char cnt_a=0;if(cnt_a==0){ACC_OFFSET_X = 0;ACC_OFFSET_Y = 0;ACC_OFFSET_Z = 0;tempax = 0;tempay = 0;tempaz = 0;cnt_a = 1;}tempax += MPU6050_ACC_LAST_X;//累加tempay += MPU6050_ACC_LAST_Y;tempaz += MPU6050_ACC_LAST_Z;if(cnt_a==200){ACC_OFFSET_X = tempax/cnt_a;ACC_OFFSET_Y = tempay/cnt_a;ACC_OFFSET_Z = tempaz/cnt_a;cnt_a = 0;ACC_OFFSET_OK = 1;}cnt_a++;}
#endif}/**********************************************************/
//函数名称：void MPU6050Init
//入口参数：无
//出口参数：无
//函数功能：MPU6050初始化
/**********************************************************/
void MPU6050_Init()
{
#ifdef IMITATEIICInitImitateIICPort();
#elseI2C_Init(SlaveAddr);
#endifI2C_Write(PWR_MGMT_1,0x00); //resume from sleep.I2C_Write(SMPLRT_DIV, 0x07);I2C_Write(CONFIG, 0x06);I2C_Write(GYRO_CONFIG, 0x18);I2C_Write(ACCEL_CONFIG, 0x01);
}
/**********************************************************/
//函数名称：int Get16Bit
//入口参数：address:读取数据的地址
//出口参数：无
//函数功能：获取MPU6050相应地址上的数据
/**********************************************************/
int Get16Bit (unsigned char  address)
{
#ifndef MULTIREADunsigned char  ho,lo;int temp ;ho = I2C_Read(address);lo = I2C_Read(address+1);temp=ho;temp<<=8;temp+=lo;return temp ;
#elsereturn( Double_Read_ADXL345(address));
#endif
}
/**********************************************************/
//函数名称：
//入口参数：无
//出口参数：无
//函数功能：获取MPU6050相应轴上的加速度数据
/**********************************************************/
// X/Y/Z-Axis Acceleration
int GetAccelX ()
{return Get16Bit(ACCEL_XOUT_H);
}int GetAccelY ()
{return Get16Bit(ACCEL_YOUT_H);
}int GetAccelZ ()
{return Get16Bit(ACCEL_ZOUT_H);
}
/**********************************************************/
//函数名称：
//入口参数：无
//出口参数：无
//函数功能：获取MPU6050相应轴上的角速度数据
/**********************************************************/
// X/Y/Z-Axis Angular velocity
int GetAnguX ()
{return Get16Bit(GYRO_XOUT_H);
}int GetAnguY ()
{return Get16Bit(GYRO_YOUT_H);
}int GetAnguZ ()
{return Get16Bit(GYRO_ZOUT_H);
}#include"msp430iic.h"  struct MPU6050Struct    MPU6050Data;
void InitImitateIICPort(void)
{ SET_SDA_OUT;          //set  SDA PIN is out mode SDA_HIGH;             // set SDA PIN out is high SCL_HIGH;             //set SCL PIN is input mode ,pull up register to SCL PIN high
}/**************************************
起始信号
**************************************/
void ADXL345_Start(void)
{SET_SDA_OUT;SDA_HIGH;                    //拉高数据线SCL_HIGH;                    //拉高时钟线Delay5us();                 //延时SDA_LOW;                    //产生下降沿Delay5us();                 //延时SCL_LOW;                    //拉低时钟线
}/**************************************
停止信号
**************************************/
void ADXL345_Stop(void)
{SET_SDA_OUT;SDA_LOW;                    //拉低数据线SCL_HIGH;                    //拉高时钟线Delay5us();                 //延时SDA_HIGH;                    //产生上升沿Delay5us();                 //延时
}/**************************************
发送应答信号
入口参数:ack (0:ACK 1:NAK)
**************************************/
void ADXL345_SendACK(unsigned char ack)
{SET_SDA_OUT;if(ack)SDA_HIGH;                //写NACK应答信号elseSDA_LOW;                 //写ACK应答信号SCL_HIGH;                    //拉高时钟线Delay5us();                 //延时SCL_LOW;                    //拉低时钟线Delay5us();                 //延时
