MPU6050简介
驱动文件
mpu6050.h
#ifndef INC_MPU6050_H_
#define INC_MPU6050_H_#include "i2c.h"// I2C通道配置
#define hI2C &hi2c2// 设备地址配置
#define MPU6050_ADDRESS_Write 0xD0 // 0x68左移一位补0
#define MPU6050_ADDRESS_Read 0xD1 // 0x68左移一位补1// 基本寄存器地址
#define MPU6050_PWR_MGMT_1 0x6B
#define MPU6050_PWR_MGMT_2 0x6C
#define MPU6050_WHO_AM_I 0x75// 初始化配置寄存器地址
#define MPU6050_SMPLRT_DIV 0x19
#define MPU6050_CONFIG 0x1A
#define MPU6050_GYRO_CONFIG 0x1B
#define MPU6050_ACCEL_CONFIG 0x1C// 原始数据寄存器地址
#define MPU6050_ACCEL_XOUT_H 0x3B
#define MPU6050_ACCEL_XOUT_L 0x3C
#define MPU6050_ACCEL_YOUT_H 0x3D
#define MPU6050_ACCEL_YOUT_L 0x3E
#define MPU6050_ACCEL_ZOUT_H 0x3F
#define MPU6050_ACCEL_ZOUT_L 0x40
#define MPU6050_TEMP_OUT_H 0x41
#define MPU6050_TEMP_OUT_L 0x42
#define MPU6050_GYRO_XOUT_H 0x43
#define MPU6050_GYRO_XOUT_L 0x44
#define MPU6050_GYRO_YOUT_H 0x45
#define MPU6050_GYRO_YOUT_L 0x46
#define MPU6050_GYRO_ZOUT_H 0x47
#define MPU6050_GYRO_ZOUT_L 0x48// 共享原始数据变量
extern int16_t tempData;
extern int16_t accelDataX;
extern int16_t accelDataY;
extern int16_t accelDataZ;
extern int16_t gyroDataX;
extern int16_t gyroDataY;
extern int16_t gyroDataZ;// 共享解析数据变量
extern float Temp;
extern float AccelX;
extern float AccelY;
extern float AccelZ;
extern float GyroX;
extern float GyroY;
extern float GyroZ;void MPU6050_Init(void); // 初始化MPU6050
uint8_t MPU6050_GetID(void); // 获取设备IDvoid MPU6050_Send_CMD(uint8_t cmd); // 发送指令
void MPU6050_Set_Register(uint8_t Register_ADDRESS, uint8_t Set_Value); // 配置寄存器
uint8_t MPU6050_Read_Register(uint8_t Register_ADDRESS); // 读取寄存器数据
uint16_t MPU6050_read_data(uint8_t addressH, uint8_t addressL); // 读取原始数据void MPU6050_get_tempData(int16_t *tempData); // 获取温度原始数据
void MPU6050_get_accelData(int16_t *accXData, int16_t *accYData, int16_t *accZData); // 获取加速度原始数据
void MPU6050_get_gyroData(int16_t *gyroXData, int16_t *gyroYData, int16_t *gyroZData); // 获取角速度原始数据void MPU6050_get_temp(float *Temp); // 获取温度解析数据
void MPU6050_get_accel(float *AccelX, float *AccelY, float *AccelZ); // 获取加速度解析数据
void MPU6050_get_gyro(float *GyroX, float *GyroY, float *GyroZ); // 获取角速度解析数据#endif /* INC_MPU6050_H_ */
mpu6050.c
#include "mpu6050.h"// 初始化原始数据变量
int16_t tempData = 0;
int16_t accelDataX = 0;
int16_t accelDataY = 0;
int16_t accelDataZ = 0;
int16_t gyroDataX = 0;
int16_t gyroDataY = 0;
int16_t gyroDataZ = 0;// 初始化解析数据变量
float Temp = 0;
float AccelX = 0;
float AccelY = 0;
float AccelZ = 0;
float GyroX = 0;
float GyroY = 0;
float GyroZ = 0;void MPU6050_Init(void)
{MX_I2C2_Init(); // 初始化I2C（用户初始化代码区在自动初始化区域的前面，所有得在这里面先初始化一遍）HAL_Delay(100);// 初始化配置寄存器MPU6050_Set_Register(MPU6050_PWR_MGMT_1, 0x00);MPU6050_Set_Register(MPU6050_SMPLRT_DIV, 0x07);MPU6050_Set_Register(MPU6050_CONFIG, 0x00);MPU6050_Set_Register(MPU6050_GYRO_CONFIG, 0x00);MPU6050_Set_Register(MPU6050_ACCEL_CONFIG, 0x00);
}uint8_t MPU6050_GetID(void)
