使用STM32读取ky9250(mpu9250)陀螺仪角度

1、stm32和ky9250的接线

接线
STM32f103                ky-9250
VCC               ----       VCC
GND               ----       GND
RX2  (pa10)    ----      TX
TX2  (pa9)      ----       RX

接线（如果想在电脑串口助手中看数据，stm32接usb头）
USB-TTL工具                 STM32f103    
VCC        -----         VCC        
TX           -----           RX1 (pa3)    
RX           -----           TX1 (pa2)
GND        -----         GND   
                         

2、按装ch340-64串口驱动

3、在keil中修改stm32    main代码（见下图）文章后有完整例子下载包

#include <include.h>
#include "stdio.h"

#define LENGTH (52)
unsigned char str[LENGTH];
float decode_data[RAW_DATA_SIZE];
float gx, gy, gz, ax, ay, az, mx, my, mz, roll, pitch, yaw, q1, q2, q3, q4;

void decode(unsigned char *encode_data, float *decode_data)
{
	int i = 0;
	if (encode_data[0] != 0x50)
	{
		return;
	}

	for (i = 0; i < RAW_DATA_SIZE; i++)
	{
		decode_data[i] = (encode_data[3 * i + 1] * 256 * 256 \
			+ encode_data[3 * i + 2] * 256 + encode_data[3 * i + 3] - 1000000) * 0.001;
	}
}

void USART1_Config(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;

	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	USART_InitStructure.USART_BaudRate = 115200;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
	USART_InitStructure.USART_StopBits = USART_StopBits_1;
	USART_InitStructure.USART_Parity = USART_Parity_No;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
	USART_Init(USART1, &USART_InitStructure);

	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
    
	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);

	USART_Cmd(USART1, ENABLE);
    
    return;
}

void USART2_Config(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	USART_InitTypeDef USART_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	USART_InitStructure.USART_BaudRate = 115200;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
	USART_InitStructure.USART_StopBits = USART_StopBits_1;
	USART_InitStructure.USART_Parity = USART_Parity_No;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
	USART_Init(USART2, &USART_InitStructure);

	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
	NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
    
	USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);

	USART_Cmd(USART2, ENABLE);
    
    return;
}

int fputc(int ch,FILE *p)
{
	USART_SendData(USART2,(u8)ch); 
	while(USART_GetFlagStatus(USART2,USART_FLAG_TXE)==RESET);
	return ch;
}

										
int main()
{
	delay_init(72);
	
	USART1_Config();
	
	USART2_Config();
	
	while(1)
	{
		if(str[0] == 0x50)
		{
			decode(str, decode_data);
			gx = decode_data[0];
			gy = decode_data[1];
			gz = decode_data[2];
			ax = decode_data[3];
			ay = decode_data[4];
			az = decode_data[5];
			mx = decode_data[6];
			my = decode_data[7];
			mz = decode_data[8];
			roll = decode_data[9];
			pitch = decode_data[10];
		                yaw = decode_data[11];
			q1 = decode_data[12];
			q2 = decode_data[13];
			q3 = decode_data[14];
			q4 = decode_data[15];
			printf("gx = %.3f, gy = %.3f, gz=%.3f\n", gx, gy, gz);
			printf("ax = %.3f, ay = %.3f, az=%.3f\n", ax, ay, az);
			printf("mx = %.3f, my = %.3f, mz=%.3f\n", mx, my, mz);
			printf("roll = %.3f, pitch = %.3f, yaw=%.3f\n", roll, pitch, yaw);
			printf("q1 = %.3f, q2 = %.3f, q3=%.3f, q4=%.3f\n", q1, q2, q3, q4);
		  }
	
		delay_ms(500);
	}
}

include.h中添加如下代码：

#ifndef __INCLUDE_H
#define __INCLUDE_H 

#include<stm32f10x.h>

#include<delay.h>

#define RAW_DATA_SIZE (17)  //加入一位最后位 校验位 固定值128
#define RAW_DATA_RANGE (3)
#define FRAME_HEADER_SIZE (1)
#define ENCODE_DATA_SIZE (FRAME_HEADER_SIZE + RAW_DATA_SIZE * RAW_DATA_RANGE)
#define FRAME_HEADER (0x50)

#endif

stm32f10x_it.c中最后行添加如下代码：

#define LENGTH (52)
extern unsigned char str[LENGTH];
unsigned char cnt = 0;

void USART1_IRQHandler(void)
{
	unsigned char tmp_char;

	if( USART_GetITStatus(USART1, USART_IT_RXNE)!=RESET )
	{
		USART_ClearITPendingBit(USART1, USART_IT_RXNE);

		tmp_char = USART_ReceiveData(USART1);
		
		str[cnt++] = tmp_char;
		
		if(cnt>=LENGTH || str[0] != FRAME_HEADER)
		{
			cnt = 0;
		}
	}
}

4、keil中编译通过后写入stm32即可取得数据

17位ky9250软件包（内有stm32\arduino\C#\Matlab\树莓\Unity3d\python\ROS\英飞凌\Nvidia jetson linux  访问例程）

2024年3月3日驱动和上位机
链接：https://pan.baidu.com/s/16zoUz5U4WCZIcFwD02ytgA 
提取码：abcd 
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