1.在 cubemx 开启 IIC 并设置好对应的 IIC 引脚
2.generate code 生成代码
(记得生成单个 c. h.文件)!!!!!!
3.复制以下的全部代码 新建分别保存放到 Inc Src 文件夹中
每个字都是有用的!!!!!!
请全部复制!!!!!!!!!
每个字都是有用的!!!!!!
请全部复制!!!!!!!!
MPU6050.h
这是.h 文件中存放的内容
定义了结构体用于存放粗数据和处理后的数据
使用时我们只需要关心 MPU6050_t 这个结构体类型
/*
* mpu6050.h
*
* Created on: Nov 13, 2019
* Author: Bulanov Konstantin
*/
#ifndef INC_GY521_H_
#define INC_GY521_H_
#endif /* INC_GY521_H_ */
#include <stdint.h>
#include "i2c.h"
// MPU6050 structure
typedef struct
{
int16_t Accel_X_RAW;
int16_t Accel_Y_RAW;
int16_t Accel_Z_RAW;
double Ax;
double Ay;
double Az;
int16_t Gyro_X_RAW;
int16_t Gyro_Y_RAW;
int16_t Gyro_Z_RAW;
double Gx;
double Gy;
double Gz;
float Temperature;
double KalmanAngleX;
double KalmanAngleY;
} MPU6050_t;
// Kalman structure
typedef struct
{
double Q_angle;
double Q_bias;
double R_measure;
double angle;
double bias;
double P[2][2];
} Kalman_t;
uint8_t MPU6050_Init(I2C_HandleTypeDef *I2Cx);
void MPU6050_Read_Accel(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct);
void MPU6050_Read_Gyro(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct);
void MPU6050_Read_Temp(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct);
void MPU6050_Read_All(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct);
double Kalman_getAngle(Kalman_t *Kalman, double newAngle, double newRate, double dt);
MPU6050.c
这其中包含了数据处理的函数
每个字都是有用的!!!!!!
请全部复制!!!!!!!!
每个字都是有用的!!!!!
请全部复制!!!!!!!!
关于DEFINE 这关乎数据的读取 请全部复制!!!!!!
/*
* mpu6050.c
*
* Created on: Nov 13, 2019
* Author: Bulanov Konstantin
*
* Contact information
* -------------------
*/
#include <math.h>
#include "mpu6050.h"
#define RAD_TO_DEG 57.295779513082320876798154814105
#define WHO_AM_I_REG 0x75
#define PWR_MGMT_1_REG 0x6B
#define SMPLRT_DIV_REG 0x19
#define ACCEL_CONFIG_REG 0x1C
#define ACCEL_XOUT_H_REG 0x3B
#define TEMP_OUT_H_REG 0x41
#define GYRO_CONFIG_REG 0x1B
#define GYRO_XOUT_H_REG 0x43
// Setup MPU6050
#define MPU6050_ADDR 0xD0
const uint16_t i2c_timeout = 100;
const double Accel_Z_corrector = 14418.0;
uint32_t timer;
Kalman_t KalmanX = {
.Q_angle = 0.001f,
.Q_bias = 0.003f,
.R_measure = 0.03f};
Kalman_t KalmanY = {
.Q_angle = 0.001f,
.Q_bias = 0.003f,
.R_measure = 0.03f,
};
uint8_t MPU6050_Init(I2C_HandleTypeDef *I2Cx)
{
uint8_t check;
uint8_t Data;
// check device ID WHO_AM_I
HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, WHO_AM_I_REG, 1, &check, 1, i2c_timeout);
if (check == 104) // 0x68 will be returned by the sensor if everything goes well
{
// power management register 0X6B we should write all 0's to wake the sensor up
Data = 0;
HAL_I2C_Mem_Write(I2Cx, MPU6050_ADDR, PWR_MGMT_1_REG, 1, &Data, 1, i2c_timeout);
// Set DATA RATE of 1KHz by writing SMPLRT_DIV register
Data = 0x07;
HAL_I2C_Mem_Write(I2Cx, MPU6050_ADDR, SMPLRT_DIV_REG, 1, &Data, 1, i2c_timeout);
