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【51单片机快速入门指南】4.3.1： MPU6050调用DMP库获取四元数和欧拉角

發布時間：2023/12/9 编程问答 33 豆豆

生活随笔收集整理的這篇文章主要介紹了【51单片机快速入门指南】4.3.1： MPU6050调用DMP库获取四元数和欧拉角小編覺得挺不錯的,現在分享給大家,幫大家做個參考.

DMP庫相關

???????作者：ksws0263785大佬 —— 51單片機使用 mpu6050DMP

DMP加載步驟：

DMP設置數據寫入

更新DMP

DMP數據包結構

程序實現

???????小改自ksws0263785大佬的51單片機使用 mpu6050DMP，使之調用統一的I2C函數，方便移植到其它單片機。

???????stdint.h見【51單片機快速入門指南】1：基礎知識和工程創建
???????軟件I2C程序見【51單片機快速入門指南】4：軟件 I2C
???????串口部分見【51單片機快速入門指南】3.3：USART 串口通信
???????MPU6050.c、MPU6050.h見【51單片機快速入門指南】4.3： I2C讀取MPU6050陀螺儀的原始數據

DMP.c

/***************************************************** 功能: 采集MPU6050 DMP 數據 CPU: STC89C54RD+ 晶震: 11.0592 環境: Keli2.0 語言: c 作者： XW1005 來源：移植 Jeff Jrowberg 公開的程序。目的： sda 或則scl 為高時是:釋放總線 *****************************************************/ #include "./Software_I2C/Software_I2C.h" #include "MPU6050.h"float Q[4]; //四元數uint8_t dmpdatas[42]; //DMP數據//以下的 firmware 及 config update 數據來自于 Jeff Jrowberg 公開的程序 /* ================================================================================================ * | Default MotionApps v2.0 42-byte FIFO packet structure: | | | | [QUAT W][ ][QUAT X][ ][QUAT Y][ ][QUAT Z][ ][GYRO X][ ][GYRO Y][ ] | | 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | | | | [GYRO Z][ ][ACC X ][ ][ACC Y ][ ][ACC Z ][ ][ ] | | 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 | * ================================================================================================ */ code uint8_t dmpmemorydata[1929] = {// bank 0, 256 bytes0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00,0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01,0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01,0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00,0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82,0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00,0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0,0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC,0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4,0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10,// bank 1, 256 bytes0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00,0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8,0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7,0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C,0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C,0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0,// bank 2, 256 bytes0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00,0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,// bank 3, 256 bytes0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F,0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2,0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF,0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C,0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1,0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01,0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80,0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C,0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80,0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E,0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9,0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24,0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0,0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86,0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1,0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86,// bank 4, 256 