}/**************************************
接收应答信号
**************************************/
unsigned char ADXL345_RecvACK(void)
{unsigned char ack;//------------------////一下两句切不可调换顺序，否则会导致时序错误SET_SDA_IN;SCL_HIGH;                    //拉高时钟线  //-----------------//Delay5us();                 //延时ack = SDA_IN;                   //读应答信号SCL_LOW;                    //拉低时钟线Delay5us();                 //延时return ack;
}/**************************************
向IIC总线发送一个字节数据
**************************************/
void ADXL345_Senduchar(unsigned char dat)
{unsigned char i,m;SET_SDA_OUT;for (i=8; i!=0; i--)         //8位计数器{m=dat & 0x80;           //移出数据的最高位if(m == 0x80)SDA_HIGH;elseSDA_LOW;SCL_HIGH;                //拉高时钟线Delay5us();             //延时SCL_LOW;                //拉低时钟线dat=dat<<1;Delay5us();             //延时}ADXL345_RecvACK();
}/**************************************
从IIC总线接收一个字节数据
**************************************/
unsigned char  ADXL345_Recvuchar(void)
{unsigned char  i;unsigned char dat = 0;unsigned char m;SDA_HIGH;                    //使能内部上拉,准备读取数据,SET_SDA_IN;for (i=8; i!=0; i--)         //8位计数器{dat <<= 1;SCL_HIGH;                //拉高时钟线SET_SDA_IN;m = SDA_IN;if(m == I2C_SDA)dat = dat|0x01;Delay5us();             //延时SCL_LOW;                //拉低时钟线Delay5us();             //延时}return dat;
}//******单字节写入*******************************************void Single_Write_ADXL345(unsigned char REG_Address,unsigned char REG_data)
{ADXL345_Start();                  //起始信号ADXL345_Senduchar(SlaveAddress);   //发送设备地址+写信号ADXL345_Senduchar(REG_Address);    //内部寄存器地址，请参考中文pdf22页ADXL345_Senduchar(REG_data);       //内部寄存器数据，请参考中文pdf22页ADXL345_Stop();                   //发送停止信号
}//********单字节读取*****************************************
unsigned char  Single_Read_ADXL345(unsigned char  REG_Address)
{  unsigned char REG_data=0;ADXL345_Start();                          //起始信号ADXL345_Senduchar(SlaveAddress);           //发送设备地址+写信号 ADXL345_Senduchar(REG_Address);                   //发送存储单元地址，从0开始ADXL345_Start();                          //起始信号ADXL345_Senduchar(SlaveAddress+1);         //发送设备地址+读信号REG_data=ADXL345_Recvuchar();              //读出寄存器数据ADXL345_SendACK(1);                     //NACKADXL345_Stop();                           //停止信号return REG_data;
}
//********多字节读取*****************************************
int  Double_Read_ADXL345(unsigned char  REG_Address)
{unsigned char ValueL=0;int Value=0;ADXL345_Start();                            //起始信号ADXL345_Senduchar(SlaveAddress);            //发送设备地址+写信号 ADXL345_Senduchar(REG_Address);             //发送存储单元地址，从0开始ADXL345_Start();                            //起始信号ADXL345_Senduchar(SlaveAddress+1);          //发送设备地址+读信号Value=ADXL345_Recvuchar();                  //读出寄存器数据ADXL345_SendACK(0);                         //ACKValueL=ADXL345_Recvuchar();                 //读出寄存器数据ADXL345_SendACK(1);                         //NACKADXL345_Stop();                             //停止信号Value=(Value<<8)+ValueL;return Value;
}struct MPU6050Struct *ReadMPU6050All()
