首先我这个也是借鉴前人,这样减少了自己的运算,这里的usart这里没有用到,这个样例可能会应用到平衡车的调节STM32F1基于STM32CubeMX配置移植dmp库通过串口打印MPU6050数据_dmp库移植_perseverance52的博客-CSDN博客以及stm32基于CubeMX利用dmp读取mpu6050的数据_mpu6050获取dmp数据_茂的模的博客-CSDN博客才弄出来,用的是stm32f103rct6
cubemx配置如上
这里我用的是IIC2,与上面借鉴的案例不一样(上面用的是IIC1)
代码部分
在介绍第一篇链接blog的keil上面
将mpu6050文件复制到我们的工作空间,再包含路径
包含路径
在iic.c文件下添加如下代码(注意自己用的是IIC几,需要自己改)
/* USER CODE BEGIN 1 */
uint8_t i2c2_write(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data)
{
int ret=HAL_I2C_Mem_Write(&hi2c2, slave_addr, reg_addr, I2C_MEMADD_SIZE_8BIT, data, length, 0XFFFF);
if(ret==HAL_OK)return 0;
else return -1;
}
uint8_t i2c2_read(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data)
{
int ret= HAL_I2C_Mem_Read(&hi2c2, slave_addr, reg_addr, I2C_MEMADD_SIZE_8BIT, data, length, 0XFFFF);
if(ret==HAL_OK)return 0;
else return -1;
}
/* USER CODE END 1 */
在i2c.h加上这两段代码
/* USER CODE BEGIN Prototypes */
uint8_t i2c2_write(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data);
uint8_t i2c2_read(unsigned char slave_addr, unsigned char reg_addr, unsigned char length, unsigned char *data);
/* USER CODE END Prototypes */
最后在把inv_mpu.c文件下的#define i2c2_write改过来(看自己使用哪个iic)
在main()函数中加上
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_DMA_Init();
MX_USART2_UART_Init();
MX_I2C2_Init();
/* USER CODE BEGIN 2 */
mpu_dmp_init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
dmp_getdata();
MPU6050_Read_Temp();
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
最后编译运行