stm32mpu6050 dmp代码

以下是一个使用STM32和MPU6050芯片的DMP代码示例：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_i2c.h"

#define MPU6050_ADDRESS 0xD0
#define PWR_MGMT_1 0x6B
#define CONFIG 0x1A
#define GYRO_CONFIG 0x1B
#define ACCEL_CONFIG 0x1C
#define SMPLRT_DIV 0x19
#define INT_ENABLE 0x38
#define ACCEL_XOUT_H 0x3B
#define ACCEL_YOUT_H 0x3D
#define ACCEL_ZOUT_H 0x3F
#define TEMP_OUT_H 0x41
#define GYRO_XOUT_H 0x43
#define GYRO_YOUT_H 0x45
#define GYRO_ZOUT_H 0x47
#define USER_CTRL 0x6A
#define FIFO_EN 0x23
#define FIFO_COUNT_H 0x72
#define FIFO_R_W 0x74

void I2C_Configuration(void);
void MPU6050_Configuration(void);
void MPU6050_DMP(void);

int main(void)
{
    I2C_Configuration();
    MPU6050_Configuration();

    while(1)
    {
        MPU6050_DMP();
    }
}

void I2C_Configuration(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    I2C_InitTypeDef I2C_InitStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_9;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_I2C1);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_I2C1);

    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0x00;
    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockSpeed = 100000;
    I2C_Init(I2C1, &I2C_InitStructure);

    I2C_Cmd(I2C1, ENABLE);
}

void MPU6050_Configuration(void)
{
    uint8_t check;
    uint8_t Data;

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, PWR_MGMT_1);
    I2C_WriteData(I2C1, 0x00);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, SMPLRT_DIV);
    I2C_WriteData(I2C1, 0x07);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, CONFIG);
    I2C_WriteData(I2C1, 0x06);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, GYRO_CONFIG);
    I2C_WriteData(I2C1, 0x18);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, ACCEL_CONFIG);
    I2C_WriteData(I2C1, 0x01);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, USER_CTRL);
    I2C_WriteData(I2C1, 0x40);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, FIFO_EN);
    I2C_WriteData(I2C1, 0x78);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, INT_ENABLE);
    I2C_WriteData(I2C1, 0x01);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, USER_CTRL);
    I2C_WriteData(I2C1, 0x60);
    I2C_StopTransmission(I2C1);

    while(1)
    {
        I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
        I2C_WriteData(I2C1, FIFO_COUNT_H);
        I2C_StopTransmission(I2C1);

        I2C_StartTransmission(I2C1, I2C_Direction_Receiver, MPU6050_ADDRESS);
        check = I2C_ReadData(I2C1, I2C_Ack_Enable);
        Data = I2C_ReadData(I2C1, I2C_Ack_Enable);
        Data |= I2C_ReadData(I2C1, I2C_Ack_Disable) << 8;
        I2C_StopTransmission(I2C1);

        if(check == FIFO_R_W)
        {
            break;
        }
    }
}

void MPU6050_DMP(void)
{
    uint8_t i;
    uint8_t data[14];
    int16_t Accel[3], Gyro[3], Temp;

    I2C_StartTransmission(I2C1, I2C_Direction_Transmitter, MPU6050_ADDRESS);
    I2C_WriteData(I2C1, FIFO_R_W);
    I2C_StopTransmission(I2C1);

    I2C_StartTransmission(I2C1, I2C_Direction_Receiver, MPU6050_ADDRESS);

    for(i = 0; i < 14; i++)
    {
        data[i] = I2C_ReadData(I2C1, i == 13 ? I2C_Ack_Disable : I2C_Ack_Enable);
    }

    I2C_StopTransmission(I2C1);

    Accel[0] = (int16_t)((data[0] << 8) | data[1]);
    Accel[1] = (int16_t)((data[2] << 8) | data[3]);
    Accel[2] = (int16_t)((data[4] << 8) | data[5]);
    Temp = (int16_t)((data[6] << 8) | data[7]);
    Gyro[0] = (int16_t)((data[8] << 8) | data[9]);
    Gyro[1] = (int16_t)((data[10] << 8) | data[11]);
    Gyro[2] = (int16_t)((data[12] << 8) | data[13]);

    // 在这里进行DMP处理
}

需要注意的是，这只是一个简单的代码示例，实际上使用DMP还需要进行更多的设置和处理。另外，由于DMP是由MPU6050芯片内部的固件实现的，所以具体的实现方式和算法可能会有所不同。