{unsigned char TempAcc1=0,TempAcc2=0,TempAcc3=0,TempAcc4=0,TempAcc5=0,TempAcc6=0;unsigned char TempGyro1=0,TempGyro2=0,TempGyro3=0,TempGyro4=0,TempGyro5=0,TempGyro6=0;ADXL345_Start();                            //起始信号ADXL345_Senduchar(SlaveAddress);            //发送设备地址+写信号 ADXL345_Senduchar(0x3B);                    //发送存储单元地址，从0x3b开始ADXL345_Start();                            //起始信号ADXL345_Senduchar(SlaveAddress+1);          //发送设备地址+读信号TempAcc2=ADXL345_Recvuchar();                  //读出寄存器数据ADXL345_SendACK(0);                         //ACKTempAcc1=ADXL345_Recvuchar();                 //读出寄存器数据ADXL345_SendACK(0);                         //ACKTempAcc4=ADXL345_Recvuchar();                  //读出寄存器数据ADXL345_SendACK(0);                         //ACKTempAcc3=ADXL345_Recvuchar();                 //读出寄存器数据ADXL345_SendACK(0);                         //ACKTempAcc6=ADXL345_Recvuchar();                  //读出寄存器数据ADXL345_SendACK(0);                         //ACKTempAcc5=ADXL345_Recvuchar();                 //读出寄存器数据ADXL345_SendACK(0);                         //ACKADXL345_Recvuchar();                         //丢弃不连续地址的数据ADXL345_SendACK(0);                         //ACKADXL345_Recvuchar();                         //丢弃不连续地址的数据ADXL345_SendACK(0); TempGyro2=ADXL345_Recvuchar();                  //读出寄存器数据ADXL345_SendACK(0);                         //ACKTempGyro1=ADXL345_Recvuchar();                 //读出寄存器数据ADXL345_SendACK(0); TempGyro4=ADXL345_Recvuchar();                  //读出寄存器数据ADXL345_SendACK(0);                         //ACKTempGyro3=ADXL345_Recvuchar();                 //读出寄存器数据ADXL345_SendACK(0); TempGyro6=ADXL345_Recvuchar();                  //读出寄存器数据ADXL345_SendACK(0);                         //ACKTempGyro5=ADXL345_Recvuchar();                 //读出寄存器数据ADXL345_SendACK(1);                         //NACKADXL345_Stop();MPU6050Data.MPU6050_ACC_X=(TempAcc2<<8) + TempAcc1;MPU6050Data.MPU6050_ACC_Y=(TempAcc4<<8) + TempAcc3;MPU6050Data.MPU6050_ACC_Z=(TempAcc6<<8) + TempAcc5;MPU6050Data.MPU6050_GYRO_X=(TempGyro2<<8) + TempGyro1;MPU6050Data.MPU6050_GYRO_Y=(TempGyro4<<8) + TempGyro3;MPU6050Data.MPU6050_GYRO_Z=(TempGyro6<<8) + TempGyro5;return (&MPU6050Data);
}/** This file contains some uSCI_A0 operation.* By IC爬虫 (1394024051@qq.com)* 2014-4-28 v1.0*/
//#include "msp430g2553.h"
#include "USCI_A0.h"
//#include "stdio.h"
#include "mpu6050.h"
#include "IMU.h"#define uchar unsigned char
#define uint unsigned int//将“int”类型的数据分成两个单字节的数据
#define BYTE0(dwTemp)       (*(char *)(&dwTemp))
#define BYTE1(dwTemp)       (*((char *)(&dwTemp) + 1))
#define BYTE2(dwTemp)       (*((char *)(&dwTemp) + 2))
#define BYTE3(dwTemp)       (*((char *)(&dwTemp) + 3))/*********************************************************
*名称：USCI_A0_init
*功能：串口初始化
*入口参数：无
*出口参数：无
*说明：设置为P1.1和P1.2为串口通信端口
**********************************************************/
void USCI_A0_init(void)
{P1SEL = BIT1 + BIT2 ;   // P1.1 = RXD, P1.2=TXDP1SEL2 = BIT1 + BIT2;                      UCA0CTL1 |= UCSSEL_2;   // SMCLK/*UCA0BR0 = 0x45;         // 8MHz 115200UCA0BR1 = 0;            // 8MHz 115200UCA0MCTL = 0x4a;        // 8MHz 115200  */    /*UCA0BR0 = 0x68; UCA0BR1 = 0; UCA0MCTL = 0x40;*/UCA0MCTL = UCBRF_0 | UCBRS_4;/* Baud rate control register 0 */UCA0BR0 = 69;UCA0CTL1 &= ~UCSWRST;          // **Initialize USCI state machine**//IE2 |= UCA0RXIE + UCA0TXIE;  // Enable USCI_A0 TX/RX interrupt//IE2 |= UCA0RXIE;             // Enable USCI_A0 RX interrupt//__bis_SR_register(GIE);      // Enter LPM3 w/ interrupts enabled
