msp432mp6050keil代码

MSP432是德州仪器（Texas Instruments）推出的一款采用ARM Cortex-M4F内核的微控制器，它具有低功耗、高性能和丰富的外设功能，可以广泛应用于物联网、工业自动化、智能家居等领域。而MPU6050是一款集成了三轴陀螺仪和三轴加速度计的运动传感器，常用于姿态测量、手势识别、智能车等项目。

在使用MSP432微控制器与MPU6050传感器进行交互时，可以利用Keil C51编译器编写代码。下面是一段示例代码，用来读取MPU6050的加速度计数据：

#include <msp.h>

// I2C初始化
void I2C_Init(void)
{
    // 配置I2C引脚
    P1->SEL0 |= BIT6 | BIT7;
    P1->SEL1 &= ~(BIT6 | BIT7);

    // 配置I2C时钟
    EUSCI_B0->CTLW0 |= EUSCI_A_CTLW0_SWRST;
    EUSCI_B0->CTLW0 = EUSCI_A_CTLW0_SWRST | EUSCI_A_CTLW0_MODE_3 | EUSCI_A_CTLW0_MST | EUSCI_A_CTLW0_SYNC | EUSCI_B_CTLW0_SSEL__SMCLK;
    EUSCI_B0->BRW = 10;
    EUSCI_B0->CTLW0 &= ~EUSCI_A_CTLW0_SWRST;
}

// I2C发送数据
void I2C_SendData(uint8_t addr, uint8_t reg, uint8_t data)
{
    while (EUSCI_B0->STATW & EUSCI_B_STATW_BBUSY);

    EUSCI_B0->I2CSA = addr;
    EUSCI_B0->CTLW0 |= EUSCI_A_CTLW0_TR;
    EUSCI_B0->CTLW0 |= EUSCI_A_CTLW0_TXSTT;

    while (!(EUSCI_B0->IFG & EUSCI_B_IFG_TXIFG0));
    EUSCI_B0->TXBUF = reg;

    while (!(EUSCI_B0->IFG & EUSCI_B_IFG_TXIFG0));
    EUSCI_B0->TXBUF = data;

    while(!(EUSCI_B0->IFG & EUSCI_B_IFG_TXIFG0));
    EUSCI_B0->CTLW0 |= EUSCI_A_CTLW0_TXSTP;
    while (EUSCI_B0->CTLW0 & EUSCI_A_CTLW0_STT);
}

// I2C接收数据
uint8_t I2C_ReadData(uint8_t addr, uint8_t reg)
{
    while (EUSCI_B0->STATW & EUSCI_B_STATW_BBUSY);

    EUSCI_B0->I2CSA = addr;
    EUSCI_B0->CTLW0 &= ~EUSCI_A_CTLW0_TR;
    EUSCI_B0->CTLW0 |= EUSCI_A_CTLW0_TXSTT;

    while (!(EUSCI_B0->IFG & EUSCI_B_IFG_TXIFG0));
    EUSCI_B0->TXBUF = reg;

    while (!(EUSCI_B0->IFG & EUSCI_B_IFG_TXIFG0));
    EUSCI_B0->CTLW0 |= EUSCI_A_CTLW0_TXSTP;

    while (EUSCI_B0->STATW & EUSCI_B_STATW_BBUSY);

    EUSCI_B0->CTLW0 |= EUSCI_A_CTLW0_TXSTT;
    while (EUSCI_B0->CTLW0 & EUSCI_A_CTLW0_STT);

    while (!(EUSCI_B0->IFG & EUSCI_B_IFG_RXIFG0));
    uint8_t data = EUSCI_B0->RXBUF;

    while (EUSCI_B0->STATW & EUSCI_B_STATW_BBUSY);
    EUSCI_B0->CTLW0 |= EUSCI_A_CTLW0_TXSTP;

    return data;
}

int main(void)
{
    // 初始化I2C
    I2C_Init();

    while (1)
    {
        // 读取MPU6050的加速度计数据
        uint8_t highByte = I2C_ReadData(0x68, 0x3B);
        uint8_t lowByte = I2C_ReadData(0x68, 0x3C);
        int16_t aValue = (highByte << 8) | lowByte;

        // 处理加速度计数据
        // ...

        // 延时
        for (volatile uint32_t i = 0; i < 10000; i++);
    }
}

以上是一个基本的示例代码，用于与MSP432微控制器和MPU6050传感器进行通信，并读取加速度计数据。在实际应用中，还需要根据具体的需求进行相应的处理和操作，比如计算姿态角、进行滤波处理等。