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C++ mpuConfiguration_t类代码示例

原作者: [db:作者] 来自: [db:来源] 收藏 邀请

本文整理汇总了C++中mpuConfiguration_t的典型用法代码示例。如果您正苦于以下问题:C++ mpuConfiguration_t类的具体用法?C++ mpuConfiguration_t怎么用?C++ mpuConfiguration_t使用的例子?那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。



在下文中一共展示了mpuConfiguration_t类的4个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: UNUSED

static void mpu6050FindRevision(void)
{
    bool ack;
    UNUSED(ack);

    uint8_t readBuffer[6];
    uint8_t revision;
    uint8_t productId;

    // There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
    // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c

    // determine product ID and accel revision
    ack = mpuConfiguration.read(MPU_RA_XA_OFFS_H, 6, readBuffer);
    revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
    if (revision) {
        /* Congrats, these parts are better. */
        if (revision == 1) {
            mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
        } else if (revision == 2) {
            mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
        } else if ((revision == 3) || (revision == 7)) {
            mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
        } else {
            failureMode(FAILURE_ACC_INCOMPATIBLE);
        }
    } else {
        ack = mpuConfiguration.read(MPU_RA_PRODUCT_ID, 1, &productId);
        revision = productId & 0x0F;
        if (!revision) {
            failureMode(FAILURE_ACC_INCOMPATIBLE);
        } else if (revision == 4) {
            mpuDetectionResult.resolution = MPU_HALF_RESOLUTION;
        } else {
            mpuDetectionResult.resolution = MPU_FULL_RESOLUTION;
        }
    }
}
开发者ID:Liquidas,项目名称:betaflight,代码行数:38,代码来源:accgyro_mpu.c


示例2: mpuGyroRead

bool mpuGyroRead(int16_t *gyroADC)
{
    uint8_t data[6];

    bool ack = mpuConfiguration.read(mpuConfiguration.gyroReadXRegister, 6, data);
    if (!ack) {
        return false;
    }

    gyroADC[0] = (int16_t)((data[0] << 8) | data[1]);
    gyroADC[1] = (int16_t)((data[2] << 8) | data[3]);
    gyroADC[2] = (int16_t)((data[4] << 8) | data[5]);

    return true;
}
开发者ID:gamani,项目名称:betaflight-bak,代码行数:15,代码来源:accgyro_mpu.c


示例3: mpuAccRead

bool mpuAccRead(int16_t *accData)
{
    uint8_t data[6];

    bool ack = mpuConfiguration.read(MPU_RA_ACCEL_XOUT_H, 6, data);
    if (!ack) {
        return false;
    }

    accData[0] = (int16_t)((data[0] << 8) | data[1]);
    accData[1] = (int16_t)((data[2] << 8) | data[3]);
    accData[2] = (int16_t)((data[4] << 8) | data[5]);

    return true;
}
开发者ID:gamani,项目名称:betaflight-bak,代码行数:15,代码来源:accgyro_mpu.c


示例4: detectSPISensorsAndUpdateDetectionResult

mpuDetectionResult_t *detectMpu(const extiConfig_t *configToUse)
{
    memset(&mpuDetectionResult, 0, sizeof(mpuDetectionResult));
    memset(&mpuConfiguration, 0, sizeof(mpuConfiguration));

    mpuIntExtiConfig = configToUse;

    bool ack;
    uint8_t sig;
    uint8_t inquiryResult;

    // MPU datasheet specifies 30ms.
    delay(35);

#ifdef USE_I2C
    ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
    if (ack) {
        mpuConfiguration.read = mpuReadRegisterI2C;
        mpuConfiguration.write = mpuWriteRegisterI2C;
    } else {
#else
    {
#endif
#ifdef USE_SPI
        bool detectedSpiSensor = detectSPISensorsAndUpdateDetectionResult();
        UNUSED(detectedSpiSensor);
#endif

        return &mpuDetectionResult;
    }

    mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;

    // If an MPU3050 is connected sig will contain 0.
    ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
    inquiryResult &= MPU_INQUIRY_MASK;
    if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
        mpuDetectionResult.sensor = MPU_3050;
        mpuConfiguration.gyroReadXRegister = MPU3050_GYRO_OUT;
        return &mpuDetectionResult;
    }

    sig &= MPU_INQUIRY_MASK;

    if (sig == MPUx0x0_WHO_AM_I_CONST) {

        mpuDetectionResult.sensor = MPU_60x0;

        mpu6050FindRevision();
    } else if (sig == MPU6500_WHO_AM_I_CONST) {
        mpuDetectionResult.sensor = MPU_65xx_I2C;
    }

    return &mpuDetectionResult;
}

#ifdef USE_SPI
static bool detectSPISensorsAndUpdateDetectionResult(void)
{
#ifdef USE_GYRO_SPI_MPU6500
    if (mpu6500SpiDetect()) {
        mpuDetectionResult.sensor = MPU_65xx_SPI;
        mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
        mpuConfiguration.read = mpu6500ReadRegister;
        mpuConfiguration.write = mpu6500WriteRegister;
        return true;
    }
#endif

#ifdef USE_GYRO_SPI_MPU6000
    if (mpu6000SpiDetect()) {
        mpuDetectionResult.sensor = MPU_60x0_SPI;
        mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
        mpuConfiguration.read = mpu6000ReadRegister;
        mpuConfiguration.write = mpu6000WriteRegister;
        return true;
    }
#endif

    return false;
}
#endif

static void mpu6050FindRevision(void)
{
    bool ack;
    UNUSED(ack);

    uint8_t readBuffer[6];
    uint8_t revision;
    uint8_t productId;

    // There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
    // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c

    // determine product ID and accel revision
    ack = mpuConfiguration.read(MPU_RA_XA_OFFS_H, 6, readBuffer);
    revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
    if (revision) {
        /* Congrats, these parts are better. */
//.........这里部分代码省略.........
开发者ID:elf128,项目名称:cleanflight,代码行数:101,代码来源:accgyro_mpu.c



注:本文中的mpuConfiguration_t类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台,相关代码片段筛选自各路编程大神贡献的开源项目,源码版权归原作者所有,传播和使用请参考对应项目的License;未经允许,请勿转载。


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