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1. First read the Register 117. Register 117 – Who Am I Reset value: 0x70 2. Reset mpu6500 0x6B,0x80,//Reset the internal registers and restores the default settings. 0x68,0x03,//Auto selects the best available clock source – PLL if ready, else use the Internal oscillator(20M) 0x6a,0x01,//Reset all gyro digital signal path, accel digital signal path, and temp digital signal path. This bit also clears all the sensor registers. 0x68,0x00,//Internal 20MHz oscillator 0x6a,0x00 3.Config mpu6500 Register 25 – Sample Rate Divider (default 1khz) SAMPLE_RATE = INTERNAL_SAMPLE_RATE / (1 + SMPLRT_DIV) where INTERNAL_SAMPLE_RATE = 1kHz Register 26 – Configuration //!! Disables the FSYNC pin data to be sampled. Register 27 – Gyroscope Configuration Gyro Full Scale Select: 0x00:250,0x08:500,0x10:1000;0x18:2000 Register 28 – Accelerometer Configuration Acc Full Scale select: 0x00:2g,0x08:4g,0x10:8g;0x18:16G Register 29 – Accelerometer Configuration 2 (0x08, Acc Rate = 4KHz) Register 106 – User Control (0x10, SPI mode only. ，也可以使用IIC) Register 108 – Power Management 2 0x00(All sensor on:acc;xyz,gyro:xyz) 最好写入寄存器的值读出来看对不对。 4. 读取加速度和陀螺仪数据 Registers 59 to 64 – Accelerometer Measurements 59：acc_xout_h; 60：acc_xout_l 高位在前 61：acc_yout_h; 62：acc_yout_l 63：acc_zout_h; 64：acc_zout_l Registers 65 and 66 – Temperature Measurement 65：temp_out_h; 66：temp_out_l Registers 67 to 72 – Gyroscope Measurements 67：gyro_xout_h; 60：gyro_xout_l 高位在前 61：gyro_yout_h; 62：gyro_yout_l 63：gyro_zout_h; 64：gyro_zout_l //////////////////////////////// 1. 6500时钟选择 An internal relaxation oscillator(20M) or MEMS oscillators。 2. FIFO : 512 字节，通过配置将什么数据写入FIFO(acc data,temp data,gyro data). 3. Interrupts 通过寄存器配置使能和如何触发。INT pin。 4 。Self-Test ,DMP , FactoryCalibration 6. DLPF: 数字低通滤波器(digital low-pass filter); 7. FSYNC:Frame synchronization digital input.Connect to GND if unused. 8. Communication with all registers of the device is performed using either I2C at 400kHz or SPI at 1MHz. 9. 16-bit ADCs: +-32768; 10. Auxiliary master I2C bus for reading data from external sensors (e.g. magnetometer) 11. 20MHz SPI serial interface for reading sensor and interrupt registers --平放acc z轴 为1g(9.8) ; 如果量程是16g，输出在2048左右（32768/16 = 2048） 12. 校准，零漂 |
详细的寄存器文档如下：