MPU6050加速度传感器

把6050的加速度的采样率设置到最高<实际上超过了手册写的1KHz>,通过其内部fifo的方式把所有数据无遗漏的上传至上位机，并显示波形

main.c

int main(void)
{
  /* USER CODE BEGIN 1 */
	uint16_t len=0;
	uint16_t get_num=0;
	uint16_t get_tim=0;
	uint16_t tick_ms=0;
	_MSG msg;
  /* 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_USART2_UART_Init();
  MX_I2C1_Init();
  /* USER CODE BEGIN 2 */
	mpu_init();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		HAL_Delay(500);
		msg.head = 0xfe;
		msg.dir = 0x80;
		msg.tim = tick_ms;
		msg.sample_num = 0;	
		msg.tail = 0x0a0d;
		HAL_UART_Transmit(&huart2,(uint8_t*)&msg,sizeof(_MSG),0xffff);	
		
		
		while(1)
		{
			if(HAL_OK==HAL_UART_Receive(&huart2,(uint8_t*)&msg,sizeof(_MSG),0xffff))//fe 00 t1 t0 l1 l2 0d 0a
			{
				if(msg.head==0xfe && msg.dir==0 && msg.tail==0x0a0d)
				{
					get_num = msg.sample_num;
					get_tim = msg.tim;
					
					if(get_num==0&&get_tim==0)continue;				
					if(get_num>MPU_MAX_BUF)get_num=MPU_MAX_BUF;				
					get_num = (get_num /6) *6;				
					if(get_tim==0)
					{
						get_tim = get_num*1.5+1000; 
					}
					
					msg.head = 0xfe;
					msg.dir = 0x80;
					msg.tim = get_tim;
					msg.sample_num = get_num;				
					msg.tail = 0x0a0d;
					HAL_UART_Transmit(&huart2,(uint8_t*)&msg,sizeof(_MSG),0xffff);
					break;
				}			
			}	
		}
		
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		mpu_rst();
		mpu_data_buf_p = 0;
		tick_ms = 0;
		while(1)
		{
			HAL_Delay(6);
			len=MPU_fifo_data_size();
			len = (len /6) *6;
			if(mpu_data_buf_p+len<get_num)
			{			
			}
			else
			{
				len = get_num - (mpu_data_buf_p);
			}		
			MPU_fifo_read(mpu_data_buf+mpu_data_buf_p,len);
			mpu_data_buf_p+=len;	
			if(mpu_data_buf_p>=get_num)
			{
				HAL_UART_Transmit(&huart2,mpu_data_buf,mpu_data_buf_p,0xffff);
				break;
			}					
			tick_ms += 6; 
			if(tick_ms>get_tim)
			{
				HAL_UART_Transmit(&huart2,mpu_data_buf,mpu_data_buf_p,0xffff);
				break;
			}			
		}
		mpu_write(MPU_PWR_MGMT1_REG,0x80);
  }
  /* USER CODE END 3 */
}

mpu6050驱动

/*
 * mpu6050.c
 *
 *  Created on: 2020年6月1日
 *      Author: 
 */
#include "main.h"
#include "i2c.h"
#include "mpu6050.h"

uint8_t mpu_write(uint8_t reg,uint8_t data)
{
	uint8_t buf[2];
	buf[0] = reg;
	buf[1] = data;
	return HAL_I2C_Master_Transmit(&hi2c1,MPU_ADDR,buf,2,0xff);
}


uint8_t mpu_read(uint8_t reg)
{
	uint8_t buf[1];
	buf[0] = reg;
	if(HAL_OK!=HAL_I2C_Master_Transmit(&hi2c1,MPU_ADDR,buf,1,0xff))
	{
		return 0;
	}

	if(HAL_OK!=HAL_I2C_Master_Receive(&hi2c1,MPU_ADDR,buf,1,0xff))
	{
		return 0;
	}

	return buf[0];
}


uint8_t mpu_read_multi(uint8_t reg,uint8_t *data,uint8_t len)
{
	uint8_t buf[1];
	buf[0] = reg;
	HAL_I2C_Master_Transmit(&hi2c1,MPU_ADDR,buf,1,0xff);
	HAL_I2C_Master_Receive(&hi2c1,MPU_ADDR,data,len,0x1fff);
	return 0;
}

uint8_t mpu_write_multi(uint8_t *data,uint8_t len)
{
	HAL_I2C_Master_Transmit(&hi2c1,MPU_ADDR,data,len,0x2ff);
	return 0;
}

uint8_t MPU_Set_Gyro_Fsr(uint8_t fsr)
{
	return mpu_write(MPU_GYRO_CFG_REG,fsr<<3);
}

uint8_t MPU_Set_Accel_Fsr(uint8_t fsr)
{
	return mpu_write(MPU_ACCEL_CFG_REG,fsr<<3);
}