bytes0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA,0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C,0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8,0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3,0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84,0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5,0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3,0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1,0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5,0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D,0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D,0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9,0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A,0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8,0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87,// bank 5, 256 bytes0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8,0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68,0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D,0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94,0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA,0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56,0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9,0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA,0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A,0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60,0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97,0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04,0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78,0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79,0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68,0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68,// bank 6, 256 bytes0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04,0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66,0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31,0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60,0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76,0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56,0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD,0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91,0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8,0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE,0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9,0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD,0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E,0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8,0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89,0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79,// bank 7, 138 bytes (remainder)0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8,0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA,0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB,0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3,0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3,0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3,0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3,0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC,0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF };code uint8_t dmpcfgupddata[192] = { // dmp config // BANK OFFSET LENGTH [DATA]0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C,0x03, 0xAB, 0x03, 0x36, 0x56, 0x76,0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2,0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1,0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00,0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97,0x03, 0x89, 0x03, 0x26, 0x46, 0x66,0x00, 0x6C, 0x02, 0x20, 0x00,0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00,0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00,0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00,0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00,0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00,0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00,0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00,0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00,0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00,0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00,0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97,0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D,0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D,0x00, 0xA3, 0x01, 0x00,0x00, 0x00, 0x00, 0x01, //這里是開啟DMP的特殊中斷的//原程序中此行代碼為(這里不一定錯)//0x00, 0x00, 0x00, 0x01, 即LENGTH=0x00，有錯0x07, 0x86, 0x01, 0xFE,0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38,0x07, 0x7E, 0x01, 0x30,0x07, 0x46, 0x01, 0x9A,0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38,0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38,0x02, 0x16, 0x02, 0x00, 0x01,/* 上行最后一個數據調整FIFO rate :0x01=100HZ,0x02=66HZ,0x03=50HZ ,0x04=40HZ,0x05=33.33HZ,// 可從 datasheet 公式推算//dmp updates0x01, 0xB2, 0x02, 0xFF, 0xFF,0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,0x01, 0x6A, 0x02, 0x06, 0x00,0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,0x01, 0x62, 0x02, 0x00, 0x00,0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00*/ };code uint8_t dmpUpdates[47] = {0x01, 0xB2, 0x02, 0xFF, 0xFF,0x01, 0x90, 0x04, 0x09, 0x23, 0xA1, 0x35,0x01, 0x6A, 0x02, 0x06, 0x00,0x01, 0x60, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,0x00, 0x60, 0x04, 0x40, 0x00, 0x00, 0x00,0x01, 0x62, 0x02, 0x00, 0x00,0x00, 0x60, 0x04, 0x00, 0x40, 0x00, 0x00};/* 加載 DMP代碼到返回值 (1=成功,0=失敗) */ uint8_t loadfirmware(void) {uint16_t datanum = 0; //DMP固件寫入標志位uint8_t ye, i/*, j*/;uint8_t bank = 0; //段（256個數據一段）uint8_t addr = 0;for (; bank<8; bank++){if (bank == 7) //這里的作用就是區分最后一段數據i = 8;elsei = 16;for (ye = 0; ye<i; ye++){MPU_Write_Byte(0x6d, bank);MPU_Write_Byte(0x6e, addr);MPU_Write_Len(0x6f, 16, dmpmemorydata + datanum);datanum += 16;addr += 16;}}MPU_Write_Byte(0x6d, 7);MPU_Write_Byte(0x6e, addr);MPU_Write_Len(0x6f, 9, dmpmemorydata + datanum);datanum += 9;return 1; }uint8_t loadcfgupd(void) //DMP設置 {uint8_t line; //一共需要寫入30條設置數據uint8_t bank; //頁uint8_t datacounts = 0; //DMP設置數據標志位uint8_t bytes2write; //數據長度。uint8_t offset; //偏移地址uint8_t writingcounts; //數據寫入標志與bytes2write一同使用uint8_t special;for (line = 0; line<30; line++){bank = dmpcfgupddata[datacounts++];offset = dmpcfgupddata[datacounts++];bytes2write = dmpcfgupddata[datacounts++];MPU_Write_Byte(0x6d, bank);MPU_Write_Byte(0x6e, offset);MPU_Write_Len(0x6f, bytes2write, dmpcfgupddata + datacounts);writingcounts = bytes2write;datacounts += bytes2write;if (0 == bytes2write){special = dmpcfgupddata[datacounts++];if (0x01 == special){//設置零運動中斷啟用（真）;//設置FIFO緩沖區溢出啟用（真）;//設置DMP啟用（真）;MPU_Write_Byte(MPU_INT_EN_REG, 0x32);}elsereturn 0;}}return 1; }/*最后更新DMP*/ uint8_t xdmpUpdates(uint8_t datacounts) {uint8_t writingcounts, bank, offset, bytes2write;bank = dmpUpdates[datacounts++];offset = dmpUpdates[datacounts++];bytes2write = dmpUpdates[datacounts++];MPU_Write_Byte(0x6d, bank);MPU_Write_Byte(0x6e, offset);MPU_Write_Len(0x6f, bytes2write, dmpUpdates + datacounts);writingcounts = bytes2write;datacounts += bytes2write;return 1; }/*讀取 FIFO 計數*/ uint16_t getFIFOCount() {uint8_t i[2];MPU_Read_Len(MPU_FIFO_CNTH_REG, 2, i);return ((i[0] << 8) + i[1]); }/*FIFO數據讀取參數 *Data 存儲數據的地址返回值 (1=讀取成功,0讀取失敗) */ uint8_t readdmp(uint8_t *Data) {return !MPU_Read_Len(MPU_FIFO_RW_REG, 42, Data); }//加載并配置 DMP 數字運動處理引擎 uint8_t dmpInitialize(void) {uint8_t hwRevision, otpValid, mpuIntStatus/*fifoBuffer[128]*/;uint8_t xgOffsetTC, ygOffsetTC, zgOffsetTC;uint16_t fifoCount;MPU_Write_Bit(MPU_PWR_MGMT1_REG, 7, 1); //復位 MPU6050MPU_Delay_Ms(30);MPU_Write_Bit(MPU_PWR_MGMT1_REG, 6, 0); //禁止睡眠模式MPU_Write_Byte(0x6D, 0x70); //寫入一個字節數據到0x6d寄存器(選擇用戶 bank)MPU_Write_Byte(0x6E, 0x06); //寫入一個字節數據到0x6e寄存器(選擇存儲字節)MPU_Read_Len(0x6F, 1, &hwRevision); //讀取 MPU_Write_Byte(0x6D, 0); //重置內存 bank 選擇MPU_Read_Bit(0x00, 0, &otpValid); //讀取 OTP bank 有效標志MPU_Read_Bits(0x00, 6, 6, &xgOffsetTC); //讀陀螺偏置TC值 XMPU_Read_Bits(0x01, 6, 6, &ygOffsetTC); //讀陀螺偏置TC值 Y)MPU_Read_Bits(0x02, 6, 6, &zgOffsetTC); //讀陀螺偏置TC值 Z//MPU_Write_Byte(MPU_I2CSLV0_ADDR_REG,0x7f); //設置從0地址 0x7//MPU_Write_Bit(MPU_USER_CTRL_REG,5,0); //禁用I2C主模式//MPU_Write_Byte(MPU_I2CSLV0_ADDR_REG,0x68); //這里可能要改。