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网站有图片的验证码是怎么做的,爱站官网,php网站开发建设,建设部城市管理监督局网站目录 1. 概述2. STM32G030对MPU6050的读取3. STM32F1xx对MPU6050的读取 1. 概述 项目中#xff0c;往往需要根据不同的环境使用不同的芯片处理某些数据#xff0c;当使用不同的芯片对六轴陀螺仪芯片MPU6050进行数据处理中#xff0c;硬件的连接、I/O口的设置往往需要根据相… 目录 1. 概述2. STM32G030对MPU6050的读取3. STM32F1xx对MPU6050的读取 1. 概述 项目中往往需要根据不同的环境使用不同的芯片处理某些数据当使用不同的芯片对六轴陀螺仪芯片MPU6050进行数据处理中硬件的连接、I/O口的设置往往需要根据相应的情况进行处理。

1. STM32G030对MPU6050的读取 开发环境 STM32CubeIDE 芯片型号STM32G031F8P6 时钟配置不使用外部时钟 定时器配置1ms中断陀螺仪dt 20ms 开启串口2 文件列表 my_iic.c 文件 #include my_delay.h #include main.h #include my_iic.hvoid i2c_NAck(void); void i2c_Ack(void);#define I2C_SCL_1() HAL_GPIO_WritePin(GPIOB, IIC_SCL_Pin, 1) //SCL1 #define I2C_SCL_0() HAL_GPIO_WritePin(GPIOB, IIC_SCL_Pin, 0) //SCL0#define I2C_SDA_1() HAL_GPIO_WritePin(GPIOB, IIC_SDA_Pin, 1) //SDA1 #define I2C_SDA_0() HAL_GPIO_WritePin(GPIOB, IIC_SDA_Pin, 0) //SDA0#define I2C_SDA_READ() HAL_GPIO_ReadPin(GPIOB, IIC_SDA_Pin) //读数据线状态#define I2C_WR 0 #define I2C_RD 1//延时 64MHz 频率慢一些72MHz设置为10 static void i2c_Delay(void) {for (int i 0; i 9; i); } /** IIC start 发起总线起始信号** / void i2c_Start(void) {I2C_SDA_1();I2C_SCL_1();i2c_Delay();I2C_SDA_0();i2c_Delay();I2C_SCL_0();i2c_Delay(); } //停止信号 void i2c_Stop(void) {I2C_SDA_0();I2C_SCL_1();i2c_Delay();I2C_SDA_1(); } //字节发送 void i2c_SendByte(uint8_t _ucByte) {uint8_t i;for (i 0; i 8; i){if (_ucByte 0x80){I2C_SDA_1();}else{I2C_SDA_0();}i2c_Delay();I2C_SCL_1();i2c_Delay();I2C_SCL_0();if (i 7){I2C_SDA_1();}_ucByte 1;i2c_Delay();} } //字节读取 uint8_t i2c_ReadByte(uint8_t ack) {uint8_t i;uint8_t value;value 0;for (i 0; i 8; i){value 1;I2C_SCL_1();i2c_Delay();if (I2C_SDA_READ()){value;}I2C_SCL_0();i2c_Delay();}if(ack0)i2c_NAck();elsei2c_Ack();return value; } //等待 uint8_t i2c_WaitAck(void) {uint8_t re;I2C_SDA_1(); / CPUÊÍ·ÅSDA×ÜÏß /i2c_Delay();I2C_SCL_1(); / CPUÇý¶¯SCL 1, ´ËʱÆ÷¼þ»á·µ»ØACKÓ¦´ð /i2c_Delay();if (I2C_SDA_READ()) / CPU¶ÁÈ¡SDA¿ÚÏß״̬ /{re 1;}else{re 0;}I2C_SCL_0();i2c_Delay();return re; } //ACK void i2c_Ack(void) {I2C_SDA_0(); / CPUÇý¶¯SDA 0 /i2c_Delay();I2C_SCL_1(); / CPU²úÉú1¸öʱÖÓ /i2c_Delay();I2C_SCL_0();i2c_Delay();I2C_SDA_1(); / CPUÊÍ·ÅSDA×ÜÏß / } //NACK void i2c_NAck(void) {I2C_SDA_1(); / CPUÇý¶¯SDA 1 /i2c_Delay();I2C_SCL_1(); / CPU²úÉú1¸öʱÖÓ */i2c_Delay();I2C_SCL_0();i2c_Delay(); } //检查 uint8_t i2c_CheckDevice(uint8_t _Address) {uint8_t ucAck;i2c_Stop();i2c_Start();i2c_SendByte(_Address|I2C_WR);ucAck i2c_WaitAck();i2c_Stop();return ucAck; } my_iic.h 文件 void i2c_Start(void); void i2c_Stop(void); void i2c_SendByte(uint8_t _ucByte); uint8_t i2c_ReadByte(uint8_t ack); uint8_t i2c_WaitAck(void); void i2c_Ack(void); void i2c_NAck(void); uint8_t i2c_CheckDevice(uint8_t _Address); void i2c_GPIO_Config(void);my_mpu6050.c 文件 #include