51单片机使用 mpu6050DMP
DMP输出包结构(42字节)如下图：
DMP总结资料
代码如下：
/*****************************************************功能: 采集MPU6050 DMP 数据CPU: STC89C54RD+晶震: 11.0592环境: Keli2.0语言: c作者：XW1005来源：移植 Jeff Jrowberg 公开的程序。目的：
sda 或则scl 为高时是:释放总线
*****************************************************/
#include
#include
bit ack; //应答标志位 0:ack 1：nak
sbit scl = P2^0;
sbit sda = P2^1;
unsigned char dmpdatas[42]; //DMP数据
#define SlaveAddress 0xD0 //IIC写入时的地址字节数据，+1为读取
//#define SlaveAddress 0xae //i2c测试地址
void SendByte(unsigned char dat);
unsigned char i2cread(unsigned char addr,unsigned char *Data);
unsigned char i2creads(unsigned char addr,unsigned char length,unsigned char *Data);
//以下的 firmware 及 config update 数据来自于 Jeff Jrowberg 公开的程序
code unsigned char 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 unsigned char 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, //这里是开启DMP的特殊中断的//原程序中此行代码为(这里不一定错)//0x00, 0x00, 0x00, 0x01, 即LENGTH=0x00，有错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,
/* 上行最后一个数据调整FIFO rate :0x01=100HZ,0x02=66HZ,0x03=50HZ ,0x04=40HZ,0x05=33.33HZ,
// 可从 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 unsigned char 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};
void DelayUs2x(unsigned char t) //延时1
{ while(--t);
}void DelayMs(unsigned char t) //延时2
{while(t--){//大致延时1mSDelayUs2x(245);DelayUs2x(245);}
}/*i2c基本协议*/
/*i2c基本协议*/
void i2_qs(void) //启始信号
{sda = 1;scl = 1;_nop_();sda = 0;_nop_();_nop_();_nop_();_nop_();scl = 0;
}void i2_tz() //停止信号
{sda = 0;scl = 1;_nop_();_nop_();_nop_();_nop_();sda = 1;_nop_();
}
void i2_fs(unsigned char Data) //发送8位数据
{unsigned char i=0;for(;i<8;i++){Data <<= 1;sda = CY;scl = 1;_nop_();_nop_();_nop_();_nop_();scl = 0;}//下面是接收从设备发回的应答信号sda = 1;scl = 1;_nop_();_nop_();_nop_();_nop_();ack = sda; //接收设备的ack _nscl = 0;sda = 1;
}unsigned char i2_js(bit _ack) //接收8位数据
{unsigned char i = 0,Data = 0;for(;i<8;i++){Data <<= 1;scl = 1;_nop_();_nop_();_nop_();_nop_();Data |= sda; //接收数据scl = 0;_nop_();}//下面时主控器发送ACK或则NAKsda = _ack; //ack或者nakscl = 1; //拉高时钟产生第9个时钟_nop_();_nop_();_nop_();_nop_();scl = 0; //拉底时钟sda = 1; //释放总线_nop_();return Data;
}
/*i2c协议基本*//*写入8位寄存器一个字节参数 addr 寄存器地址参数 Data 写入数据返回值 (1=成功,0=失败)
*/
unsigned char i2cwrite(unsigned char addr,unsigned char Data) //写入8位有效数据
{i2_qs(); //起始信号i2_fs(SlaveAddress); //设备地址+写信号if(ack) return 0; //判断是否是ACK如果不是返回0i2_fs(addr); //设备内部地址if(ack) return 0;i2_fs(Data); //写入的数据if(ack) return 0;i2_tz(); //停止信号return 1;
}
/*读取8位寄存器一个字节参数 addr 寄存器地址参数 *Data 数据存储地址返回值 (1=成功,0=失败)
*/
unsigned char i2cread(unsigned char addr,unsigned char *Data)
{/*unsigned char Data1;i2_qs(); //起始信号i2_fs(SlaveAddress); //设备地址+写信号SendByte(ack);i2_fs(addr); //设备内部地址i2_qs(); //起始信号i2_fs(SlaveAddress+1); //设备地址+读信号*Data = i2_js(1); //读取数据i2_tz(); //停止信号*/return i2creads(addr,1,Data);
}
/*读取8位寄存器多个字节* @参数 addr I2C从器件内部地址* @参数 length 写入数据长度 * @参数 Data 保存数据的地址 * @返回值 返回状态 (1=成功)*/
unsigned char i2creads(unsigned char addr,unsigned char length,unsigned char *Data)