{return MPU6050_Read_Register(MPU6050_WHO_AM_I); // 返回0x68
}void MPU6050_Send_CMD(uint8_t cmd)
{uint8_t CMD = cmd;HAL_I2C_Master_Transmit(hI2C, MPU6050_ADDRESS_Write, &CMD, 1, HAL_MAX_DELAY);
}void MPU6050_Set_Register(uint8_t Register_ADDRESS, uint8_t Set_Value)
{uint8_t sendBuffer[2] = {Register_ADDRESS, Set_Value};HAL_I2C_Master_Transmit(hI2C, MPU6050_ADDRESS_Write, sendBuffer, 2, HAL_MAX_DELAY);
}uint8_t MPU6050_Read_Register(uint8_t Register_ADDRESS)
{uint8_t readBuffer;MPU6050_Send_CMD(Register_ADDRESS);HAL_I2C_Master_Receive(hI2C, MPU6050_ADDRESS_Read, &readBuffer, 1, HAL_MAX_DELAY);return readBuffer;
}uint16_t MPU6050_read_data(uint8_t addressH, uint8_t addressL)
{uint8_t highData = MPU6050_Read_Register(addressH);uint8_t lowData = MPU6050_Read_Register(addressL);uint16_t rawData = ((int16_t) highData << 8) | (int16_t) lowData; // 拼接数据return rawData;
}void MPU6050_get_tempData(int16_t *tempData)
{*tempData = MPU6050_read_data(MPU6050_TEMP_OUT_H, MPU6050_TEMP_OUT_L);
}void MPU6050_get_accelData(int16_t *accelDataX, int16_t *accelDataY, int16_t *accelDataZ)
{*accelDataX = MPU6050_read_data(MPU6050_ACCEL_XOUT_H, MPU6050_ACCEL_XOUT_L);*accelDataY = MPU6050_read_data(MPU6050_ACCEL_YOUT_H, MPU6050_ACCEL_YOUT_L);*accelDataZ = MPU6050_read_data(MPU6050_ACCEL_ZOUT_H, MPU6050_ACCEL_ZOUT_L);
}void MPU6050_get_gyroData(int16_t *gyroDataX, int16_t *gyroDataY, int16_t *gyroDataZ)
{*gyroDataX = MPU6050_read_data(MPU6050_GYRO_XOUT_H, MPU6050_GYRO_XOUT_L);*gyroDataY = MPU6050_read_data(MPU6050_GYRO_YOUT_H, MPU6050_GYRO_YOUT_L);*gyroDataZ = MPU6050_read_data(MPU6050_GYRO_ZOUT_H, MPU6050_GYRO_ZOUT_L);
}void MPU6050_get_temp(float *Temp)
{MPU6050_get_tempData(&tempData);*Temp = tempData / 340.0 + 36.53;
}void MPU6050_get_accel(float *AccelX, float *AccelY, float *AccelZ)
{MPU6050_get_accelData(&accelDataX, &accelDataY, &accelDataZ);*AccelX = accelDataX / 16384.0 * 9.8;*AccelY = accelDataY / 16384.0 * 9.8;*AccelZ = accelDataZ / 16384.0 * 9.8;
}void MPU6050_get_gyro(float *GyroX, float *GyroY, float *GyroZ)
{MPU6050_get_gyroData(&gyroDataX, &gyroDataY, &gyroDataZ);*GyroX = gyroDataX / 131.0;*GyroY = gyroDataY / 131.0;*GyroZ = gyroDataZ / 131.0;
}
main.c
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "mpu6050.h"
/* USER CODE END Includes *//* USER CODE BEGIN 0 */
#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endifPUTCHAR_PROTOTYPE
{HAL_UART_Transmit(&huart4,(uint8_t*)&ch, 1, HAL_MAX_DELAY);return ch;}
/* USER CODE END 0 *//* USER CODE BEGIN Init */MPU6050_Init();/* USER CODE END Init *//* USER CODE BEGIN WHILE */while (1){MPU6050_get_temp(&Temp);MPU6050_get_accel(&AccelX, &AccelY, &AccelZ);MPU6050_get_gyro(&GyroX, &GyroY, &GyroZ);printf("%.2f %.2f %.2f %.2f %.2f %.2f %.2f\n", Temp, AccelX, AccelY, AccelZ, GyroX, GyroY, GyroZ);HAL_Delay(100);/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}