}/*********************************************************
*名称：UartTX_Send_String
*功能：串口发送字符串函数
*入口参数：*data:数据指针        len :数据长度
*出口参数：无
*说明：
**********************************************************/
void UartTX_Send_String(unsigned char *Data,int len)
{int j;for(j=0;j<len;j++){UartTX_Send_char(*Data++);}
}/*********************************************************
*名称：UartTX_Send_char
*功能：串口发送字符函数
*入口参数：c
*出口参数：无
*说明：
**********************************************************/
unsigned char UartTX_Send_char(unsigned char c)
{UCA0TXBUF=c;   while(!(IFG2&UCA0TXIFG));IFG2&=~UCA0TXIFG;return c;
}
/*********************************************************
*名称：int putchar
*功能：串口发送字符函数
*入口参数：ch
*出口参数：无
*说明：
**********************************************************/
int putchar(int ch)
{UCA0TXBUF=ch;while(!(IFG2&UCA0TXIFG));//UCA0TXBUF=ch;IFG2&=~UCA0TXIFG;return ch;
}void sendChar(unsigned char c){while(!(IFG2&UCA0TXIFG));UCA0TXBUF=c;}void sendStr(unsigned char *s)
{while(*s!='\0'){sendChar(*s);s++;}
}/*********************************************************
*名称：void Uart1_Send_AF
*功能：串口发送姿态数据
*入口参数：无
*出口参数：无
*说明：每一次执行这个函数就算是一帧数据，帧头为0X88，功能字
*      为0XAF
**********************************************************/
void Uart1_Send_AF(void)
{unsigned char sum = 0;//累加串口发送的数据的值，做校验用unsigned int _temp;   sum += UartTX_Send_char(0x88);  //帧头sum += UartTX_Send_char(0xAF);  //功能字sum += UartTX_Send_char(0x1c);sum += UartTX_Send_char( BYTE1(MPU6050_ACC_LAST_X) ); //发送加速度X轴数据的高8位sum += UartTX_Send_char( BYTE0(MPU6050_ACC_LAST_X) ); //发送加速度X轴数据的低8位sum += UartTX_Send_char( BYTE1(MPU6050_ACC_LAST_Y) ); //发送加速度Y轴数据的高8位sum += UartTX_Send_char( BYTE0(MPU6050_ACC_LAST_Y) ); //发送加速度Y轴数据的低8位sum += UartTX_Send_char( BYTE1(MPU6050_ACC_LAST_Z) ); //发送加速度Z轴数据的高8位sum += UartTX_Send_char( BYTE0(MPU6050_ACC_LAST_Z) ); //发送加速度Z轴数据的低8位sum += UartTX_Send_char( BYTE1(MPU6050_GYRO_LAST_X) ); //发送陀螺仪X轴数据的高8位sum += UartTX_Send_char( BYTE0(MPU6050_GYRO_LAST_X) ); //发送陀螺仪X轴数据的低8位sum += UartTX_Send_char( BYTE1(MPU6050_GYRO_LAST_Y) ); //发送陀螺仪Y轴数据的高8位sum += UartTX_Send_char( BYTE0(MPU6050_GYRO_LAST_Y) ); //发送陀螺仪Y轴数据的低8位sum += UartTX_Send_char( BYTE1(MPU6050_GYRO_LAST_Z) ); //发送陀螺仪Z轴数据的高8位sum += UartTX_Send_char( BYTE0(MPU6050_GYRO_LAST_Z) ); //发送陀螺仪Z轴数据的低8位sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);_temp = (long int)(Q_ANGLE_X*100);sum += UartTX_Send_char( BYTE1(_temp) );sum += UartTX_Send_char( BYTE0(_temp) );_temp = (long int)(Q_ANGLE_Y*100);sum += UartTX_Send_char( BYTE1(_temp) );sum += UartTX_Send_char( BYTE0(_temp) );sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);sum += UartTX_Send_char(0);UartTX_Send_char(sum); //串口发送累加值用于校验
}/** This file contains some IMU operation.* By IC爬虫 (1394024051@qq.com)* 2014-4-29 v1.0*/
#include "IMU.h"#define RtA           57.324841  //弧度到角度
#define AtR              0.0174533  //度到角度
#define Acc_G           0.0011963  //加速度变成G
#define Gyro_G           0.0152672  //角速度变成度
#define Gyro_Gr          0.0002663
#define FILTER_NUM 20int   ACC_AVG_X,ACC_AVG_Y,ACC_AVG_Z;      //平均值滤波后的ACC