// Set accelerometer configuration in ACCEL_CONFIG Register
// XA_ST=0,YA_ST=0,ZA_ST=0, FS_SEL=0 -> ? 2g
Data = 0x00;
HAL_I2C_Mem_Write(I2Cx, MPU6050_ADDR, ACCEL_CONFIG_REG, 1, &Data, 1, i2c_timeout);
// Set Gyroscopic configuration in GYRO_CONFIG Register
// XG_ST=0,YG_ST=0,ZG_ST=0, FS_SEL=0 -> ? 250 ?/s
Data = 0x00;
HAL_I2C_Mem_Write(I2Cx, MPU6050_ADDR, GYRO_CONFIG_REG, 1, &Data, 1, i2c_timeout);
return 0;
}
return 1;
}
void MPU6050_Read_Accel(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct)
{
uint8_t Rec_Data[6];
// Read 6 BYTES of data starting from ACCEL_XOUT_H register
HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, ACCEL_XOUT_H_REG, 1, Rec_Data, 6, i2c_timeout);
DataStruct->Accel_X_RAW = (int16_t)(Rec_Data[0] << 8 | Rec_Data[1]);
DataStruct->Accel_Y_RAW = (int16_t)(Rec_Data[2] << 8 | Rec_Data[3]);
DataStruct->Accel_Z_RAW = (int16_t)(Rec_Data[4] << 8 | Rec_Data[5]);
/*** convert the RAW values into acceleration in 'g'
we have to divide according to the Full scale value set in FS_SEL
I have configured FS_SEL = 0. So I am dividing by 16384.0
for more details check ACCEL_CONFIG Register ****/
DataStruct->Ax = DataStruct->Accel_X_RAW / 16384.0;
DataStruct->Ay = DataStruct->Accel_Y_RAW / 16384.0;
DataStruct->Az = DataStruct->Accel_Z_RAW / Accel_Z_corrector;
}
void MPU6050_Read_Gyro(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct)
{
uint8_t Rec_Data[6];
// Read 6 BYTES of data starting from GYRO_XOUT_H register
HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, GYRO_XOUT_H_REG, 1, Rec_Data, 6, i2c_timeout);
DataStruct->Gyro_X_RAW = (int16_t)(Rec_Data[0] << 8 | Rec_Data[1]);
DataStruct->Gyro_Y_RAW = (int16_t)(Rec_Data[2] << 8 | Rec_Data[3]);
DataStruct->Gyro_Z_RAW = (int16_t)(Rec_Data[4] << 8 | Rec_Data[5]);
/*** convert the RAW values into dps (?/s)
we have to divide according to the Full scale value set in FS_SEL
I have configured FS_SEL = 0. So I am dividing by 131.0
for more details check GYRO_CONFIG Register ****/
DataStruct->Gx = DataStruct->Gyro_X_RAW / 131.0;
DataStruct->Gy = DataStruct->Gyro_Y_RAW / 131.0;
DataStruct->Gz = DataStruct->Gyro_Z_RAW / 131.0;
}
void MPU6050_Read_Temp(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct)
{
uint8_t Rec_Data[2];
int16_t temp;
// Read 2 BYTES of data starting from TEMP_OUT_H_REG register
HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, TEMP_OUT_H_REG, 1, Rec_Data, 2, i2c_timeout);
temp = (int16_t)(Rec_Data[0] << 8 | Rec_Data[1]);
DataStruct->Temperature = (float)((int16_t)temp / (float)340.0 + (float)36.53);
}
void MPU6050_Read_All(I2C_HandleTypeDef *I2Cx, MPU6050_t *DataStruct)
{
uint8_t Rec_Data[14];
int16_t temp;
// Read 14 BYTES of data starting from ACCEL_XOUT_H register
HAL_I2C_Mem_Read(I2Cx, MPU6050_ADDR, ACCEL_XOUT_H_REG, 1, Rec_Data, 14, i2c_timeout);
