单纯记录一些用过的函数

void Widget::initMPU6050()
{
    wiringPiSetup () ;
    fd = wiringPiI2CSetup (SlaveAddress);
    if (fd >= 0) { // fd 为负数，说明IIC连接失败
        //printf("fd = %d\n",fd);
        qDebug() << "fd =" << fd;
        wiringPiI2CWriteReg8(fd,PWR_MGMT_1,0x00); // 开启温度检测 关闭休眠
        wiringPiI2CWriteReg8(fd,SMPLRT_DIV, 0x07);
        wiringPiI2CWriteReg8(fd,CONFIG, 0x06);
        wiringPiI2CWriteReg8(fd,GYRO_CONFIG, 0x18);
        wiringPiI2CWriteReg8(fd,ACCEL_CONFIG, 0x01);
    }
    else {
        printf("IIC初始化失败");
    }
}

double Widget::getDataangle(quint8 reg_address)
{
    //   quint8 H = wiringPiI2CReadReg8(fd,reg_address);
    //   quint8 L = wiringPiI2CReadReg8(fd,reg_address + 1);
    //   return (short)((H << 8) | L) /32768.0*180;
    return ((wiringPiI2CReadReg8(fd,reg_address) << 8) | wiringPiI2CReadReg8(fd,reg_address + 1))/32768.0*180;
}

double Widget::getDataaccel(quint8 reg_address)
{
    return ((wiringPiI2CReadReg8(fd,reg_address) << 8) | wiringPiI2CReadReg8(fd,reg_address + 1))/32768.0*16;
}

double Widget::getDAtatemp(quint8 reg_address)
{
    int H = wiringPiI2CReadReg8(fd,reg_address);
    int L = wiringPiI2CReadReg8(fd,reg_address + 1);
    return (short)((H << 8) | L) / 340 + 36.53;
    //return ((wiringPiI2CReadReg8(fd,reg_address) << 8) | wiringPiI2CReadReg8(fd,reg_address + 1))/340.0+36.53;
}

//定义显示图标
        point1 = Point(950,50);
        point2 = Point(950,200);
        point3 = Point(950,350);
        point4 = Point(0,50);
        point5 = Point(0,200);
        point6 = Point(0,350);
        point7 = Point(0,700);

        //获取传感器数据
        X6050angle = QString("%1").arg(QString::number(getDataangle(ACCEL_XOUT_H),'f',3));
        Y6050angle = QString("%1").arg(QString::number(getDataangle(ACCEL_YOUT_H),'f',3));
        Z6050angle = QString("%1").arg(QString::number(getDataangle(ACCEL_ZOUT_H),'f',3));
        X6050accel = QString("%1").arg(QString::number(getDataaccel(GYRO_XOUT_H),'f',3));
        Y6050accel = QString("%1").arg(QString::number(getDataaccel(GYRO_YOUT_H),'f',3));
        Z6050accel = QString("%1").arg(QString::number(getDataaccel(GYRO_ZOUT_H),'f',3));
        TEMP6050 = QString("%1").arg(QString::number(getDAtatemp(TEMP_OUT_H),'f',2));

 //显示
        putText(srcImageL,X6050angle.toStdString(),point1,Font_face,2,Scalar::all(255),2);
        putText(srcImageL,Y6050angle.toStdString(),point2,Font_face,2,Scalar::all(255),2);
        putText(srcImageL,Z6050angle.toStdString(),point3,Font_face,2,Scalar::all(255),2);
        putText(srcImageL,X6050accel.toStdString(),point4,Font_face,2,Scalar::all(255),2);
        putText(srcImageL,Y6050accel.toStdString(),point5,Font_face,2,Scalar::all(255),2);
        putText(srcImageL,Z6050accel.toStdString(),point6,Font_face,2,Scalar::all(255),2);
        putText(srcImageL,TEMP6050.toStdString(),point7,Font_face,2,Scalar::all(255),2);


        人脸检测
        faceCascade.load("/home/pi/Desktop/Resources/haarcascade_frontalface_default.xml");
        if(faceCascade.empty()){cout << "XML is not loaded" << endl;}

        vector<Rect> faces;
        faceCascade.detectMultiScale(srcImageL,faces,1.1,10);
        for (int i = 0; i < faces.size(); i++)
        {
            Mat imgCrop = srcImageL(faces[i]);
            rectangle(srcImageL,faces[i].tl(),faces[i].br(),Scalar(255,0,255),2);
        }

#define	SMPLRT_DIV		0x19	//陀螺仪采样率，典型值：0x07(125Hz)
#define	CONFIG			0x1A	//低通滤波频率，典型值：0x06(5Hz)
#define	GYRO_CONFIG		0x1B	//陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s)
#define	ACCEL_CONFIG	0x1C	//加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz)
#define	ACCEL_XOUT_H	0x3B
#define	ACCEL_XOUT_L	0x3C
#define	ACCEL_YOUT_H	0x3D
#define	ACCEL_YOUT_L	0x3E
#define	ACCEL_ZOUT_H	0x3F
#define	ACCEL_ZOUT_L	0x40
#define	TEMP_OUT_H		0x41
#define	TEMP_OUT_L		0x42
#define	GYRO_XOUT_H		0x43
#define	GYRO_XOUT_L		0x44
#define	GYRO_YOUT_H		0x45
#define	GYRO_YOUT_L		0x46
#define	GYRO_ZOUT_H		0x47
#define	GYRO_ZOUT_L		0x48
#define	PWR_MGMT_1		0x6B	//电源管理，典型值：0x00(正常启用)
#define	WHO_AM_I		0x75	//IIC地址寄存器(默认数值0x68，只读)
#define	SlaveAddress	0x68	//MPU6050器件地址