stm32 mpu6050模块代码

以下是使用STM32和MPU6050模块的示例代码：

#include "stm32f4xx.h"
#include "stdio.h"
#include "i2c.h"

#define MPU6050_ADDR    0xD0

void MPU6050_Init(void);
void MPU6050_Read_Accel(float *ax, float *ay, float *az);
void MPU6050_Read_Gyro(float *gx, float *gy, float *gz);

int main(void)
{
    float ax, ay, az;
    float gx, gy, gz;

    MPU6050_Init();

    while(1)
    {
        MPU6050_Read_Accel(&ax, &ay, &az);
        MPU6050_Read_Gyro(&gx, &gy, &gz);

        printf("accel: %.2f, %.2f, %.2f\r\n", ax, ay, az);
        printf("gyro: %.2f, %.2f, %.2f\r\n\r\n", gx, gy, gz);

        DelayMs(1000);
    }
}

void MPU6050_Init(void)
{
    uint8_t data;

    // Set power management register to wake up MPU6050
    data = 0x00;
    I2C_Write(MPU6050_ADDR, 0x6B, &data, 1);

    // Set sample rate divider to 1kHz
    data = 0x07;
    I2C_Write(MPU6050_ADDR, 0x19, &data, 1);

    // Set gyro range to +/- 250 degrees per second
    data = 0x00;
    I2C_Write(MPU6050_ADDR, 0x1B, &data, 1);

    // Set accelerometer range to +/- 2g
    data = 0x00;
    I2C_Write(MPU6050_ADDR, 0x1C, &data, 1);
}

void MPU6050_Read_Accel(float *ax, float *ay, float *az)
{
    uint8_t data[6];

    // Read accelerometer data
    I2C_Read(MPU6050_ADDR, 0x3B, data, 6);

    // Convert raw data to g's
    *ax = (float)((int16_t)(data[0] << 8 | data[1])) / 16384.0;
    *ay = (float)((int16_t)(data[2] << 8 | data[3])) / 16384.0;
    *az = (float)((int16_t)(data[4] << 8 | data[5])) / 16384.0;
}

void MPU6050_Read_Gyro(float *gx, float *gy, float *gz)
{
    uint8_t data[6];

    // Read gyro data
    I2C_Read(MPU6050_ADDR, 0x43, data, 6);

    // Convert raw data to degrees per second
    *gx = (float)((int16_t)(data[0] << 8 | data[1])) / 131.0;
    *gy = (float)((int16_t)(data[2] << 8 | data[3])) / 131.0;
    *gz = (float)((int16_t)(data[4] << 8 | data[5])) / 131.0;
}

此代码使用I2C通信协议与MPU6050模块进行通信，并读取其加速度计和陀螺仪数据。请注意，此代码仅适用于STM32F4系列微控制器，如果您使用其他系列的微控制器，可能需要进行相应的修改。