還沒有弄明白這里MPU_Write_Bit(MPU_USER_CTRL_REG, 1, 1); //I2C總線主控復位MPU_Delay_Ms(20);if ((loadfirmware()) == 0) return 0; //加載 if ((loadcfgupd()) == 0) return 0; //配置DMPMPU_Write_Bits(MPU_PWR_MGMT1_REG, 2, 3, 0x03); //設置時鐘脈沖源Z陀螺MPU_Write_Byte(MPU_INT_EN_REG, 0x12); //設置DMP和FIFO_OFLOW啟用中斷MPU_Write_Byte(MPU_SAMPLE_RATE_REG, 4); //設置采樣率為200 hz (1khz / (1 + 4) = 200 Hz)MPU_Write_Bits(MPU_CFG_REG, 5, 3, 0x1); //設置外部幀同步TEMP_OUT_L[0]MPU_Write_Bits(MPU_CFG_REG, 2, 3, 0x03); //設置DLPF帶寬42赫茲MPU_Write_Bits(MPU_GYRO_CFG_REG, 4, 2, 0x03); //陀螺靈敏度設置為+ / - 2000 deg/secMPU_Write_Byte(0x70, 0x03); //設置DMP配置字節（功能未知）MPU_Write_Byte(0x71, 0x00); //設置DMP配置字節（功能未知）MPU_Write_Bit(0x00, 0, 0); //清除OTP Bank 標志MPU_Write_Bits(0x00, 6, 6, 0); //設置X 陀螺抵消TCs之前的值MPU_Write_Bits(0x01, 6, 6, 0); //設置Y 陀螺抵消TCs之前的值MPU_Write_Bits(0x02, 6, 6, 0); //設置Z 陀螺抵消TCs之前的值if (xdmpUpdates(0) == 0) return 0; //最后更新1/7(函數未知)dmpUpdates數組第一行if (xdmpUpdates(5) == 0) return 0; //最后更新2/7(函數未知)dmpUpdates數組第二行MPU_Write_Bit(MPU_USER_CTRL_REG, 2, 1); //復位 FIFOfifoCount = getFIFOCount(); //讀取 FIFO 計數//readdmp(fifoCount,fifoBuffer); //讀取FIFO里的數據MPU_Write_Bit(MPU_USER_CTRL_REG, 2, 1); //復位 FIFOMPU_Write_Byte(MPU_MOTION_DET_REG, 2); //運動檢測閾值設置為2MPU_Write_Byte(0x21, 156); //零運動檢測閾值為156MPU_Write_Byte(0x20, 80); //設置運動檢測持續時間至80MPU_Write_Byte(0x22, 0); //設置零運動檢測時間0MPU_Write_Bit(MPU_USER_CTRL_REG, 2, 1); //復位 FIFOMPU_Write_Bit(MPU_USER_CTRL_REG, 6, 1); //使能 FIFOMPU_Write_Bit(MPU_USER_CTRL_REG, 7, 1); //使能 DMPMPU_Write_Bit(MPU_USER_CTRL_REG, 3, 1); //復位 DMPif (xdmpUpdates(12) == 0) return 0; //最后更新3/7(函數未知)dmpUpdates數組第三行if (xdmpUpdates(17) == 0) return 0; //最后更新4/7(函數未知)dmpUpdates數組第四行if (xdmpUpdates(28) == 0) return 0; //最后更新5/7(函數未知)dmpUpdates數組第五行while ((fifoCount = getFIFOCount()) < 3); //等待 FIFO 計數 > 2MPU_Write_Bit(MPU_USER_CTRL_REG, 2, 1); //復位 FIFO//readdmp(fifoCount,fifoBuffer); //讀取FIFO里的數據MPU_Read_Len(MPU_INT_STA_REG, 1, &mpuIntStatus); //讀取中斷狀態if (xdmpUpdates(35) == 0) return 0; //最后更新6/7(函數未知)dmpUpdates數組第六行while ((fifoCount = getFIFOCount()) < 3); //等待 FIFO 計數 > 2MPU_Write_Bit(MPU_USER_CTRL_REG, 2, 1); //復位 FIFO//readdmp(fifoCount,fifoBuffer); //讀取FIFO里的數據MPU_Read_Len(MPU_INT_STA_REG, 1, &mpuIntStatus); //讀取中斷狀態if (xdmpUpdates(40) == 0) return 0; //最后更新7/7(函數未知)dmpUpdates數組第七行MPU_Write_Bit(MPU_USER_CTRL_REG, 7, 0); //禁用DMP(稍后您打開它)MPU_Write_Bit(MPU_USER_CTRL_REG, 2, 1); //復位 FIFOMPU_Read_Len(MPU_INT_STA_REG, 1, &mpuIntStatus);//星期六 (2014/06/28)return 1; }/*初始化MPU6050*/ void initMPU6050(void) {MPU_Write_Bits(MPU_PWR_MGMT1_REG, 2, 3, 0x01); //電源管理MPU_Write_Bits(MPU_GYRO_CFG_REG, 4, 2, 0x00); //設置陀螺儀量程 250/sMPU_Write_Bits(MPU_ACCEL_CFG_REG, 4, 2, 0x00); //設置加速度量程 2GMPU_Write_Bit(MPU_PWR_MGMT1_REG, 6, 1); //電源管理MUP進入睡眠模式 }/*驗證MPU6050連接*/ uint8_t getDeviceID(void) {uint8_t b = 0; //臨時變量MPU_Read_Bits(MPU_DEVICE_ID_REG, 6, 6, &b); //讀取i2c固定地址，去掉最高位和最低位這兩位數據return b == 0x34; //判斷B是否等于0x34，如果等于返回1，不等于返回0(庫的是0x38)}void MPU6050_DMP_Init(void) {initMPU6050(); //初始化if (getDeviceID()) //驗證連接是否正常(讀取MPU6050的I2C地址)while(!(dmpInitialize())); //加載并配置運動庫MPU_Write_Bit(MPU_USER_CTRL_REG, 2, 1); //復位 FIFOMPU_Write_Bit(MPU_USER_CTRL_REG, 7, 1); //使能DMP }void MPU6050_Refresh_DMP(void) {static uint8_t zd;static uint16_t i;i = getFIFOCount();//讀取FIFO計數MPU_Read_Len(MPU_INT_STA_REG, 1, &zd); //讀取中斷狀態if ((zd & 0x10) || i >= 840) //判斷FIFO是否溢出{MPU_Write_Bit(MPU_USER_CTRL_REG, 2, 1); //復位 FIFO}else if (zd & 0x02){while (i<42) i = getFIFOCount();if (readdmp(dmpdatas)) //讀取FIFO數據{Q[0] = ((int16_t)dmpdatas[0] << 8 | dmpdatas[1])/16384.;Q[1] = ((int16_t)dmpdatas[4] << 8 | dmpdatas[5])/16384.;Q[2] = ((int16_t)dmpdatas[8] << 8 | dmpdatas[9])/16384.;Q[3] = ((int16_t)dmpdatas[12] << 8 | dmpdatas[13])/16384.;}} }