uint8_t MPU_Set_LPF(uint16_t lpf)
{
	uint8_t data=0;
	if(lpf>=188)data=1;
	else if(lpf>=98)data=2;
	else if(lpf>=42)data=3;
	else if(lpf>=20)data=4;
	else if(lpf>=10)data=5;
	else data=6;
	return mpu_write(MPU_CFG_REG,data);
}

uint8_t MPU_Set_Rate(uint16_t rate)
{
	uint8_t data;
	if(rate>1000)rate=1000;
	if(rate<4)rate=4;
	data=1000/rate-1;
	data=mpu_write(MPU_SAMPLE_RATE_REG,data);	
 	return MPU_Set_LPF(rate/2);	
}

uint8_t MPU_Get_Gyroscope(short *gx,short *gy,short *gz)
{
    uint8_t buf[6],res;
	res=mpu_read_multi(MPU_GYRO_XOUTH_REG,buf,6);
	if(res==0)
	{
		*gx=((uint16_t)buf[0]<<8)|buf[1];
		*gy=((uint16_t)buf[2]<<8)|buf[3];
		*gz=((uint16_t)buf[4]<<8)|buf[5];
	}
    return res;;
}

short MPU_Get_Temperature(void)
{
    uint8_t buf[2];
    short raw;
	float temp;
	mpu_read_multi(MPU_TEMP_OUTH_REG,buf,2);
    raw=((uint16_t)buf[0]<<8)|buf[1];
    temp=36.53+((double)raw)/340;
    return temp*100;
}

uint8_t MPU_Get_Accelerometer(short *ax,short *ay,short *az)
{
    uint8_t buf[6],res;
	res=mpu_read_multi(MPU_ACCEL_XOUTH_REG,buf,6);
	if(res==0)
	{
		*ax=((uint16_t)buf[0]<<8)|buf[1];
		*ay=((uint16_t)buf[2]<<8)|buf[3];
		*az=((uint16_t)buf[4]<<8)|buf[5];
	}
    return res;;
}


uint16_t MPU_fifo_data_size()
{
	uint16_t res;
	res = mpu_read(MPU_FIFO_CNTH_REG);
	res <<= 8;
	res |= mpu_read(MPU_FIFO_CNTL_REG);
  return res;
}

uint16_t MPU_fifo_read(uint8_t *buf,short len)
{
	return mpu_read_multi(MPU_FIFO_RW_REG,buf,len);
}



/**
* 
*/
void mpu_init()
{
	uint8_t res;
	short ax=0,ay=0,az=0;
	HAL_GPIO_WritePin(AD0_GPIO_Port,AD0_Pin,GPIO_PIN_RESET);
	mpu_write(MPU_PWR_MGMT1_REG,0x80);
	HAL_Delay(20);
	mpu_write(MPU_PWR_MGMT1_REG,0x00);
	MPU_Set_Gyro_Fsr(3);			
	MPU_Set_Accel_Fsr(2);					
	MPU_Set_Rate(100);						
	
	
	mpu_write(MPU_USER_CTRL_REG,0X40);
	mpu_write(MPU_FIFO_EN_REG,0X08);
	
	mpu_write(MPU_INT_EN_REG,0X01);	// 
	mpu_write(MPU_INTBP_CFG_REG,0X80|0x20|0x10);	
	
  res=mpu_read(MPU_DEVICE_ID_REG);
	Log_pf("MPU_DEVICE_ID_REG=%X\n",res);
	if(res==MPU_ADDR)
	{
		mpu_write(MPU_PWR_MGMT1_REG,0X01);	
		mpu_write(MPU_PWR_MGMT2_REG,0X00);	
		MPU_Set_Rate(100);						
 	}
	
	MPU_Get_Accelerometer( &ax, &ay, &az);
	Log_pf("ax=%d, ay=%d, az=%d\r\n",ax, ay, az);
	Log_flush();
	if(res==0)
	{
		while(1)HAL_Delay(100);
	}
	Log_pf("MPU_INT_STA_REG=%x\n",mpu_read(MPU_INT_STA_REG));
	Log_flush();
}


void mpu_rst()
{
	mpu_write(MPU_PWR_MGMT1_REG,0x80);
  HAL_Delay(20);
	mpu_write(MPU_PWR_MGMT1_REG,0x00);
	MPU_Set_Accel_Fsr(3);	
	MPU_Set_Rate(1000);
	mpu_write(MPU_USER_CTRL_REG,0X40);
	mpu_write(MPU_FIFO_EN_REG,0X08);
	mpu_write(MPU_INT_EN_REG,0X00);
	mpu_write(MPU_INTBP_CFG_REG,0X80|0x20|0x10);
}