stm32 mpu6050 代码

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 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"
#include "stdio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* 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 */

#define MPU6050_ADDR 0xD0
#define SMPLRT_DIV_REG 0x19
#define GYRO_CONFIG_REG 0X1B
#define ACCEL_CONFIG_REG 0X1C

#define ACCEL_XOUT_H_REG 0X3B
#define TEMP_OUT_H_REG 0X41
#define GYRO_XOUT_H_REG 0X43
#define PWR_MGMT_1_REG 0X6B
#define WHO_AM_I_REG 0X75

int16_t Accel_X_RAW=0;
int16_t Accel_Y_RAW=0;
int16_t Accel_Z_RAW=0;

int16_t Gyro_X_RAW=0;
int16_t Gyro_Y_RAW=0;
int16_t Gyro_Z_RAW=0;

int16_t Temp_RAW=0;

float AX,AY,AZ,GX,GY,GZ,Temp;

#ifdef __GNUC__									//串口重定向
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
    HAL_UART_Transmit(&huart1 , (uint8_t *)&ch, 1, 0xFFFF);
    return ch;
}


/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void MPU6050_Init(void){
    uint8_t check,Data;
    HAL_I2C_Mem_Read(&hi2c1,MPU6050_ADDR,WHO_AM_I_REG,1,&check,1,1000);
    if(check==104){
        Data=0;
        HAL_I2C_Mem_Write(&hi2c1,MPU6050_ADDR,PWR_MGMT_1_REG,1,&Data,1,1000);
        //设置1khz的的数据速率
        Data=0x07;
        HAL_I2C_Mem_Write(&hi2c1,MPU6050_ADDR,SMPLRT_DIV_REG,1,&Data,1,1000);
        //加速度计配置
        Data=0x00;
        HAL_I2C_Mem_Write(&hi2c1,MPU6050_ADDR,ACCEL_CONFIG_REG,1,&Data,1,1000);
        //设置陀螺配置
        Data=0x00;
        HAL_I2C_Mem_Write(&hi2c1,MPU6050_ADDR,GYRO_CONFIG_REG,1,&Data,1,1000);

    }
}

void MPU6050_Read_Temp(void){
    uint8_t Rec_Data[6];
    HAL_I2C_Mem_Read(&hi2c1,MPU6050_ADDR,TEMP_OUT_H_REG,1,Rec_Data,2,1000);
    Temp_RAW=(int16_t)(Rec_Data[0]<<8|Rec_Data[1]);
    Temp=36.53+Temp_RAW/240;
    printf("temp:%f \r\n",Temp);

}
void MPU6050_READ_Accel(void ){
    uint8_t Rec_Data[6];
    HAL_I2C_Mem_Read(&hi2c1,MPU6050_ADDR,ACCEL_XOUT_H_REG,1,Rec_Data,6,1000);
    Accel_X_RAW=(int16_t)(Rec_Data[0]<<8|Rec_Data[1]);
    Accel_Y_RAW=(int16_t)(Rec_Data[2]<<8|Rec_Data[3]);
    Accel_Z_RAW=(int16_t)(Rec_Data[4]<<9|Rec_Data[5]);
    AX=Accel_X_RAW/16384;
    AY=Accel_Y_RAW/16384;
    AZ=Accel_Z_RAW/16384;
    printf("AX:%f AY:%f AZ:%f \r\n",AX,AY,AZ);

}
void MPU6050_READ_GYRO(void){
    uint8_t Rec_Data[6];
    HAL_I2C_Mem_Read(&hi2c1,MPU6050_ADDR,GYRO_XOUT_H_REG,1,Rec_Data,6,1000);
    Gyro_X_RAW=(int16_t)(Rec_Data[0]<<8|Rec_Data[1]);
    Gyro_Y_RAW=(int16_t)(Rec_Data[2]<<8|Rec_Data[3]);
    Gyro_Z_RAW=(int16_t)(Rec_Data[4]<<9|Rec_Data[5]);
    GX=Accel_X_RAW/131;
    GY=Accel_Y_RAW/131;
    GZ=Accel_Z_RAW/131;
    printf("GX:%f GY:%f GZ:%f \r\n",GX,GY,GZ);
}



/* 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_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
    for (int i = 0; i < 255; ++i) {
        if(HAL_I2C_IsDeviceReady(&hi2c1,i,1,1000)==HAL_OK){
            printf("%d\r\n",i);
        }
    }
    MPU6050_Init();
    printf("mpu init 3s\r\n");
    HAL_Delay(1000);
    printf("mpu init 2s\r\n");
    HAL_Delay(1000);
    printf("mpu init 1s\r\n");
    HAL_Delay(1000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
      MPU6050_READ_GYRO();
      MPU6050_READ_Accel();
      MPU6050_Read_Temp();
      HAL_Delay(1000);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

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

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 100;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  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_3) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM1 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM1) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @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 */