帮我写一个stm32f407驱动mpu6500的代码
时间: 2023-03-27 09:00:20 浏览: 99
好的,我可以回答这个问题。以下是一个简单的stm32f407驱动mpu650的代码示例:
#include "stm32f4xx.h"
#include "mpu650.h"
void MPU650_Init(void)
{
// 初始化SPI接口
SPI_InitTypeDef SPI_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource5, GPIO_AF_SPI1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource6, GPIO_AF_SPI1);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource7, GPIO_AF_SPI1);
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(SPI1, &SPI_InitStructure);
SPI_Cmd(SPI1, ENABLE);
// 初始化MPU650
MPU650_WriteReg(MPU650_PWR_MGMT_1, x00);
MPU650_WriteReg(MPU650_SMPLRT_DIV, x07);
MPU650_WriteReg(MPU650_CONFIG, x06);
MPU650_WriteReg(MPU650_GYRO_CONFIG, x18);
MPU650_WriteReg(MPU650_ACCEL_CONFIG, x01);
MPU650_WriteReg(MPU650_FIFO_EN, x00);
MPU650_WriteReg(MPU650_INT_PIN_CFG, x02);
MPU650_WriteReg(MPU650_INT_ENABLE, x00);
}
void MPU650_WriteReg(uint8_t reg, uint8_t data)
{
GPIO_ResetBits(GPIOA, GPIO_Pin_4);
SPI_I2S_SendData(SPI1, reg);
while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET);
SPI_I2S_SendData(SPI1, data);
while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET);
GPIO_SetBits(GPIOA, GPIO_Pin_4);
}
uint8_t MPU650_ReadReg(uint8_t reg)
{
uint8_t data;
GPIO_ResetBits(GPIOA, GPIO_Pin_4);
SPI_I2S_SendData(SPI1, reg | x80);
while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET);
SPI_I2S_SendData(SPI1, xFF);
while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET);
data = SPI_I2S_ReceiveData(SPI1);
GPIO_SetBits(GPIOA, GPIO_Pin_4);
return data;
}
void MPU650_ReadAccel(int16_t *accel)
{
uint8_t data[6];
data[] = MPU650_ReadReg(MPU650_ACCEL_XOUT_H);
data[1] = MPU650_ReadReg(MPU650_ACCEL_XOUT_L);
data[2] = MPU650_ReadReg(MPU650_ACCEL_YOUT_H);
data[3] = MPU650_ReadReg(MPU650_ACCEL_YOUT_L);
data[4] = MPU650_ReadReg(MPU650_ACCEL_ZOUT_H);
data[5] = MPU650_ReadReg(MPU650_ACCEL_ZOUT_L);
accel[] = (data[] << 8) | data[1];
accel[1] = (data[2] << 8) | data[3];
accel[2] = (data[4] << 8) | data[5];
}
void MPU650_ReadGyro(int16_t *gyro)
{
uint8_t data[6];
data[] = MPU650_ReadReg(MPU650_GYRO_XOUT_H);
data[1] = MPU650_ReadReg(MPU650_GYRO_XOUT_L);
data[2] = MPU650_ReadReg(MPU650_GYRO_YOUT_H);
data[3] = MPU650_ReadReg(MPU650_GYRO_YOUT_L);
data[4] = MPU650_ReadReg(MPU650_GYRO_ZOUT_H);
data[5] = MPU650_ReadReg(MPU650_GYRO_ZOUT_L);
gyro[] = (data[] << 8) | data[1];
gyro[1] = (data[2] << 8) | data[3];
gyro[2] = (data[4] << 8) | data[5];
}