STM32F103C8T6-MPU6050俯仰角原始数据读取与处理（CubeIde）

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "math.h"

#ifdef __GNUC__
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif

PUTCHAR_PROTOTYPE
{
//同样USART2改为你的串口
	HAL_UART_Transmit(&huart2, (uint8_t*)&ch,1,HAL_MAX_DELAY);
    return ch;
}
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
	uint8_t pData;
	int num = 0;
	uint8_t mpu_Data[14];
	int16_t gyro_x0=-43;//系统误差
	int16_t gyro_x=0;//消除系统误差后的值
	float wx=0;//俯仰角
	float gyro_ax=0;//俯仰积分值

	int16_t acc_x=0;
	int16_t acc_y=0;
	int16_t acc_z=0;
	int16_t acc_ax=0;

	float ax=0;//融合角度
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
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 */

    /* USER CODE BEGIN 3 */
	  if(num>=200)
	  {
		  printf("%f,%d,%f\n",gyro_ax,acc_ax,ax);
		  num=0;
	  }
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
	if(GPIO_Pin==GPIO_PIN_3)
	{
		HAL_I2C_Mem_Read(&hi2c1, 0xd1, 0x3b, I2C_MEMADD_SIZE_8BIT, mpu_Data, 14, HAL_MAX_DELAY);
		gyro_x=(int16_t)((mpu_Data[8]<<8)|mpu_Data[9])-gyro_x0;
		wx=gyro_x*0.061;
		gyro_ax=gyro_ax+wx*0.005;//陀螺仪积分值

		acc_x=(int16_t)((mpu_Data[0]<<8)|mpu_Data[1]);//加速度计值
		acc_y=(int16_t)((mpu_Data[2]<<8)|mpu_Data[3]);//加速度计值
		acc_z=(int16_t)((mpu_Data[4]<<8)|mpu_Data[5]);//加速度计值
		acc_ax=asinf(acc_y/sqrtf(acc_x*acc_x+acc_y*acc_y+acc_z*acc_z))*57.3f;
//		if(isnan(acc_ax)==1)
//		{
//			acc_ax=0;
//		}

		ax=0.98*(ax+wx*0.005)+0.02*acc_ax;
		num++;
	}
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */