我目前调试MPU6515,查看的手册是6500和9250的,现在芯片能正常读取陀螺仪和加速度,我想使用运动中断功能,配置好以后,芯片能产生中断,但是陀螺仪数据读出为零,加速度数据正常。求助论坛里大神来看看。
- void Init_MPU9250(void)
- {
- Single_Write(GYRO_ADDRESS,PWR_MGMT_1, 0x00); //解除休眠
- Single_Write(GYRO_ADDRESS,SMPLRT_DIV, 0x07); //陀螺仪采样率
- Single_Write(GYRO_ADDRESS,CONFIG, 0x06); //低通滤波器
- Single_Write(GYRO_ADDRESS,GYRO_CONFIG, 0x18); //不自检,2000deg/s
- Single_Write(GYRO_ADDRESS,ACCEL_CONFIG, 0x01); //不自检,2G
-
- Single_Write(GYRO_ADDRESS,0x6c, 0x00); //开启加速度和陀螺仪
- Single_Write(GYRO_ADDRESS,0x1d, 0x09); //加速度计数据速率和带宽
- Single_Write(GYRO_ADDRESS,INTER_ENABLE,0x40); //使能运动中断
- Single_Write(GYRO_ADDRESS,0x69,0xc0); //加速度中断控制
- Single_Write(GYRO_ADDRESS,0x1f,100); //运动阀值
- Single_Write(GYRO_ADDRESS,0x1e,0x04); //唤醒频率
- Single_Write(GYRO_ADDRESS,0x6b,0x20); //启动周期休眠(这个已配置陀螺仪就没有数据,运动中断就有了)
-
-
- }
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