MPU6050 0X3B-0X48寄存器读取原始数据（CubeIDE）

ImWYL

已于 2024-04-22 01:46:08 修改

阅读量205

点赞数 2

文章标签： stm32 单片机嵌入式硬件

于 2024-04-22 01:44:26 首次发布

本文链接：https://blog.csdn.net/qq_64413333/article/details/138052313

版权

int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
  pData=0x80;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x6b, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  HAL_Delay(100);
  pData=0x01;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x6b, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x18;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x1b, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x00;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x1c, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x80;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x37, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x01;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x38, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x00;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x6c, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x02;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x1a, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x04;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x19, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
	  if(num>=200)
	  {
		  HAL_UART_Transmit(&huart2, mpu_Data, 14, HAL_MAX_DELAY);
		  num=0;
	  }
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

其中下面这段代码顺序不可变，否则可能读不出值

/* USER CODE BEGIN 2 */
  pData=0x80;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x6b, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  HAL_Delay(100);
  pData=0x01;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x6b, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x18;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x1b, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x00;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x1c, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x80;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x37, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x01;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x38, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x00;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x6c, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x02;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x1a, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
  pData=0x04;
  HAL_I2C_Mem_Write(&hi2c1, 0xd1, 0x19, I2C_MEMADD_SIZE_8BIT, &pData, 1, HAL_MAX_DELAY);
/* USER CODE END 2 */

下面是MPU6050 INT引脚触发32外部中断并计数读值，并由HAL_UART_Transmit(&huart2, mpu_Data, 14, HAL_MAX_DELAY);发送出读取的值，这些值都被存在一个mpu_Data的数组里面。

/* USER CODE BEGIN 4 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	if(GPIO_Pin==GPIO_PIN_3)
	{
		num++;
		HAL_I2C_Mem_Read(&hi2c1, 0xd1, 0x3B, I2C_MEMADD_SIZE_8BIT, mpu_Data, 14, HAL_MAX_DELAY);
	}
}
/* USER CODE END 4 */