my_delay.h #include main.h #include my_iic.h #include my_mpu6050.h #include stdio.h写寄存器 void MPU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat) {i2c_Start();i2c_SendByte(MPU6050_SLAVE_ADDRESS);i2c_WaitAck();i2c_SendByte(reg_add);i2c_WaitAck();i2c_SendByte(reg_dat);i2c_WaitAck();i2c_Stop(); } //读数据 void MPU6050_ReadData(uint8_t reg_add,unsigned char*Read,uint8_t num) {unsigned char i;i2c_Start();i2c_SendByte(MPU6050_SLAVE_ADDRESS);i2c_WaitAck();i2c_SendByte(reg_add);i2c_WaitAck();i2c_Start();i2c_SendByte(MPU6050_SLAVE_ADDRESS1);i2c_WaitAck();for(i0;i(num-1);i){*Readi2c_ReadByte(1);Read;}*Readi2c_ReadByte(0);i2c_Stop(); }初始化 void MPU6050_Init(void) {int i0,j0;for(i0;i1000;i){for(j0;j1000;j){;}}MPU6050_WriteReg(MPU6050_RA_PWR_MGMT_1, 0x00); //½â³ýÐÝÃß״̬MPU6050_WriteReg(MPU6050_RA_SMPLRT_DIV , 0x07); //ÍÓÂÝÒDzÉÑùÂÊ£¬1KHzMPU6050_WriteReg(MPU6050_RA_CONFIG , 0x06); //µÍͨÂ˲¨Æ÷µÄÉèÖ㬽ØֹƵÂÊÊÇ1K£¬´ø¿íÊÇ5KMPU6050_WriteReg(MPU6050_RA_ACCEL_CONFIG , 0x00); //ÅäÖüÓËٶȴ«¸ÐÆ÷¹¤×÷ÔÚ2Gģʽ£¬²»×Ô¼ìMPU6050_WriteReg(MPU6050_RA_GYRO_CONFIG, 0x18); //ÍÓÂÝÒÇ×Լ켰²âÁ¿·¶Î§£¬µäÐÍÖµ£º0x18(²»×Լ죬2000deg/s) }//读6050的ID uint8_t MPU6050ReadID(void) {unsigned char Re 0;MPU6050_ReadData(MPU6050_RA_WHO_AM_I,Re,1); //¶ÁÆ÷¼þµØÖ·if(Re ! 0x68){printf(MPU6050 dectected error! –%d \r\n, Re);return 0;}else{printf(MPU6050 ID %d\r\n,Re);return 1;} } //读加速度 void MPU6050ReadAcc(short *accData) {uint8_t buf[6];MPU6050_ReadData(MPU6050_ACC_OUT, buf, 6);accData0 | buf[1];accData1 | buf[3];accData2 | buf[5]; } //读角速度 void MPU6050ReadGyro(short *gyroData) {uint8_t buf[6];MPU6050_ReadData(MPU6050_GYRO_OUT,buf,6);gyroData0 | buf[1];gyroData1 | buf[3];gyroData2 | buf[5]; }void MPU6050ReadTemp(short *tempData) {uint8_t buf[2];MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2); //¶ÁȡζÈÖµ*tempData (buf[0] 8) | buf[1]; }void MPU6050_ReturnTemp(float *Temperature) {short temp3;uint8_t buf[2];MPU6050_ReadData(MPU6050_RA_TEMP_OUT_H,buf,2); //¶ÁȡζÈÖµtemp3 (buf[0] 8) | buf[1];*Temperature((double) temp3/340.0)36.53; my_mpu6050.h 文件 #define MPU6050_SLAVE_ADDRESS (0x681) //MPU6050Æ÷¼þ¶ÁµØÖ·#define MPU6050_WHO_AM_I 0x75 #define MPU6050_SMPLRT_DIV 0 //8000Hz #define MPU6050_DLPF_CFG 0 #define MPU6050_GYRO_OUT 0x43 //MPU6050ÍÓÂÝÒÇÊý¾Ý¼Ä´æÆ÷µØÖ· #define MPU6050_ACC_OUT 0x3B //MPU6050¼ÓËÙ¶ÈÊý¾Ý¼Ä´æÆ÷µØÖ·#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board #define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) #define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD #define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN #define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN #define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN #define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS #define MPU6050_RA_XA_OFFS_L_TC 0x07 #define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS #define MPU6050_RA_YA_OFFS_L_TC 0x09 #define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS #define MPU6050_RA_ZA_OFFS_L_TC 0x0B #define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR #define MPU6050_RA_XG_OFFS_USRL 0x14 #define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR #define MPU6050_RA_YG_OFFS_USRL 0x16 #define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR #define MPU6050_RA_ZG_OFFS_USRL 0x18 #define MPU6050_RA_SMPLRT_DIV 0x19 #define MPU6050_RA_CONFIG 0x1A #define MPU6050_RA_GYRO_CONFIG 0x1B #define MPU6050_RA_ACCEL_CONFIG 0x1C #define MPU6050_RA_FF_THR 0x1D #define MPU6050_RA_FF_DUR 0x1E #define MPU6050_RA_MOT_THR 0x1F #define MPU6050_RA_MOT_DUR 0x20 #define MPU6050_RA_ZRMOT_THR 0x21 #define MPU6050_RA_ZRMOT_DUR 0x22 #define MPU6050_RA_FIFO_EN 0x23 #define MPU6050_RA_I2C_MST_CTRL 0x24 #define MPU6050_RA_I2C_SLV0_ADDR 0x25 #define MPU6050_RA_I2C_SLV0_REG 0x26 #define MPU6050_RA_I2C_SLV0_CTRL 0x27 #define MPU6050_RA_I2C_SLV1_ADDR 0x28 #define MPU6050_RA_I2C_SLV1_REG 0x29 #define MPU6050_RA_I2C_SLV1_CTRL 0x2A #define MPU6050_RA_I2C_SLV2_ADDR 0x2B #define MPU6050_RA_I2C_SLV2_REG 0x2C #define MPU6050_RA_I2C_SLV2_CTRL 0x2D #define MPU6050_RA_I2C_SLV3_ADDR 0x2E #define MPU6050_RA_I2C_SLV3_REG 0x2F #define MPU6050_RA_I2C_SLV3_CTRL 0x30 #define MPU6050_RA_I2C_SLV4_ADDR 0x31 #define MPU6050_RA_I2C_SLV4_REG 0x32 #define MPU6050_RA_I2C_SLV4_DO 0x33 #define MPU6050_RA_I2C_SLV4_CTRL 0x34 #define MPU6050_RA_I2C_SLV4_DI 0x35 #define MPU6050_RA_I2C_MST_STATUS 0x36 #define MPU6050_RA_INT_PIN_CFG 0x37 #define MPU6050_RA_INT_ENABLE 0x38 #define MPU6050_RA_DMP_INT_STATUS 0x39 #define MPU6050_RA_INT_STATUS 0x3A #define MPU6050_RA_ACCEL_XOUT_H 0x3B #define MPU6050_RA_ACCEL_XOUT_L 0x3C #define MPU6050_RA_ACCEL_YOUT_H 0x3D #define MPU6050_RA_ACCEL_YOUT_L 0x3E #define MPU6050_RA_ACCEL_ZOUT_H 0x3F #define MPU6050_RA_ACCEL_ZOUT_L 0x40 #define MPU6050_RA_TEMP_OUT_H 0x41 #define MPU6050_RA_TEMP_OUT_L 0x42 #define MPU6050_RA_GYRO_XOUT_H 0x43 #define MPU6050_RA_GYRO_XOUT_L 0x44 #define MPU6050_RA_GYRO_YOUT_H 0x45 #define MPU6050_RA_GYRO_YOUT_L 0x46 #define MPU6050_RA_GYRO_ZOUT_H 0x47 #define MPU6050_RA_GYRO_ZOUT_L 0x48 #define MPU6050_RA_EXT_SENS_DATA_00 0x49 #define MPU6050_RA_EXT_SENS_DATA_01 0x4A #define MPU6050_RA_EXT_SENS_DATA_02 0x4B #define MPU6050_RA_EXT_SENS_DATA_03 0x4C #define MPU6050_RA_EXT_SENS_DATA_04 0x4D #define MPU6050_RA_EXT_SENS_DATA_05 0x4E #define MPU6050_RA_EXT_SENS_DATA_06 0x4F #define MPU6050_RA_EXT_SENS_DATA_07 0x50 #define MPU6050_RA_EXT_SENS_DATA_08 0x51 #define MPU6050_RA_EXT_SENS_DATA_09 0x52 #define MPU6050_RA_EXT_SENS_DATA_10 0x53 #define