DMP.h

#ifndef DMP_H_ #define DMP_H_extern float Q[4]; //四元數 extern uint8_t dmpdatas[42]; //DMP數據void MPU6050_DMP_Init(void); void MPU6050_Refresh_DMP(void);#endif

測試程序

四元數

#include <STC89C5xRC.H> #include "intrins.h" #include "stdint.h" #include "USART.h" #include "./MPU6050/MPU6050.h" #include "./MPU6050/DMP.h"void Delay1ms() //@11.0592MHz {unsigned char i, j;_nop_();i = 2;j = 199;do{while (--j);} while (--i); }void Delay_ms(int i) {while(i--)Delay1ms(); }void main(void) {USART_Init(USART_MODE_1, Rx_ENABLE, STC_USART_Priority_Lowest, 11059200, 57600, DOUBLE_BAUD_ENABLE, USART_TIMER_1); MPU6050_DMP_Init();while(1){ MPU6050_Refresh_DMP();SendFloat(&Q[0]);SendFloat(&Q[1]);SendFloat(&Q[2]);SendFloat(&Q[3]);SendEnd();} }

實驗現象

內存占用情況：

上位機為Vofa+ 1.3.10，協議為JustFloat，配置如下

歐拉角的獲取

由于調用了math.h，生成的程序較大，注釋掉大量沒用到的程序才勉強跑起來。
內存使用情況：

void main(void) {float Pitch, Roll, Yaw;UartInit(); MPU6050_DMP_Init();while(1){ MPU6050_Refresh_DMP();Pitch = asin(-2 * Q[1] * Q[3] + 2 * Q[0]* Q[2])* 57.3; // pitchRoll = atan2(2 * Q[2] * Q[3] + 2 * Q[0] * Q[1], -2 * Q[1] * Q[1] - 2 * Q[2]* Q[2] + 1)* 57.3; // rollYaw = atan2(2 * (Q[1] * Q[2] + Q[0] * Q[3]), Q[0] * Q[0] + Q[1] * Q[1] - Q[2] * Q[2] - Q[3] * Q[3]) * 57.3; //yawSendFloat(&Pitch);SendFloat(&Roll);SendFloat(&Yaw);SendEnd();} }

總結

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