STM32+hal+MPU6050读取陀螺仪，温度传感器数据-代码相关

时间：2024-03-22 08:40:45

打印相关的函数

#include <stdio.h>
 //重定向c库函数printf到串口USARTx，重定向后可使用printf函数
 int fputc(int ch, FILE *f)
 {
     /* 发送一个字节数据到串口USARTx */
     HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
     return (ch);
 }
 
 void ShowHex(uint8_t *buf,uint8_t len)
{
    uint8_t i;
    printf("hex = ");
    for( i = 0; i < len; i++){
        printf(" %02X",buf[i]); //使用前导0补齐
        //printf(" %2X",buf[i]);  //使用前导空格补齐
        //printf(" %X",buf[i]);  //输出最短的16进制格式
    }
    printf( "\r\n");
}

MPU芯片初始化的代码

2024年3月21日 现在的这个版本比较简陋，需要后续完善一些信息。但基本功能能够实现，先上传来保存一份

void MPU6050_INIT()
{
    int i = 0, j = 0;
    
    //延时
    HAL_Delay(100);
    uint8_t SendAddress = 0x6b;
    uint8_t SendData  = 0x00; //解除休眠状态
    HAL_I2C_Mem_Write(&hi2c1,0xD1,SendAddress,1,&SendData,1,0xff);
    
    SendAddress = 0x19;//采样率分频器
    SendData = 0x07;
    HAL_I2C_Mem_Write(&hi2c1,0xD1,SendAddress,1,&SendData,1,0xff);
    
    SendAddress = 0x1A;//低通滤波器
    SendData = 0x06;
    HAL_I2C_Mem_Write(&hi2c1,0xD1,SendAddress,1,&SendData,1,0xff);
    
    SendAddress = 0x1B;//陀螺仪
    SendData = 0x08;   //± 500 °/s
    HAL_I2C_Mem_Write(&hi2c1,0xD1,SendAddress,1,&SendData,1,0xff);
    
    SendAddress = 0x1C;//加速度计
    SendData = 0x00;   //± 2g
    HAL_I2C_Mem_Write(&hi2c1,0xD1,SendAddress,1,&SendData,1,0xff);
    
}

main函数

main函数主要实现了IIC的读取，以及处理，打印相关数据，整个代码实现了将采集的信息真实的打印出来，后面计算角度还需要再增加相关代码，后续再写一篇吧


int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_USART1_UART_Init();
    uint8_t MPU_Data[] = {0X00, 0X00,0X00, 0X00,0X00, 0X00,0X00, 0X00,0X00, 0X00,0X00, 0X00,0X00, 0X00};
    uint8_t preg1_Data  = 0x3B;
    double ACCEL_XOUT = 0.0,ACCEL_YOUT =0.0,ACCEL_ZOUT=0.0;
    double GYRO_XOUT = 0.0,GYRO_YOUT =0.0,GYRO_ZOUT=0.0;
    
    MPU6050_INIT();
  while (1)
  {
      
      HAL_I2C_Mem_Read(&hi2c1, 0xD1,preg1_Data,I2C_MEMADD_SIZE_8BIT,MPU_Data,14,50);
      //ShowHex(MPU_Data,14);
      float Temp = (MPU_Data[6]<<8)|MPU_Data[7];
      if(Temp>32768) Temp-=65536;
      Temp=(36.53+Temp/340);
      
      short int ACCEL_XOUT1 = ((MPU_Data[0]<<8)|MPU_Data[1]);ACCEL_XOUT = (double)ACCEL_XOUT1/16384;
      short int ACCEL_YOUT1 = ((MPU_Data[2]<<8)|MPU_Data[3]);ACCEL_YOUT = (double)ACCEL_YOUT1/16384;
      short int ACCEL_ZOUT1 = ((MPU_Data[4]<<8)|MPU_Data[5]);ACCEL_ZOUT = (double)ACCEL_ZOUT1/16384;
      
      short int GYRO_XOUT1 = ((MPU_Data[8]<<8)|MPU_Data[9]);GYRO_XOUT = (double)GYRO_XOUT1/65.5;
      short int GYRO_YOUT1 = ((MPU_Data[10]<<8)|MPU_Data[11]);GYRO_YOUT = (double)GYRO_YOUT1/65.5;
      short int GYRO_ZOUT1 = ((MPU_Data[12]<<8)|MPU_Data[13]);GYRO_ZOUT = (double)GYRO_ZOUT1/65.5;
      
      //printf("temp = %0.2f",Temp);
      printf("x= %0.2f,y= %0.2f,z= %0.2f",GYRO_XOUT,GYRO_YOUT,GYRO_ZOUT);//加速度计
      //printf("x= %0.2f,y= %0.2f,z= %0.2f",ACCEL_XOUT,ACCEL_YOUT,ACCEL_ZOUT);
      printf("\r\n");
      HAL_Delay(200);
  }
}

PS ：因为写代码的时候需要显示±的值，所以在处理数据的时候需要注意数据的格式，这个稍微耽搁了一些笔者的时间。

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