MPU6050_RA_EXT_SENS_DATA_11 0x54 #define MPU6050_RA_EXT_SENS_DATA_12 0x55 #define MPU6050_RA_EXT_SENS_DATA_13 0x56 #define MPU6050_RA_EXT_SENS_DATA_14 0x57 #define MPU6050_RA_EXT_SENS_DATA_15 0x58 #define MPU6050_RA_EXT_SENS_DATA_16 0x59 #define MPU6050_RA_EXT_SENS_DATA_17 0x5A #define MPU6050_RA_EXT_SENS_DATA_18 0x5B #define MPU6050_RA_EXT_SENS_DATA_19 0x5C #define MPU6050_RA_EXT_SENS_DATA_20 0x5D #define MPU6050_RA_EXT_SENS_DATA_21 0x5E #define MPU6050_RA_EXT_SENS_DATA_22 0x5F #define MPU6050_RA_EXT_SENS_DATA_23 0x60 #define MPU6050_RA_MOT_DETECT_STATUS 0x61 #define MPU6050_RA_I2C_SLV0_DO 0x63 #define MPU6050_RA_I2C_SLV1_DO 0x64 #define MPU6050_RA_I2C_SLV2_DO 0x65 #define MPU6050_RA_I2C_SLV3_DO 0x66 #define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 #define MPU6050_RA_SIGNAL_PATH_RESET 0x68 #define MPU6050_RA_MOT_DETECT_CTRL 0x69 #define MPU6050_RA_USER_CTRL 0x6A #define MPU6050_RA_PWR_MGMT_1 0x6B #define MPU6050_RA_PWR_MGMT_2 0x6C #define MPU6050_RA_BANK_SEL 0x6D #define MPU6050_RA_MEM_START_ADDR 0x6E #define MPU6050_RA_MEM_R_W 0x6F #define MPU6050_RA_DMP_CFG_1 0x70 #define MPU6050_RA_DMP_CFG_2 0x71 #define MPU6050_RA_FIFO_COUNTH 0x72 #define MPU6050_RA_FIFO_COUNTL 0x73 #define MPU6050_RA_FIFO_R_W 0x74 #define MPU6050_RA_WHO_AM_I 0x75#define MPU6050_TC_PWR_MODE_BIT 7 #define MPU6050_TC_OFFSET_BIT 6 #define MPU6050_TC_OFFSET_LENGTH 6 #define MPU6050_TC_OTP_BNK_VLD_BIT 0#define MPU6050_VDDIO_LEVEL_VLOGIC 0 #define MPU6050_VDDIO_LEVEL_VDD 1#define MPU6050_CFG_EXT_SYNC_SET_BIT 5 #define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 #define MPU6050_CFG_DLPF_CFG_BIT 2 #define MPU6050_CFG_DLPF_CFG_LENGTH 3#define MPU6050_EXT_SYNC_DISABLED 0x0 #define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 #define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 #define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 #define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 #define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 #define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 #define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7#define MPU6050_DLPF_BW_256 0x00 #define MPU6050_DLPF_BW_188 0x01 #define MPU6050_DLPF_BW_98 0x02 #define MPU6050_DLPF_BW_42 0x03 #define MPU6050_DLPF_BW_20 0x04 #define MPU6050_DLPF_BW_10 0x05 #define MPU6050_DLPF_BW_5 0x06#define MPU6050_GCONFIG_FS_SEL_BIT 4 #define MPU6050_GCONFIG_FS_SEL_LENGTH 2#define MPU6050_GYRO_FS_250 0x00 #define MPU6050_GYRO_FS_500 0x01 #define MPU6050_GYRO_FS_1000 0x02 #define MPU6050_GYRO_FS_2000 0x03#define MPU6050_ACONFIG_XA_ST_BIT 7 #define MPU6050_ACONFIG_YA_ST_BIT 6 #define MPU6050_ACONFIG_ZA_ST_BIT 5 #define MPU6050_ACONFIG_AFS_SEL_BIT 4 #define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 #define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 #define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3#define MPU6050_ACCEL_FS_2 0x00 #define MPU6050_ACCEL_FS_4 0x01 #define MPU6050_ACCEL_FS_8 0x02 #define MPU6050_ACCEL_FS_16 0x03#define MPU6050_DHPF_RESET 0x00 #define MPU6050_DHPF_5 0x01 #define MPU6050_DHPF_2P5 0x02 #define MPU6050_DHPF_1P25 0x03 #define MPU6050_DHPF_0P63 0x04 #define MPU6050_DHPF_HOLD 0x07#define MPU6050_TEMP_FIFO_EN_BIT 7 #define MPU6050_XG_FIFO_EN_BIT 6 #define MPU6050_YG_FIFO_EN_BIT 5 #define MPU6050_ZG_FIFO_EN_BIT 4 #define MPU6050_ACCEL_FIFO_EN_BIT 3 #define MPU6050_SLV2_FIFO_EN_BIT 2 #define MPU6050_SLV1_FIFO_EN_BIT 1 #define MPU6050_SLV0_FIFO_EN_BIT 0#define MPU6050_MULT_MST_EN_BIT 7 #define MPU6050_WAIT_FOR_ES_BIT 6 #define MPU6050_SLV_3_FIFO_EN_BIT 5 #define MPU6050_I2C_MST_P_NSR_BIT 4 #define MPU6050_I2C_MST_CLK_BIT 3 #define MPU6050_I2C_MST_CLK_LENGTH 4#define MPU6050_CLOCK_DIV_348 0x0 #define MPU6050_CLOCK_DIV_333 0x1 #define MPU6050_CLOCK_DIV_320 0x2 #define MPU6050_CLOCK_DIV_308 0x3 #define MPU6050_CLOCK_DIV_296 0x4 #define MPU6050_CLOCK_DIV_286 0x5 #define MPU6050_CLOCK_DIV_276 0x6 #define MPU6050_CLOCK_DIV_267 0x7 #define MPU6050_CLOCK_DIV_258 0x8 #define MPU6050_CLOCK_DIV_500 0x9 #define MPU6050_CLOCK_DIV_471 0xA #define MPU6050_CLOCK_DIV_444 0xB #define MPU6050_CLOCK_DIV_421 0xC #define MPU6050_CLOCK_DIV_400 0xD #define MPU6050_CLOCK_DIV_381 0xE #define MPU6050_CLOCK_DIV_364 0xF#define MPU6050_I2C_SLV_RW_BIT 7 #define MPU6050_I2C_SLV_ADDR_BIT 6 #define MPU6050_I2C_SLV_ADDR_LENGTH 7 #define MPU6050_I2C_SLV_EN_BIT 7 #define MPU6050_I2C_SLV_BYTE_SW_BIT 6 #define MPU6050_I2C_SLV_REG_DIS_BIT 5 #define MPU6050_I2C_SLV_GRP_BIT 4 #define MPU6050_I2C_SLV_LEN_BIT 3 #define MPU6050_I2C_SLV_LEN_LENGTH 4#define MPU6050_I2C_SLV4_RW_BIT 7 #define MPU6050_I2C_SLV4_ADDR_BIT 6 #define MPU6050_I2C_SLV4_ADDR_LENGTH 7 #define MPU6050_I2C_SLV4_EN_BIT 7 #define MPU6050_I2C_SLV4_INT_EN_BIT 6 #define MPU6050_I2C_SLV4_REG_DIS_BIT 5 #define MPU6050_I2C_SLV4_MST_DLY_BIT 4 #define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5#define MPU6050_MST_PASS_THROUGH_BIT 7 #define MPU6050_MST_I2C_SLV4_DONE_BIT 6 #define MPU6050_MST_I2C_LOST_ARB_BIT 5 #define MPU6050_MST_I2C_SLV4_NACK_BIT 4 #define MPU6050_MST_I2C_SLV3_NACK_BIT 3 #define MPU6050_MST_I2C_SLV2_NACK_BIT 2 #define MPU6050_MST_I2C_SLV1_NACK_BIT 1 #define MPU6050_MST_I2C_SLV0_NACK_BIT 0#define MPU6050_INTCFG_INT_LEVEL_BIT 7 #define MPU6050_INTCFG_INT_OPEN_BIT 6 #define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 #define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 #define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 #define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 #define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 #define MPU6050_INTCFG_CLKOUT_EN_BIT 0#define MPU6050_INTMODE_ACTIVEHIGH 0x00 #define MPU6050_INTMODE_ACTIVELOW 0x01#define MPU6050_INTDRV_PUSHPULL 0x00 #define MPU6050_INTDRV_OPENDRAIN 0x01#define MPU6050_INTLATCH_50USPULSE 0x00 #define MPU6050_INTLATCH_WAITCLEAR 0x01#define MPU6050_INTCLEAR_STATUSREAD 0x00 #define MPU6050_INTCLEAR_ANYREAD 0x01#define MPU6050_INTERRUPT_FF_BIT 7 #define MPU6050_INTERRUPT_MOT_BIT 6 #define MPU6050_INTERRUPT_ZMOT_BIT 5 #define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 #define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 #define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 #define MPU6050_INTERRUPT_DMP_INT_BIT 1 #define MPU6050_INTERRUPT_DATA_RDY_BIT 0// TODO: figure out what these actually do // UMPL source code is not very obivous #define MPU6050_DMPINT_5_BIT 5 #define MPU6050_DMPINT_4_BIT 4 #define MPU6050_DMPINT_3_BIT 3 #define MPU6050_DMPINT_2_BIT 2 #define MPU6050_DMPINT_1_BIT 1 #define MPU6050_DMPINT_0_BIT 0#define MPU6050_MOTION_MOT_XNEG_BIT 7 #define MPU6050_MOTION_MOT_XPOS_BIT 6 #define MPU6050_MOTION_MOT_YNEG_BIT 5 #define MPU6050_MOTION_MOT_YPOS_BIT 4 #define MPU6050_MOTION_MOT_ZNEG_BIT 3 #define MPU6050_MOTION_MOT_ZPOS_BIT 2 #define MPU6050_MOTION_MOT_ZRMOT_BIT 0#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 #define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 #define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 #define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 #define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 #define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0#define MPU6050_PATHRESET_GYRO_RESET_BIT 2 #define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 #define MPU6050_PATHRESET_TEMP_RESET_BIT 0#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 #define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 #define MPU6050_DETECT_FF_COUNT_BIT 3 #define MPU6050_DETECT_FF_COUNT_LENGTH 2 #define MPU6050_DETECT_MOT_COUNT_BIT 1 #define MPU6050_DETECT_MOT_COUNT_LENGTH 2#define MPU6050_DETECT_DECREMENT_RESET 0x0 #define MPU6050_DETECT_DECREMENT_1 0x1 #define MPU6050_DETECT_DECREMENT_2 0x2 #define MPU6050_DETECT_DECREMENT_4 0x3#define MPU6050_USERCTRL_DMP_EN_BIT 7 #define MPU6050_USERCTRL_FIFO_EN_BIT 6 #define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 #define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 #define MPU6050_USERCTRL_DMP_RESET_BIT 3 #define MPU6050_USERCTRL_FIFO_RESET_BIT 2 #define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 #define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0#define MPU6050_PWR1_DEVICE_RESET_BIT 7 #define MPU6050_PWR1_SLEEP_BIT 6 #define MPU6050_PWR1_CYCLE_BIT 5 #define MPU6050_PWR1_TEMP_DIS_BIT 3 #define MPU6050_PWR1_CLKSEL_BIT 2 #define MPU6050_PWR1_CLKSEL_LENGTH 3#define MPU6050_CLOCK_INTERNAL 0x00 #define MPU6050_CLOCK_PLL_XGYRO 0x01 #define MPU6050_CLOCK_PLL_YGYRO 0x02 #define MPU6050_CLOCK_PLL_ZGYRO 0x03 #define MPU6050_CLOCK_PLL_EXT32K 0x04 #define MPU6050_CLOCK_PLL_EXT19M 0x05 #define MPU6050_CLOCK_KEEP_RESET 0x07#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 #define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 #define MPU6050_PWR2_STBY_XA_BIT 5 #define MPU6050_PWR2_STBY_YA_BIT 4 #define MPU6050_PWR2_STBY_ZA_BIT 3 #define MPU6050_PWR2_STBY_XG_BIT 2 #define MPU6050_PWR2_STBY_YG_BIT 1 #define MPU6050_PWR2_STBY_ZG_BIT 0#define MPU6050_WAKE_FREQ_1P25 0x0 #define MPU6050_WAKE_FREQ_2P5 0x1 #define MPU6050_WAKE_FREQ_5 0x2 #define MPU6050_WAKE_FREQ_10 0x3#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 #define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 #define MPU6050_BANKSEL_MEM_SEL_BIT 4 #define MPU6050_BANKSEL_MEM_SEL_LENGTH 5#define MPU6050_WHO_AM_I_BIT 6 #define MPU6050_WHO_AM_I_LENGTH 6#define MPU6050_DMP_MEMORY_BANKS 8 #define MPU6050_DMP_MEMORY_BANK_SIZE 256 #define MPU6050_DMP_MEMORY_CHUNK_SIZE 16void MPU6050ReadTemp(short *tempData); void MPU6050ReadGyro(short *gyroData); void MPU6050ReadAcc(short *accData); void MPU6050_ReturnTemp(float *Temperature); void MPU6050_Init(void); uint8_t MPU6050ReadID(void); void PMU6050_ReadData(uint8_t reg_add,unsigned charRead,uint8_t num); void PMU6050_WriteReg(uint8_t reg_add,uint8_t reg_dat);void MPU6050_PWR_MGMT_1_INIT(void); my_kalman.c 文件 #include my_kalman.h #include my_delay.h #include main.h #include my_iic.h #include my_mpu6050.h #include stdio.h #include string.h #include math.hextern uint16_t kalman_printf_cnt;/ MPU6050Êý¾Ý */ short Accel[3]; short Gyro[3]; float Temp;float accel_x; //X float accel_y; //Y float accel_z; //Z float gyro_x; //X float gyro_y; // float gyro_z; //float pitch_raw; // float pitch_kalman; // float roll_raw; // float roll_kalman; //static float Q_angle 0.003; // static float Q_gyro 0.0025; // static float R_angle 0.3; // static float dt 0.02;void Kalman_Cal_Pitch(float acc,float gyro) {static float QQ_bias;static float KK_0, KK_1;static float PPP[2][2] { { 1, 0 },{ 0, 1 } };pitch_kalman (gyro - QQ_bias) * dt;PPP[0][0] PPP[0][0] Q_angle - (PPP[0][1] PPP[1][0])*dt;PPP[0][1] PPP[0][1] - PPP[1][1]*dt;PPP[1][0] PPP[1][0] - PPP[1][1]*dt;PPP[1][1] PPP[1][1] Q_gyro;KK_0 PPP[0][0] / (PPP[0][0] R_angle);KK_1 PPP[1][0] / (PPP[0][0] R_angle);pitch_kalman pitch_kalman KK_0 * (acc - pitch_kalman);QQ_bias QQ_bias KK_1 * (acc - pitch_kalman);PPP[0][0] PPP[0][0] - KK_0 * PPP[0][0];PPP[0][1] PPP[0][1] - KK_0 * PPP[0][1];PPP[1][0] PPP[1][0] - KK_1 * PPP[0][0];PPP[1][1] PPP[1][1] - KK_1 * PPP[0][1]; }void Kalman_Cal_Roll(float acc,float gyro) {static float Q_bias; //static float K_0, K_1; //static float PP[2][2] { { 1, 0 },{ 0, 1 } };//roll_kalman (gyro - Q_bias) * dt; //PP[0][0] PP[0][0] Q_angle - (PP[0][1] PP[1][0])*dt;PP[0][1] PP[0][1] - PP[1][1]*dt;PP[1][0] PP[1][0] - PP[1][1]*dt;PP[1][1] PP[1][1] Q_gyro;K_0 PP[0][0] / (PP[0][0] R_angle);K_1 PP[1][0] / (PP[0][0] R_angle);roll_kalman roll_kalman K_0 * (acc - roll_kalman);Q_bias Q_bias K_1 * (acc - roll_kalman);PP[0][0] PP[0][0] - K_0 * PP[0][0];PP[0][1] PP[0][1] - K_0 * PP[0][1];PP[1][0] PP[1][0] - K_1 * PP[0][0];PP[1][1] PP[1][1] - K_1 * PP[0][1]; }void MPU6050_DATA_DEL(void) {float accx,accy,accz;MPU6050ReadAcc(Accel);MPU6050ReadGyro(Gyro);accel_x Accel[0];accel_y Accel[1];accel_z Accel[2];gyro_x Gyro[0];gyro_y Gyro[1];gyro_z Gyro[2];if(accel_x32764){accxaccel_x/(16384.0); //0-1g}else{accx1-(accel_x-49152)/16384.0;}if(accel_y32764){accyaccel_y/16384.0;}else{accy1-(accel_y-49152)/16384.0;}if(accel_z32764){acczaccel_z/16384.0;}else{accz(accel_z-49152)/16384.0;}pitch_raw(atan(accy/accz))*¹⁸⁰⁄₃.14; // roll_raw(atan(accx/accz))*¹⁸⁰⁄₃.14;roll_raw atan2(accx,accz)*¹⁸⁰⁄₃.14;if(accel_y32764){pitch_raw pitch_raw;}if(accel_y32764){pitch_raw -pitch_raw;}if(gyro_x32768){gyro_x-(gyro_x/16.4);}if(gyro_x32768){gyro_x(65535-gyro_x)/16.4;}if(gyro_y32768){gyro_y-(gyro_y/16.4);}if(gyro_y32768){gyro_y(65535-gyro_y)/16.4;}if(gyro_z32768){gyro_z-(gyro_z/16.4);}if(gyro_z32768){gyro_z(65535-gyro_z)/16.4;}// Kalman_Cal_Pitch(pitch_raw, gyro_x); //Kalman_Cal_Roll(roll_raw, gyro_y); //if(kalman_printf_cnt 49){kalman_printf_cnt 0;printf(p_kalman: %.1f, r_kalman: %.1f \r\n, pitch_raw, roll_kalman);} } my_kalman.h 文件 void MPU6050_DATA_DEL(void);main.c 文件 #include stdio.h #include my_delay.h #include my_mpu6050.h #include my_iic.h #include my_kalman.huint8_t dt_kalman 0; uint16_t kalman_printf_cnt 0; //20msint main(void) { //定时器中断20ms 对应dt - 0.02HAL_TIM_Base_Start_IT(htim3);//mpu6050初始化MPU6050_Init();//循环读取IDwhile(MPU6050ReadID() 0){HAL_Delay(500);}while (1){if(dt_kalman){MPU6050_DATA_DEL();dt_kalman 0;}} }stm32g0xx_it.c 文件 extern uint16_t kalman_printf_cnt; //20ms extern uint8_t dt_kalman; uint8_t dt_kalman_cnt0; void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {if(htim-Instance htim3.Instance){dt_kalman_cnt;if(dt_kalman_cnt 19) //20ms{dt_kalman_cnt 0;dt_kalman 1;kalman_printf_cnt;}} }3. STM32F1xx对MPU6050的读取 芯片STM32F105RBT6 相对与STM32G030F105RBT6需要注意几点 SCL,SDA和INT的引脚调整IIC延时delay设置72MHz计数10次64MHz计数9次左右IIC_SCL和IIC_SDA的输出方式为开漏输出不要使用推挽输出推挽输出为强上下拉这样从机就没法改变数据线的电平了。 G030里面的配置是推挽却没有问题可以正常读取开漏作为数据线更好。 推挽输出 开漏输出