|
楼主 |
发表于 2016-5-29 00:08:38
|
显示全部楼层
这是初始化:
u8 MPU9250_InitData[10][2] =
{
{MPU9250_PWR_MGMT_1,0x80}, // Reset Device
{MPU9250_PWR_MGMT_1,0x01}, // Clock Source
{MPU9250_USER_CTRL,0x30}, // Set I2C_MST_EN
{MPU9250_PWR_MGMT_2,0x00}, //使能 Acc & Gyro
{MPU9250_CONFIG,0x03}, // DLPF_CFG[2:0] = 011;(Bandwitch=41hz)(Gyr->Fs=1khz) DLPF_CFG,总滤波器配置
{MPU9250_GYRO_CONFIG,0x10}, // +-1000dps ,DLPF_CFG,陀螺仪滤波配置,配合上一行的寄存器,使得(Bandwitch=41hz)(Gyr->Fs=1khz)
{MPU9250_ACCEL_CONFIG,0x08}, // +-4G
{MPU9250_ACCEL_CONFIG_2,0x03}, // Set Acc Data Rates,DLPF_CFG,加速度计滤波配置(Bandwitch=41hz)(Acc->Fs=1khz)
{MPU9250_INT_PIN_CFG,0x10}, // Set INT_ANYRD_2CLEAR
//{MPU9250_INT_ENABLE,0x10}, // Enable interrupt for fifo overflow to propagate to interrupt pin.
{MPU9250_I2C_MST_CTRL,0x4d}, // I2C Speed 400 kHz
}; |
|