DataStruct->Accel_X_RAW = (int16_t)(Rec_Data[0] << 8 | Rec_Data[1]);
DataStruct->Accel_Y_RAW = (int16_t)(Rec_Data[2] << 8 | Rec_Data[3]);
DataStruct->Accel_Z_RAW = (int16_t)(Rec_Data[4] << 8 | Rec_Data[5]);
temp = (int16_t)(Rec_Data[6] << 8 | Rec_Data[7]);
DataStruct->Gyro_X_RAW = (int16_t)(Rec_Data[8] << 8 | Rec_Data[9]);
DataStruct->Gyro_Y_RAW = (int16_t)(Rec_Data[10] << 8 | Rec_Data[11]);
DataStruct->Gyro_Z_RAW = (int16_t)(Rec_Data[12] << 8 | Rec_Data[13]);
DataStruct->Ax = DataStruct->Accel_X_RAW / 16384.0;
DataStruct->Ay = DataStruct->Accel_Y_RAW / 16384.0;
DataStruct->Az = DataStruct->Accel_Z_RAW / Accel_Z_corrector;
DataStruct->Temperature = (float)((int16_t)temp / (float)340.0 + (float)36.53);
DataStruct->Gx = DataStruct->Gyro_X_RAW / 131.0;
DataStruct->Gy = DataStruct->Gyro_Y_RAW / 131.0;
DataStruct->Gz = DataStruct->Gyro_Z_RAW / 131.0;
// Kalman angle solve
double dt = (double)(HAL_GetTick() - timer) / 1000;
timer = HAL_GetTick();
double roll;
double roll_sqrt = sqrt(
DataStruct->Accel_X_RAW * DataStruct->Accel_X_RAW + DataStruct->Accel_Z_RAW * DataStruct->Accel_Z_RAW);
if (roll_sqrt != 0.0)
{
roll = atan(DataStruct->Accel_Y_RAW / roll_sqrt) * RAD_TO_DEG;
}
else
{
roll = 0.0;
}
double pitch = atan2(-DataStruct->Accel_X_RAW, DataStruct->Accel_Z_RAW) * RAD_TO_DEG;
if ((pitch < -90 && DataStruct->KalmanAngleY > 90) || (pitch > 90 && DataStruct->KalmanAngleY < -90))
{
KalmanY.angle = pitch;
DataStruct->KalmanAngleY = pitch;
}
else
{
DataStruct->KalmanAngleY = Kalman_getAngle(&KalmanY, pitch, DataStruct->Gy, dt);
}
if (fabs(DataStruct->KalmanAngleY) > 90)
DataStruct->Gx = -DataStruct->Gx;
DataStruct->KalmanAngleX = Kalman_getAngle(&KalmanX, roll, DataStruct->Gx, dt);
}
double Kalman_getAngle(Kalman_t *Kalman, double newAngle, double newRate, double dt)
{
double rate = newRate - Kalman->bias;
Kalman->angle += dt * rate;
Kalman->P[0][0] += dt * (dt * Kalman->P[1][1] - Kalman->P[0][1] - Kalman->P[1][0] + Kalman->Q_angle);
Kalman->P[0][1] -= dt * Kalman->P[1][1];
Kalman->P[1][0] -= dt * Kalman->P[1][1];
Kalman->P[1][1] += Kalman->Q_bias * dt;
double S = Kalman->P[0][0] + Kalman->R_measure;
double K[2];
K[0] = Kalman->P[0][0] / S;
K[1] = Kalman->P[1][0] / S;
double y = newAngle - Kalman->angle;
Kalman->angle += K[0] * y;
Kalman->bias += K[1] * y;
double P00_temp = Kalman->P[0][0];
double P01_temp = Kalman->P[0][1];
Kalman->P[0][0] -= K[0] * P00_temp;
Kalman->P[0][1] -= K[0] * P01_temp;
Kalman->P[1][0] -= K[1] * P00_temp;
Kalman->P[1][1] -= K[1] * P01_temp;
return Kalman->angle;
};
5. 移植完毕代码之后
重要的是怎么去使用
(在使用之前请确保 编译时 上述文件是包含在程序中的!!!!)
我们需要创建一个全局变量 用于存放数据
这一步非常重要!!!!!!
请不要忘记创建变量!!!!
请不要忘记创建变量!!!!
请不要忘记创建变量!!!!
请按下面步骤操作
这一步也是至关重要!!!!
请放在进入while(1)死循环之前
请放在进入while(1)死循环之前
请放在进入while(1)死循环之前
这一步是用于确保初始化的正确
这之后就是while(1)死循环里的操作了