float GYRO_I_X,GYRO_I_Y,GYRO_I_Z;         //陀螺仪积分
float EXP_ANGLE_X,EXP_ANGLE_Y,EXP_ANGLE_Z;//期望角度
float DIF_ANGLE_X,DIF_ANGLE_Y,DIF_ANGLE_Z;//期望角度和实际角度的差
float Q_ANGLE_X,Q_ANGLE_Y,Q_ANGLE_Z;      //四元数计算出的角度int ACC_X_BUF[FILTER_NUM],ACC_Y_BUF[FILTER_NUM],ACC_Z_BUF[FILTER_NUM];        //加速度滑动窗口滤波数组/**********************************************************/
//函数名称：Prepare_Data
//入口参数：无
//出口参数：无
//函数功能：读取MPU6050数据进行平滑滤波，为后续计算准备数据
/**********************************************************/
void Prepare_Data(void)
{static unsigned char filter_cnt=0;long int temp1=0,temp2=0,temp3=0;unsigned char i;MPU6050_Dataanl();//完成传感器数据的读取和计算，并且对数据简单处理ACC_X_BUF[filter_cnt] = MPU6050_ACC_LAST_X;//更新滑动窗口数组ACC_Y_BUF[filter_cnt] = MPU6050_ACC_LAST_Y;ACC_Z_BUF[filter_cnt] = MPU6050_ACC_LAST_Z;for(i=0;i<FILTER_NUM;i++){temp1 += ACC_X_BUF[i];temp2 += ACC_Y_BUF[i];temp3 += ACC_Z_BUF[i];}ACC_AVG_X = temp1 / FILTER_NUM;ACC_AVG_Y = temp2 / FILTER_NUM;ACC_AVG_Z = temp3 / FILTER_NUM;filter_cnt++;if(filter_cnt==FILTER_NUM)  filter_cnt=0;GYRO_I_X += MPU6050_GYRO_LAST_X*Gyro_G*0.02;//0.0001是时间间隔，两次prepare函数的执行周期GYRO_I_Y += MPU6050_GYRO_LAST_Y*Gyro_G*0.02;//示波器测量的得到的时间是20ms.GYRO_I_Z += MPU6050_GYRO_LAST_Z*Gyro_G*0.02;
}void Get_Attitude(void)
{IMUupdate( MPU6050_GYRO_LAST_X*Gyro_Gr,MPU6050_GYRO_LAST_Y*Gyro_Gr,MPU6050_GYRO_LAST_Z*Gyro_Gr,ACC_AVG_X,ACC_AVG_Y,ACC_AVG_Z);        //*0.0174转成弧度
}#define Kp 10.0f        // proportional gain governs rate of convergence to accelerometer/magnetometer
#define Ki 0.008f       // integral gain governs rate of convergence of gyroscope biases
#define halfT 0.004f    // half the sample period采样周期的一半float q0 = 1, q1 = 0, q2 = 0, q3 = 0;    // quaternion elements representing the estimated orientation
float exInt = 0, eyInt = 0, ezInt = 0;    // scaled integral error
/**********************************************************/
//函数名称：IMUupdate
//入口参数：gx：浮点型的陀螺仪x轴数据
//          gy：浮点型的陀螺仪y轴数据
//          gz：浮点型的陀螺仪z轴数据
//          ax：浮点型的加速度x轴数据
//          ay：浮点型的加速度y轴数据
//          az：浮点型的加速度z轴数据
//出口参数：无
//函数功能：通过陀螺仪和加速度传感器的数据用四元数计算姿态
/**********************************************************/
void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az)
{float norm;
//  float hx, hy, hz, bx, bz;float vx, vy, vz;// wx, wy, wz;float ex, ey, ez;//先把这些需要用到的值弄好float q0q0 = q0*q0;float q0q1 = q0*q1;float q0q2 = q0*q2;
//  float q0q3 = q0*q3;float q1q1 = q1*q1;
//  float q1q2 = q1*q2;float q1q3 = q1*q3;float q2q2 = q2*q2;float q2q3 = q2*q3;float q3q3 = q3*q3;if(ax*ay*az==0) return;norm = sqrt(ax*ax + ay*ay + az*az);//acc数据归一化ax = ax /norm;ay = ay / norm;az = az / norm;// estimated direction of gravity and flux (v and w)   估计重力方向和流量/变迁vx = 2*(q1q3 - q0q2);        //四元数中xyz的表示vy = 2*(q0q1 + q2q3);vz = q0q0 - q1q1 - q2q2 + q3q3 ;// error is sum of cross product between reference direction of fields and direction measured by sensorsex = (ay*vz - az*vy) ;   //向量外积在相减得到差分就是误差ey = (az*vx - ax*vz) ;ez = (ax*vy - ay*vx) ;exInt = exInt + ex * Ki; //对误差进行积分eyInt = eyInt + ey * Ki;ezInt = ezInt + ez * Ki;// adjusted gyroscope measurementsgx = gx + Kp*ex + exInt; //将误差PI后补偿到陀螺仪，即补偿零点漂移gy = gy + Kp*ey + eyInt;gz = gz + Kp*ez + ezInt; //这里的gz由于没有观测者进行矫正会产生漂移，变现出来的就是积分自增或者自减// integrate