STM32通过蓝牙连接mpu6050的代码

以下是基于HAL库的STM32通过蓝牙连接MPU6050的代码，仅供参考：

#include "main.h"
#include "stdio.h"
#include "string.h"

// MPU6050 Address
#define MPU6050_ADDR 0xD0 

// Bluetooth UART
UART_HandleTypeDef huart1;

// MPU6050 I2C
I2C_HandleTypeDef hi2c1;

// MPU6050 Data
float AccX, AccY, AccZ;
float GyroX, GyroY, GyroZ;

// Bluetooth Received Data
char RxData[1];

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_I2C1_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();

  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_I2C1_Init();

  while (1)
  {
    // Read MPU6050 Data
    uint8_t buffer[14];
    HAL_I2C_Mem_Read(&hi2c1, MPU6050_ADDR, 0x3B, 1, buffer, 14, 1000);
    int16_t AccX_Raw = (buffer[0] << 8) | buffer[1];
    int16_t AccY_Raw = (buffer[2] << 8) | buffer[3];
    int16_t AccZ_Raw = (buffer[4] << 8) | buffer[5];
    int16_t GyroX_Raw = (buffer[8] << 8) | buffer[9];
    int16_t GyroY_Raw = (buffer[10] << 8) | buffer[11];
    int16_t GyroZ_Raw = (buffer[12] << 8) | buffer[13];

    // Convert MPU6050 Data to Float
    AccX = (float) AccX_Raw / 16384.0;
    AccY = (float) AccY_Raw / 16384.0;
    AccZ = (float) AccZ_Raw / 16384.0;
    GyroX = (float) GyroX_Raw / 131.0;
    GyroY = (float) GyroY_Raw / 131.0;
    GyroZ = (float) GyroZ_Raw / 131.0;

    // Send MPU6050 Data to Bluetooth
    char message[100];
    sprintf(message, "AccX=%.2f, AccY=%.2f, AccZ=%.2f, GyroX=%.2f, GyroY=%.2f, GyroZ=%.2f\r\n", AccX, AccY, AccZ, GyroX, GyroY, GyroZ);
    HAL_UART_Transmit(&huart1, (uint8_t*)message, strlen(message), 1000);

    // Receive Bluetooth Data
    HAL_UART_Receive(&huart1, (uint8_t*)RxData, 1, 1000);

    // Do Something with Bluetooth Data
    if (RxData[0] == 'A')
    {
      // Action A
    }
    else if (RxData[0] == 'B')
    {
      // Action B
    }
  }
}

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_OFF;
  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();
  }
}

static void MX_I2C1_Init(void)
{
  hi2c1.Instance = I2C1;
  hi2c1.Init.ClockSpeed = 100000;
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
  hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
  hi2c1.Init.OwnAddress2 = 0;
  hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
  hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
  if (HAL_I2C_Init(&hi2c1) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_USART1_UART_Init(void)
{
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 9600;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);

  /*Configure GPIO pin : PC13 */
  GPIO_InitStruct.Pin = GPIO_PIN_13;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}

这段代码中使用了I2C接口读取MPU6050数据，并通过UART串口发送到蓝牙模块上。您需要根据您的蓝牙模块和MPU6050模块的具体连接方式进行调整。同时，还需要根据您的具体需求，编写相应的蓝牙数据接收和处理代码。