STM32CubeIDE自平衡小车教程7.MPU6050传感器数据读取

MPU6050简介:

MPU6050是InvenSense公司推出的全球首款整合性6轴运动处理组件,内带3轴陀螺仪和3轴加速度传感器,并且含有一个第二IIC接口,可用于连接外部磁力传感器。

那如何通过MPU6050传感器来获取数据呢?

具体步骤如下:

1.新建项目:

2.选择STM32F103C8T6芯片

3.对工程文件命名

4.在Connectivity中选择I2C1,在mode中选择I2C

 5.根据原理图选择引脚

其中MPU6050中的SCL和SDA应对应于C8T6主控模块上的PB8和PB9,故应在右侧引脚设置中单击PB9,PB8引脚,选择I2C1_SDA项。

 

 

 

6.点击生成代码,在MPU6050下新建一个User文件夹,在User文件夹下新建一个BSP文件夹,在BSP文件夹下添加Inc和Src文件夹,并在Inc和Src文件夹下添加bsp_mpu6050.c和bsp_mpu6050.h文件。(注意新建的文件夹需要设置路径

新建的User文件夹,设置路径:

(只有设置完路径后才能添加的上.c和.h文件)

再添加.c和,h文件

 

7.把以下代码加入bsp_mpu6050.c

#include "main.h"

extern I2C_HandleTypeDef hi2c1;

IMU_SensorData_Raw_Structer IMU_SensorData_Raw;

uint8_t BSP_MPU6050_ReadReg(uint8_t address)
{
	uint8_t Value = 0;
	HAL_I2C_Mem_Read(&hi2c1,IMU_ADDRESS_READ,address,I2C_MEMADD_SIZE_8BIT,&Value,1,0x10);
	return Value;
}

void BSP_MPU6050_ReadMultiReg(uint8_t address,uint8_t length,uint8_t *data)
{
	HAL_I2C_Mem_Read(&hi2c1,IMU_ADDRESS_READ,address,I2C_MEMADD_SIZE_8BIT,data,length,0x10);
}

void BSP_MPU6050_WriteReg(uint8_t address,uint8_t data)
{
	HAL_I2C_Mem_Write(&hi2c1,IMU_ADDRESS_WRITE,address,I2C_MEMADD_SIZE_8BIT,&data,1,0x10);
	HAL_Delay(100);
}

void BSP_MPU6050_WriteMultiReg(uint8_t address,uint8_t length,uint8_t *data)
{
	HAL_I2C_Mem_Write(&hi2c1,IMU_ADDRESS_WRITE,address,I2C_MEMADD_SIZE_8BIT,data,length,0x10);
	HAL_Delay(100);
}

uint8_t BSP_MPU6050_Read_WHOAMI(void)
{
	return BSP_MPU6050_ReadReg(MPUREG_WHOAMI);
}

uint8_t BSP_MPU6050_Init(void)
{
	uint8_t tries;

	for(tries = 0; tries<5; tries++)
	{
		BSP_MPU6050_WriteReg(MPUREG_PWR_MGMT_1,BIT_PWR_MGMT_1_DEVICE_RESET);//复位MPU6050
		BSP_MPU6050_WriteReg(MPUREG_PWR_MGMT_1,BIT_PWR_MGMT_1_CLK_ZGYRO);//设置时钟
		if(BSP_MPU6050_ReadReg(MPUREG_PWR_MGMT_1) == BIT_PWR_MGMT_1_CLK_ZGYRO)//判断是否写入,写入则跳出循环
			break;
	}
	if(tries == 5)
		return 0;

	BSP_MPU6050_WriteReg(MPUREG_PWR_MGMT_2,0x00);//禁止休眠
	BSP_MPU6050_WriteReg(MPUREG_USER_CTRL,0x00);//I2C主模式关闭
	BSP_MPU6050_WriteReg(MPUREG_CONFIG,BITS_DLPF_CFG_20HZ);//设置低通滤波器
	BSP_MPU6050_WriteReg(MPUREG_SMPLRT_DIV,MPUREG_SMPLRT_200HZ);//设置采样频率
	BSP_MPU6050_WriteReg(MPUREG_GYRO_CONFIG,BITS_GYRO_FS_2000DPS);//设置陀螺仪量程
	BSP_MPU6050_WriteReg(MPUREG_ACCEL_CONFIG,BITS_ACCEL_FS_8G);//设置加速度计量程
	BSP_MPU6050_WriteReg(MPUREG_INT_ENABLE,0x00);//禁止中断

	if(BSP_MPU6050_Read_WHOAMI() == IMU_WHOAMI)
		return 1;
	else
		return 0;
}

void BSP_MPU6050_UpdateSensors(void)
{
	uint8_t buffer[14];
	BSP_MPU6050_ReadMultiReg(MPUREG_ACCEL_XOUT_H,14,buffer);
	IMU_SensorData_Raw.ACC_X = (buffer[0]<<8)|buffer[1];
	IMU_SensorData_Raw.ACC_Y = (buffer[2]<<8)|buffer[3];
	IMU_SensorData_Raw.ACC_Z = (buffer[4]<<8)|buffer[5];
	IMU_SensorData_Raw.Temp = (buffer[6]<<8)|buffer[7];
	IMU_SensorData_Raw.GYR_X = (buffer[8]<<8)|buffer[9];
	IMU_SensorData_Raw.GYR_Y = (buffer[10]<<8)|buffer[11];
	IMU_SensorData_Raw.GYR_Z = (buffer[12]<<8)|buffer[13];
}

8.将以下代码加入bsp_mpu6050.h中

#ifndef BSP_INC_BSP_MPU6050_H_
#define BSP_INC_BSP_MPU6050_H_

#define IMU_WHOAMI  0x68
#define IMU_ADDRESS_READ  0xD1
#define IMU_ADDRESS_WRITE 0xD0