quaternion rate and normalise //四元数的微分方程q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;// normalise quaternionnorm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);q0 = q0 / norm;q1 = q1 / norm;q2 = q2 / norm;q3 = q3 / norm;//Q_ANGLE.Yaw = atan2(2 * q1 * q2 + 2 * q0 * q3, -2 * q2*q2 - 2 * q3* q3 + 1)* 57.3; // yawQ_ANGLE_Y  = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; // pitchQ_ANGLE_X = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
}/** This file contains some I2C operation.* By IC爬虫 (1394024051@qq.com)* 2014-4-13 v1.0*/
#include "HardWareIIC.h"uchar I2CSendBuffer[2],I2CRecvBuffer; //I2C发送缓存和接收缓存int I2CSendPtr=0;/**********************************************************/
//函数名称：void I2C_Init
//入口参数：SlaveAddr:从机的设备地址
//出口参数：无
//函数功能：I2C初始化，P1.6->SCL ,P1.7->SDA
/**********************************************************/
void I2C_Init (unsigned char SlaveAddr)
{P1SEL |= BIT6+BIT7;               // Assign I2C pins to USCI_B0P1SEL2|= BIT6+BIT7;               // Assign I2C pins to USCI_B0UCB0CTL1 |= UCSWRST;              // Enable SW resetUCB0CTL0 = UCMST+UCMODE_3+UCSYNC; // I2C Master, synchronous modeUCB0CTL0 &= ~(UCSLA10+UCA10);                        //7 bit add of slave and master UCB0CTL1 = UCSSEL_2+UCSWRST;      // Use SMCLK, keep SW resetUCB0BR0 = 80;                     // fSCL = SMCLK/12 = ~100kHzUCB0BR1 = 0;UCB0I2COA = 0x01A5;                                                                //set own address UCB0I2CSA = SlaveAddr;            // Set slave addressIE2 &= ~(UCB0RXIE+UCB0TXIE);         // disenable  TX&RX interruptUCB0CTL1 &= ~UCSWRST;             // Clear SW reset, resume operation}
/**********************************************************/
//函数名称：void I2C_WriteInit
//入口参数：无
//出口参数：无
//函数功能：I2C写数据初始化，发送模式，接收中断关闭，发送中断关闭
/**********************************************************/
void I2C_WriteInit()
{UCB0CTL1 |= UCTR;            // UCTR=1 => Transmit Mode (R/W bit = 0)IFG2 &= ~UCB0TXIFG;                //clean TX interrupt sign IE2 &= ~UCB0RXIE;           // disable Receive ready interruptIE2 &= ~UCB0TXIE;     // disable Transmit ready interrupt
}
/**********************************************************/
//函数名称：void I2C_ReadInit
//入口参数：无
//出口参数：无
//函数功能：I2C读数据初始化，接收模式，接收中断关闭，发送中断关闭
/**********************************************************/
void I2C_ReadInit()
{UCB0CTL1 &= ~UCTR;   // UCTR=0 => Receive Mode (R/W bit = 1)IFG2 &= ~UCB0RXIFG;IE2 &= ~UCB0TXIE;    // disable Transmit ready interruptIE2 &= ~UCB0RXIE;     // disable Receive ready interrupt
}
/**********************************************************/
//函数名称：I2C_Write
//入口参数：address:需要写入数据的设备的地址
//          data：发送的数据
//出口参数：无
//函数功能：I2C发送数据
/**********************************************************/
void I2C_Write(uchar address,uchar data)