{unsigned char i;length --;i2_qs(); //起始信号i2_fs(SlaveAddress); //设备地址+写信号if(ack) return 0;i2_fs(addr); //设备内部地址if(ack) return 0;i2_qs(); //起始信号i2_fs(SlaveAddress+1); //设备地址+读信号if(ack) return 0;for(i=0;i 010 shiftedunsigned char b,mask=0;if(i2cread(addr,&b)){mask = ((1 << length) - 1) << (bitStart - length + 1);b &= mask;b >>= (bitStart - length + 1);*Data = b;return 1;}elsereturn 0;
}/*void init6050() //初始化 6050
{i2cwrite(0x6b,0x80); //电源管理（0x00 正常启用） i2cwrite(0x6b ,0x01); //No sleep , 3 PLL with X axis gyroscope reference电源管理DelayMs(200);i2cwrite(0x23 ,0x00); //FIFO 11111000 ,temp,gx,gy,gz,accel？i2cwrite(0x19 ,0x05); //陀螺仪采样率i2cwrite(0x1a ,0x03); //低通滤波i2cwrite(0x1b ,0x18); //陀螺仪自检，量程范围 2000 /si2cwrite(0x1c ,0x00); //加速计自检，量程范围及 高通滤波频率 +-2g/s
} *//*加载 DMP代码到返回值 (1=成功,0=失败)*/
unsigned char loadfirmware(void)
{unsigned int datanum=0; //DMP固件写入标志位unsigned char ye,i,j;unsigned char bank=0; //段（256个数据一段）unsigned char addr=0; for(;bank<8;bank++){if(bank == 7) //这里的作用就是区分最后一段数据i = 8;elsei = 16;for(ye=0;ye 2writeBit(0x6A,2,1); //复位 FIFO//readdmp(fifoCount,fifoBuffer); //读取FIFO里的数据i2cread(0x3A,&mpuIntStatus); //读取中断状态xdmpUpdates(35); //最后更新6/7(函数未知)dmpUpdates数组第六行while((fifoCount = getFIFOCount()) < 3); //等待 FIFO 计数 > 2writeBit(0x6A,2,1); //复位 FIFO//readdmp(fifoCount,fifoBuffer); //读取FIFO里的数据i2cread(0x3A,&mpuIntStatus); //读取中断状态xdmpUpdates(40); //最后更新7/7(函数未知)dmpUpdates数组第七行writeBit(0x6A,7,0); //禁用DMP(稍后您打开它)writeBit(0x6A,2,1); //复位 FIFOi2cread(0x3A,&mpuIntStatus);//星期六 (2014/06/28)return 1;
}
/*初始化MPU6050*/
void initMPU6050(void)
{writeBits (0x6B,2,3,0x01); //电源管理writeBits (0x1B,4,2,0x00); //设置陀螺仪量程 250/swriteBits (0x1C,4,2,0x00); //设置加速度量程 2GwriteBit (0x6B,6,1); //电源管理MUP进入睡眠模式
}
/*验证MPU6050连接*/
unsigned char getDeviceID(void)
{unsigned char b=0; //临时变量readBits(0x75,6,6,&b); //读取i2c固定地址，去掉最高位和最低位这两位数据return b == 0x34; //判断B是否等于0x34，如果等于返回1，不等于返回0(库的是0x38)}
/**************************************串口**********************************/
void CSH (void) //初始化串口
{SCON = 0x50; // SCON: 模式 1, 8-bit UART, 使能接收 TMOD |= 0x20; // TMOD: timer 1, mode 2, 8-bit 重装TH1 = 0xFD; // TH1: 重装值 9600 波特率 晶振 11.0592MHz TR1 = 1; // TR1: timer 1 打开 EA = 1; //打开总中断//ES = 1; //打开串口中断
}
void SendByte(unsigned char dat) //发送一个字符
{SBUF = dat; //SBUF 串行数据缓冲器while(!TI); //TI发送中断标志位 (当数据发送完毕后由硬件置 1 否则等待硬件置 1)TI = 0;
}
/************************************************************************************/void main(void)
{unsigned char zd,i;CSH(); //初始化串口initMPU6050(); //初始化if (getDeviceID()) //验证连接是否正常(读取MPU6050的I2C地址){if(!(dmpInitialize())) //加载并配置运动库while(1);}writeBit(0x6A,2,1); //复位 FIFOwriteBit(0x6A,7,1); //使能DMP
while(1){i=getFIFOCount();//读取FIFO计数i2cread(0x3A,&zd); //读取中断状态if((zd & 0x10)||i==1024) //判断FIFO是否溢出{writeBit(0x6A,2,1); //复位 FIFO}else if (zd & 0x02){while(i<42) i=getFIFOCount();readdmp(dmpdatas); //读取FIFO数据(四元数+其他的数据)SendByte(dmpdatas[0]);SendByte(dmpdatas[1]);SendByte(dmpdatas[4]); SendByte(dmpdatas[5]);SendByte(dmpdatas[8]);SendByte(dmpdatas[9]);SendByte(dmpdatas[12]);SendByte(dmpdatas[13]);}}
}
注：使用此代码获取的四元数数据是16bit的整型数据。
DMP总结资料
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