#define MPUREG_SMPLRT_DIV                               0x19    // sample rate.  Fsample= 1Khz/(<this value>+1) = 200Hz
				#define MPUREG_SMPLRT_1000HZ                             0x00
				#define MPUREG_SMPLRT_500HZ                              0x01
				#define MPUREG_SMPLRT_250HZ                              0x03
				#define MPUREG_SMPLRT_200HZ                              0x04
				#define MPUREG_SMPLRT_100HZ                              0x09
				#define MPUREG_SMPLRT_50HZ                               0x13
#define MPUREG_CONFIG                                   0x1A    //低通滤波频率
#define MPUREG_GYRO_CONFIG                              0x1B
// bit definitions for MPUREG_GYRO_CONFIG
				#define BITS_GYRO_FS_250DPS                              0x00
				#define BITS_GYRO_FS_500DPS                              0x08
				#define BITS_GYRO_FS_1000DPS                             0x10
				#define BITS_GYRO_FS_2000DPS                             0x18
				#define BITS_GYRO_FS_MASK                                0x18    // only bits 3 and 4 are used for gyro full scale so use this to mask off other bits
				#define BITS_GYRO_ZGYRO_SELFTEST                 		 0x20
				#define BITS_GYRO_YGYRO_SELFTEST                         0x40
				#define BITS_GYRO_XGYRO_SELFTEST                         0x80
#define MPUREG_ACCEL_CONFIG                             0x1C
				#define BITS_ACCEL_FS_2G                                 0x00
				#define BITS_ACCEL_FS_4G                                 0x08
				#define BITS_ACCEL_FS_8G                                 0x10
				#define BITS_ACCEL_FS_16G                                0x18
#define MPUREG_INT_ENABLE                               0x38
#define MPUREG_ACCEL_XOUT_H                             0x3B
#define MPUREG_ACCEL_XOUT_L                             0x3C
#define MPUREG_ACCEL_YOUT_H                             0x3D
#define MPUREG_ACCEL_YOUT_L                             0x3E
#define MPUREG_ACCEL_ZOUT_H                             0x3F
#define MPUREG_ACCEL_ZOUT_L                             0x40
#define MPUREG_TEMP_OUT_H                               0x41
#define MPUREG_TEMP_OUT_L                               0x42
#define MPUREG_GYRO_XOUT_H                              0x43
#define MPUREG_GYRO_XOUT_L                              0x44
#define MPUREG_GYRO_YOUT_H                              0x45
#define MPUREG_GYRO_YOUT_L                              0x46
#define MPUREG_GYRO_ZOUT_H                              0x47
#define MPUREG_GYRO_ZOUT_L                              0x48
#define MPUREG_USER_CTRL                                0x6A
#define MPUREG_PWR_MGMT_1                               0x6B
				#define BIT_PWR_MGMT_1_CLK_INTERNAL              				 0x00            // clock set to internal 8Mhz oscillator
				#define BIT_PWR_MGMT_1_CLK_XGYRO                 				 0x01            // PLL with X axis gyroscope reference
				#define BIT_PWR_MGMT_1_CLK_YGYRO                 				 0x02            // PLL with Y axis gyroscope reference
				#define BIT_PWR_MGMT_1_CLK_ZGYRO                 				 0x03            // PLL with Z axis gyroscope reference
				#define BIT_PWR_MGMT_1_CLK_EXT32KHZ              				 0x04            // PLL with external 32.768kHz reference
				#define BIT_PWR_MGMT_1_CLK_EXT19MHZ              				 0x05            // PLL with external 19.2MHz reference
				#define BIT_PWR_MGMT_1_CLK_STOP                  				 0x07            // Stops the clock and keeps the timing generator in reset
				#define BIT_PWR_MGMT_1_TEMP_DIS                  				 0x08            // disable temperature sensor
				#define BIT_PWR_MGMT_1_CYCLE                             0x20            // put sensor into cycle mode.  cycles between sleep mode and waking up to take a single sample of data from active sensors at a rate determined by LP_WAKE_CTRL
				#define BIT_PWR_MGMT_1_SLEEP                             0x40            // put sensor into low power sleep mode
				#define BIT_PWR_MGMT_1_DEVICE_RESET              				 0x80            // reset entire device

#define MPUREG_PWR_MGMT_2                               0x6C            // allows the user to configure the frequency of wake-ups in Accelerometer Only Low Power Mode

#define MPUREG_WHOAMI                                   0x75

#define BITS_DLPF_CFG_20HZ                              0x04

uint8_t BSP_MPU6050_ReadReg(uint8_t address);
void BSP_MPU6050_ReadMultiReg(uint8_t address,uint8_t length,uint8_t *data);
void BSP_MPU6050_WriteReg(uint8_t address,uint8_t data);
void BSP_MPU6050_WriteMultiReg(uint8_t address,uint8_t length,uint8_t *data);
uint8_t BSP_MPU6050_Read_WHOAMI(void);
uint8_t BSP_MPU6050_Init(void);
void BSP_MPU6050_UpdateSensors(void);


typedef struct
{
	int16_t ACC_X;
	int16_t ACC_Y;
	int16_t ACC_Z;
	int16_t GYR_X;
	int16_t GYR_Y;
	int16_t GYR_Z;
	int16_t Temp;
}IMU_SensorData_Raw_Structer;

#endif /* BSP_INC_BSP_MPU6050_H_ */

9.把以下代码加入main.h中

#include "bsp_mpu6050.h"

10.点击编译并烧录,烧录完成后,把bsp_mpu6050.h文件中的机构体IMU_SensorData_Raw复制到右上角现场表达式中。

 

11.点击运行,可在现场表达式中观察到MPU测量出的数据。

 

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