{I2C_WriteInit();UCB0CTL1 |= UCTXSTT;          //generate start condition//while(UCB0CTL1 & UCTXSTT);        //generate start condition ,and transmit slave address and write bitwhile(!(IFG2 & UCB0TXIFG));   //wait start condition and equipment address transmitted IFG2 &= ~UCB0TXIFG;           //clean UCB0TXIFG while(UCB0CTL1 & UCTXSTT);    //wait slave acknowledge UCB0TXBUF=address;                //send address code while(!(IFG2 & UCB0TXIFG ));        //wait sending over IFG2 &= ~UCB0TXIFG;            // Clear USCI_B0 TX int flagUCB0TXBUF=data;                //send  data while(!(IFG2 & UCB0TXIFG ));                //wait sending over IFG2 &= ~UCB0TXIFG;            // Clear USCI_B0 TX int flagUCB0CTL1 |= UCTXSTP;            // I2C stop conditionwhile (UCB0CTL1 & UCTXSTP);     // Ensure stop condition got sent
}
/**********************************************************/
//函数名称：uchar I2C_Read
//入口参数：address:需要读数据的设备的地址
//出口参数：无
//函数功能：I2C接收数据
/**********************************************************/
uchar I2C_Read(uchar address)
{unsigned char data;while (UCB0STAT & UCBUSY); // wait until I2C module has finished all operationsI2C_WriteInit();UCB0CTL1 |= UCTXSTT;       // start condition generationwhile(UCB0CTL1 & UCTXSTT);UCB0TXBUF=address;                                                        //send address code while(!(IFG2 & UCB0TXIFG ));                //wait sending over IFG2 &= ~UCB0TXIFG;            // Clear USCI_B0 TX int flag// __disable_interrupt();I2C_ReadInit();while(UCB0RXIFG & IFG2);IFG2 &= ~UCB0RXIFG;data  = UCB0RXBUF;UCB0CTL1 |= UCTXSTP;            // I2C stop conditionwhile (UCB0CTL1 & UCTXSTP);     // Ensure stop condition got sentreturn data;
}/*----------------------------------------------------------------------------*/
// Description:
//   Acknowledge Polling. The EEPROM will not acknowledge if a write cycle is
//   in progress. It can be used to determine when a write cycle is completed.
/*----------------------------------------------------------------------------*/
void I2C_AckPolling(void)
{while (UCB0STAT & UCBUSY) {     ;// wait until I2C module has}  // finished all operationsdo {UCB0STAT = 0x00;              // clear I2C interrupt flagsUCB0CTL1 |= UCTR;             // I2CTRX=1 => Transmit Mode (R/W bit = 0)UCB0CTL1 &= ~UCTXSTT;UCB0CTL1 |= UCTXSTT;          // start condition is generatedwhile (UCB0CTL1 & UCTXSTT)    // wait till I2CSTT bit was cleared{    if (!(UCNACKIFG & UCB0STAT)) {  break;// Break out if ACK received}}UCB0CTL1 |= UCTXSTP;          // stop condition is generated after// slave address was sent => I2C communication is startedwhile (UCB0CTL1 & UCTXSTP){    ;// wait till stop bit is reset}__delay_cycles(500);          // Software delay} while (UCNACKIFG & UCB0STAT);
}// USCI_B0 Data ISR
// Notice : UCSIAB0RX_ISR should be handle with UCSIAB0TX_ISR
#pragma vector = USCIAB0TX_VECTOR
__interrupt void USCIAB0TX_ISR(void)
{if (UCB0TXIFG & IFG2)      // TX{UCB0TXBUF = I2CSendBuffer[I2CSendPtr]; // Load TX bufferI2CSendPtr--;                          // Decrement TX byte counterif (I2CSendPtr < 0) {                while (!(IFG2 & UCB0TXIFG));         // wait for tx completeIE2 &= ~UCB0TXIE;                    // disable interrupts.IFG2 &= ~UCB0TXIFG;                  // Clear USCI_B0 TX int flag__bic_SR_register_on_exit(LPM0_bits);// Exit LPM0}}else if (UCB0RXIFG & IFG2) // RX{I2CRecvBuffer = UCB0RXBUF;             // store received data in buffer__bic_SR_register_on_exit(LPM0_bits);  // Exit LPM0}
}

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